+ python -m lidar_slam --no-model /working/21c347ca-12e6-479f-b57a-69ae3df519c2 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/21c347ca-12e6-479f-b57a-69ae3df519c2 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 0.004203822 Adjusted end_distance from 9.223372036854776e+18 to 319.194203822 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004203822 meters SLAMing on 0.034203822 meters SLAMing on 0.06420382200000001 meters SLAMing on 0.094203822 meters 1.3738450178767256 Centerline is valid? [0, False] SLAMing on 0.124203822 meters 1.3852373837043022 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999987e-01 -1.36627394e-04 -8.81468650e-05 9.46570463e-04] [ 1.36608340e-04 9.99999967e-01 -2.16135311e-04 1.34732390e-03] [ 8.81763921e-05 2.16123267e-04 9.99999973e-01 -8.91418146e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15420382200000002 meters SLAMing on 0.18420382200000002 meters 1.3836022530036702 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.00 [[ 9.99999819e-01 -6.00402272e-04 -3.56603626e-05 -8.93632198e-06] [ 6.00367725e-04 9.99999358e-01 -9.61011745e-04 6.62464099e-03] [ 3.62373333e-05 9.60990162e-04 9.99999538e-01 1.14718128e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21420382200000002 meters 1.3929772740500708 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999813e-01 -5.89127663e-04 -1.64789473e-04 8.54463996e-04] [ 5.88971279e-04 9.99999378e-01 -9.47435911e-04 6.49419643e-03] [ 1.65347531e-04 9.47338677e-04 9.99999538e-01 -2.65351757e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24420382200000001 meters 1.4294038999371201 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999762e-01 -6.48115113e-04 -2.37119950e-04 1.29650443e-03] [ 6.47867143e-04 9.99999245e-01 -1.04434618e-03 7.11551141e-03] [ 2.37796627e-04 1.04419231e-03 9.99999427e-01 -4.16800203e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27420382200000004 meters 0.878750873286282 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999351e-01 -1.11046077e-03 -2.53954410e-04 1.40418342e-03] [ 1.11000173e-03 9.99997763e-01 -1.80063799e-03 1.19889076e-02] [ 2.55953380e-04 1.80035493e-03 9.99998347e-01 -5.27234706e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30420382200000007 meters 0.8828520205603818 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99998550e-01 -1.67887092e-03 -2.84403893e-04 1.76235783e-03] [ 1.67810406e-03 9.99995013e-01 -2.67547654e-03 1.76328387e-02] [ 2.88894254e-04 2.67499540e-03 9.99996380e-01 -9.07795881e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33420382200000004 meters 0.8715078385418653 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99998603e-01 -1.63361197e-03 -3.53455677e-04 2.09551776e-03] [ 1.63268797e-03 9.99995290e-01 -2.59888895e-03 1.71363833e-02] [ 3.57699588e-04 2.59830823e-03 9.99996560e-01 -8.86609751e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36420382200000007 meters 0.8727955566429677 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998975e-01 -1.36729501e-03 -4.26007609e-04 2.26170566e-03] [ 1.36639257e-03 9.99996837e-01 -2.11151879e-03 1.40492838e-02] [ 4.28893331e-04 2.11093453e-03 9.99997680e-01 -3.97847334e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39420382200000004 meters 0.8771727309326695 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999099e-01 -1.25668033e-03 -4.72902904e-04 2.33031748e-03] [ 1.25577106e-03 9.99997372e-01 -1.91816053e-03 1.28305003e-02] [ 4.75312176e-04 1.91756494e-03 9.99998049e-01 -8.71613395e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42420382200000006 meters 0.8876742577718917 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999370e-01 -9.32456101e-04 -6.24996760e-04 3.22689661e-03] [ 9.31671674e-04 9.99998779e-01 -1.25420679e-03 8.66833059e-03] [ 6.26165490e-04 1.25362371e-03 9.99999018e-01 -2.93804236e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45420382200000003 meters 0.8492739225229334 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998989e-01 -1.22106094e-03 -7.29317074e-04 4.44382242e-03] [ 1.21981529e-03 9.99997801e-01 -1.70598411e-03 1.16320033e-02] [ 7.31398581e-04 1.70509275e-03 9.99998279e-01 -1.30744234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48420382200000006 meters 0.8729580927143548 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99998379e-01 -1.58553493e-03 -8.52806498e-04 5.37168116e-03] [ 1.58359306e-03 9.99996163e-01 -2.27291365e-03 1.53014300e-02] [ 8.56407009e-04 2.27155947e-03 9.99997053e-01 -1.76650815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514203822 meters 0.8557310212866827 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99998594e-01 -1.36980943e-03 -9.67682670e-04 5.80331800e-03] [ 1.36794166e-03 9.99997205e-01 -1.92818224e-03 1.30591332e-02] [ 9.70321208e-04 1.92685579e-03 9.99997673e-01 -1.52943276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5442038220000001 meters 0.8688596294769371 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999882 -0.001088 -0.00108299 0.00657729] [ 0.00108637 0.99999828 -0.00150579 0.01025668] [ 0.00108462 0.00150461 0.99999828 -0.00162239] [ 0. 0. 0. 1. ]] SLAMing on 0.5742038220000001 meters 0.8667094921633252 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999862 -0.0012178 -0.00113005 0.00689804] [ 0.00121586 0.99999779 -0.00171663 0.01162347] [ 0.00113213 0.00171526 0.99999789 -0.00176604] [ 0. 0. 0. 1. ]] SLAMing on 0.6042038220000001 meters 0.8782288092950484 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999781 -0.00168044 -0.00124797 0.00794591] [ 0.00167738 0.99999559 -0.00244949 0.01644352] [ 0.00125208 0.00244739 0.99999622 -0.00248078] [ 0. 0. 0. 1. ]] SLAMing on 0.634203822 meters 0.8547865959239188 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999732 -0.00189273 -0.00133611 0.00847516] [ 0.00188898 0.9999943 -0.00279998 0.01870762] [ 0.0013414 0.00279745 0.99999519 -0.00263161] [ 0. 0. 0. 1. ]] SLAMing on 0.664203822 meters 0.8628859410335767 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999693 -0.00200225 -0.00145685 0.00920702] [ 0.00199789 0.99999354 -0.00298914 0.01992812] [ 0.00146283 0.00298622 0.99999447 -0.00276617] [ 0. 0. 0. 1. ]] SLAMing on 0.6942038220000001 meters 0.8728188852641856 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999714 -0.00179517 -0.00157988 0.01006136] [ 0.00179093 0.99999481 -0.0026771 0.01777947] [ 0.00158468 0.00267427 0.99999517 -0.00294609] [ 0. 0. 0. 1. ]] SLAMing on 0.7242038220000001 meters 0.8543758630986553 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999685 -0.00186289 -0.00168084 0.01072207] [ 0.0018582 0.99999438 -0.00278875 0.01850345] [ 0.00168602 0.00278562 0.9999947 -0.00320977] [ 0. 0. 0. 1. ]] SLAMing on 0.7542038220000001 meters 0.8543758630986553 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999685 -0.00186289 -0.00168084 0.01072207] [ 0.0018582 0.99999438 -0.00278875 0.01850345] [ 0.00168602 0.00278562 0.9999947 -0.00320977] [ 0. 0. 0. 1. ]] SLAMing on 0.784203822 meters 0.8391180004286348 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999562 0.002416 -0.00170974 0.01078118] [-0.00241354 0.99999605 0.00144007 0.01922913] [ 0.00171321 -0.00143593 0.9999975 -0.00306645] [ 0. 0. 0. 1. ]] SLAMing on 0.8142038220000001 meters 0.8345503868152117 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999609 0.00219952 -0.00172605 0.01076257] [-0.00219764 0.99999699 0.00109088 0.02147646] [ 0.00172845 -0.00108708 0.99999792 -0.00285638] [ 0. 0. 0. 1. ]] SLAMing on 0.8442038220000001 meters 0.8581658464559578 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99995713e-01 -9.66007556e-04 -2.76419990e-03 1.98094176e-02] [ 9.58114356e-04 9.99995464e-01 -2.85541093e-03 2.21860797e-02] [ 2.76694572e-03 2.85275027e-03 9.99992103e-01 -8.68344735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8742038220000001 meters 0.8298354736902323 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99995530e-01 -5.91959051e-04 -2.93069794e-03 2.08378245e-02] [ 5.85276996e-04 9.99997229e-01 -2.28035463e-03 1.83567829e-02] [ 2.93203969e-03 2.27862916e-03 9.99993105e-01 -8.82480416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.904203822 meters 0.8508972201925388 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99995210e-01 -7.67115496e-04 -2.99849028e-03 2.14114603e-02] [ 7.59408652e-04 9.99996408e-01 -2.57053579e-03 2.01841626e-02] [ 3.00045141e-03 2.56824639e-03 9.99992201e-01 -9.15866751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9342038220000001 meters 0.5053500617979818 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99992220e-01 2.11496709e-04 -3.93887022e-03 3.04047282e-02] [-2.22681920e-04 9.99995944e-01 -2.83947824e-03 2.65260301e-02] [ 3.93825371e-03 2.84033326e-03 9.99988211e-01 -1.56565106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9642038220000001 meters 0.5024054527351142 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99992166e-01 -3.04813797e-05 -3.95806896e-03 3.04530880e-02] [ 1.76221070e-05 9.99994722e-01 -3.24886959e-03 2.91558434e-02] [ 3.95814710e-03 3.24877439e-03 9.99986889e-01 -1.54848623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9942038220000001 meters 0.7965245721673339 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99991877e-01 1.05670043e-04 -4.02935174e-03 3.07251065e-02] [-1.17893260e-04 9.99995392e-01 -3.03342748e-03 2.77091508e-02] [ 4.02901263e-03 3.03387787e-03 9.99987281e-01 -1.52923793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.024203822 meters 0.8039385383405264 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99991629e-01 2.03590448e-04 -4.08654479e-03 3.11915029e-02] [-2.15362673e-04 9.99995828e-01 -2.88049497e-03 2.66958123e-02] [ 4.08594130e-03 2.88135095e-03 9.99987501e-01 -1.55402575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.054203822 meters 0.8148118766263376 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99991366e-01 6.67262632e-05 -4.15498528e-03 3.16376479e-02] [-7.96163569e-05 9.99995185e-01 -3.10223182e-03 2.81227366e-02] [ 4.15475827e-03 3.10253584e-03 9.99986556e-01 -1.56796467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.084203822 meters 0.5177982062338169 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99990868e-01 -2.07651879e-04 -4.26855726e-03 3.26433014e-02] [ 1.92494998e-04 9.99993677e-01 -3.55092488e-03 3.10826570e-02] [ 4.26926762e-03 3.55007078e-03 9.99984585e-01 -1.63145030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1142038220000001 meters 0.5141060936286658 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99990405e-01 -8.44043856e-05 -4.37985028e-03 3.32835857e-02] [ 6.97869569e-05 9.99994428e-01 -3.33747207e-03 2.96607259e-02] [ 4.38010758e-03 3.33713439e-03 9.99984839e-01 -1.64316919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1442038220000001 meters 0.6697525493380734 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99993173e-01 -8.43031684e-04 -3.59769202e-03 2.43419376e-02] [ 8.31457741e-04 9.99994479e-01 -3.21733057e-03 2.50984376e-02] [ 3.60038447e-03 3.21431728e-03 9.99988353e-01 -9.27393941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1742038220000002 meters 0.5172644034052737 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99993050e-01 -7.04522574e-04 -3.66109396e-03 2.46831627e-02] [ 6.93615242e-04 9.99995320e-01 -2.97967095e-03 2.35158026e-02] [ 3.66317607e-03 2.97711085e-03 9.99988859e-01 -9.27651832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2042038220000002 meters 0.515544202126248 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 9.99992608e-01 -9.73504986e-04 -3.71969281e-03 2.52222416e-02] [ 9.60816402e-04 9.99993719e-01 -3.41145700e-03 2.63424709e-02] [ 3.72299052e-03 3.40785784e-03 9.99987263e-01 -9.62013641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2342038220000002 meters 0.5099312697452801 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99999223 -0.00113838 -0.00377383 0.02550037] [ 0.00112447 0.99999258 -0.00368572 0.02814217] [ 0.00377799 0.00368145 0.99998609 -0.00960641] [ 0. 0. 0. 1. ]] SLAMing on 1.264203822 meters 0.5332075622004455 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99999205 -0.00120275 -0.003801 0.02541863] [ 0.00118833 0.9999921 -0.00379221 0.02883723] [ 0.00380553 0.00378766 0.99998559 -0.0091706 ] [ 0. 0. 0. 1. ]] SLAMing on 1.294203822 meters 0.5211414666132722 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99999197 -0.00123843 -0.00381221 0.02528566] [ 0.00122372 0.99999181 -0.00385691 0.02926909] [ 0.00381695 0.00385222 0.9999853 -0.00882919] [ 0. 0. 0. 1. ]] SLAMing on 1.324203822 meters 0.5080422422535489 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99999158 -0.00130305 -0.00389192 0.02572791] [ 0.00128762 0.99999131 -0.00396439 0.02997446] [ 0.00389705 0.00395935 0.99998457 -0.00888646] [ 0. 0. 0. 1. ]] SLAMing on 1.3542038220000001 meters 0.5130216605634944 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99999092 -0.00155773 -0.00396541 0.02634243] [ 0.00154033 0.9999892 -0.00438557 0.03271381] [ 0.0039722 0.00437942 0.99998252 -0.00923534] [ 0. 0. 0. 1. ]] SLAMing on 1.3842038220000001 meters 1.072783588946667 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99999077 -0.00160449 -0.00398613 0.02629309] [ 0.00158669 0.99998877 -0.00446607 0.0332481 ] [ 0.00399325 0.00445971 0.99998208 -0.00894911] [ 0. 0. 0. 1. ]] SLAMing on 1.4142038220000002 meters 0.5148203800166129 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99999049 -0.00163446 -0.00404253 0.02670958] [ 0.0016162 0.99998849 -0.00451648 0.03356479] [ 0.00404987 0.00450991 0.99998163 -0.00913181] [ 0. 0. 0. 1. ]] SLAMing on 1.4442038220000002 meters 0.5140434343823558 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99999021 -0.00161887 -0.00411823 0.02717548] [ 0.00160039 0.99998865 -0.00448743 0.03337116] [ 0.00412545 0.0044808 0.99998145 -0.00928886] [ 0. 0. 0. 1. ]] SLAMing on 1.4742038220000002 meters 0.5468396137888655 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99998976 -0.00172978 -0.0041809 0.02762073] [ 0.00171024 0.99998762 -0.00467247 0.03456879] [ 0.00418893 0.00466527 0.99998034 -0.00945841] [ 0. 0. 0. 1. ]] SLAMing on 1.5042038220000002 meters 0.52974072712322 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 0.99998917 -0.00192107 -0.00423792 0.02818937] [ 0.0018999 0.99998572 -0.00499405 0.03666558] [ 0.00424745 0.00498595 0.99997855 -0.00988095] [ 0. 0. 0. 1. ]] SLAMing on 1.534203822 meters 0.5347870897804731 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 0.99998862 -0.00206356 -0.00430098 0.02863593] [ 0.002041 0.99998418 -0.00524231 0.03828396] [ 0.00431173 0.00523347 0.99997701 -0.01009549] [ 0. 0. 0. 1. ]] SLAMing on 1.564203822 meters 0.5396110280949827 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 9.99993698e-01 6.88976624e-04 -3.48277365e-03 2.19399618e-02] [-6.94415627e-04 9.99998541e-01 -1.56071908e-03 3.77689811e-02] [ 3.48169327e-03 1.56312773e-03 9.99992717e-01 -5.26886637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.594203822 meters 0.5511010495164603 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 9.99993584e-01 6.18629390e-04 -3.52847033e-03 2.21086612e-02] [-6.24566517e-04 9.99998391e-01 -1.68178110e-03 3.85581972e-02] [ 3.52742425e-03 1.68397407e-03 9.99992361e-01 -5.13332687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6242038220000001 meters 0.5571665011383502 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 9.99993295e-01 7.71704809e-04 -3.57979709e-03 2.23482115e-02] [-7.76763124e-04 9.99998702e-01 -1.41184230e-03 3.67987813e-02] [ 3.57870292e-03 1.41461349e-03 9.99992596e-01 -5.06968804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6542038220000002 meters 0.5271395961187428 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99992886e-01 9.71391959e-04 -3.64483669e-03 2.26400099e-02] [-9.75214636e-04 9.99998976e-01 -1.04716181e-03 3.44439473e-02] [ 3.64381575e-03 1.05070886e-03 9.99992809e-01 -5.01178185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6842038220000002 meters 0.5567443046059152 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99992675e-01 1.05932077e-03 -3.67810995e-03 2.28359120e-02] [-1.06253157e-03 9.99999056e-01 -8.71105620e-04 3.33123523e-02] [ 3.67718370e-03 8.75007347e-04 9.99992856e-01 -5.04102586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7142038220000002 meters 0.5334358881094682 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.00 [[ 9.99992608e-01 9.09004784e-04 -3.73600004e-03 2.30585793e-02] [-9.13266995e-04 9.99998934e-01 -1.13930131e-03 3.50209123e-02] [ 3.73496042e-03 1.14270485e-03 9.99992372e-01 -4.90653572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7442038220000002 meters 0.5573216957702489 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.00 [[ 9.99992125e-01 1.06691881e-03 -3.82257225e-03 2.34797433e-02] [-1.07011959e-03 9.99999078e-01 -8.35389308e-04 3.30556851e-02] [ 3.82167743e-03 8.39473339e-04 9.99992345e-01 -4.87179138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7742038220000003 meters 0.5514086307595639 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99995638e-01 5.58371861e-04 -2.90040619e-03 1.38587418e-02] [-5.58788596e-04 9.99999834e-01 -1.42873058e-04 2.49057833e-02] [ 2.90032593e-03 1.44493149e-04 9.99995784e-01 2.52173706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.804203822 meters 0.5489426677581716 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99995474e-01 6.28005816e-04 -2.94227218e-03 1.40465882e-02] [-6.28046985e-04 9.99999803e-01 -1.30682948e-05 2.40746822e-02] [ 2.94226339e-03 1.49161208e-05 9.99995671e-01 2.56307929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.834203822 meters 0.5576391127573674 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99995458e-01 5.33203426e-04 -2.96649847e-03 1.42063614e-02] [-5.33887618e-04 9.99999831e-01 -2.29852497e-04 2.54622115e-02] [ 2.96637541e-03 2.31435230e-04 9.99995574e-01 2.57646956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8642038220000001 meters 0.5663870383914251 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99995214e-01 5.02712666e-04 -3.05268097e-03 1.47315684e-02] [-5.03590145e-04 9.99999832e-01 -2.86683521e-04 2.58139609e-02] [ 3.05253634e-03 2.88219449e-04 9.99995299e-01 2.37698793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8942038220000001 meters 0.5699111120682375 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:0.00 [[ 9.99995073e-01 5.18406398e-04 -3.09594835e-03 1.51794258e-02] [-5.20390533e-04 9.99999660e-01 -6.40110001e-04 2.82323263e-02] [ 3.09561546e-03 6.41717950e-04 9.99995003e-01 1.90108302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9242038220000002 meters 0.5702291908172554 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:0.00 [[ 9.99994848e-01 5.24442254e-04 -3.16679866e-03 1.55176044e-02] [-5.26420351e-04 9.99999667e-01 -6.23834983e-04 2.81309714e-02] [ 3.16647044e-03 6.25498837e-04 9.99994791e-01 1.92059135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9542038220000002 meters 0.5815725064085926 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:0.00 [[ 9.99994587e-01 6.48204805e-04 -3.22581332e-03 1.60368174e-02] [-6.49376830e-04 9.99999724e-01 -3.62292987e-04 2.64783994e-02] [ 3.22557759e-03 3.64385794e-04 9.99994731e-01 1.52684972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9842038220000002 meters 0.591766221638074 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:0.00 [[ 9.99994478e-01 6.12322563e-04 -3.26638401e-03 1.63154013e-02] [-6.13734047e-04 9.99999719e-01 -4.31139381e-04 2.69101329e-02] [ 3.26611909e-03 4.33141691e-04 9.99994572e-01 1.36783928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0142038220000003 meters 0.5672969751842863 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.00 [[ 0.99998152 0.00512355 -0.00327182 0.01622663] [-0.0051097 0.99997801 0.00422818 0.02489718] [ 0.00329342 -0.00421138 0.99998571 0.0017197 ] [ 0. 0. 0. 1. ]] SLAMing on 2.044203822 meters 0.6032314783474217 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:0.00 [[ 0.99998179 0.00502637 -0.00334033 0.01645064] [-0.00501286 0.99997928 0.00403974 0.02607382] [ 0.00336056 -0.00402292 0.99998626 0.00197844] [ 0. 0. 0. 1. ]] SLAMing on 2.0742038220000003 meters 0.5900070821183245 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.01 [[ 9.99994611e-01 2.21599552e-03 -2.42216688e-03 9.73086895e-03] [-2.21509003e-03 9.99997476e-01 3.76455959e-04 2.72233343e-02] [ 2.42299499e-03 -3.71088612e-04 9.99996996e-01 6.49874797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.104203822 meters 0.5912479932632619 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.01 [[ 9.99998194e-01 1.00225488e-03 -1.61480299e-03 3.09344374e-03] [-1.00211460e-03 9.99999494e-01 8.76788285e-05 2.38512712e-02] [ 1.61489004e-03 -8.60604525e-05 9.99998692e-01 1.12054116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1342038220000004 meters 0.5987026695533515 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.01 [[ 9.99997870e-01 1.16859882e-03 -1.70130310e-03 3.48057838e-03] [-1.16784458e-03 9.99999219e-01 4.44253735e-04 2.16564726e-02] [ 1.70182093e-03 -4.42265932e-04 9.99998454e-01 1.12551848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.164203822 meters 0.6064810512945391 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.01 [[ 9.99997621e-01 1.31662061e-03 -1.73902991e-03 3.74148385e-03] [-1.31530538e-03 9.99998848e-01 7.57232680e-04 1.97206576e-02] [ 1.74002489e-03 -7.54943523e-04 9.99998201e-01 1.10260479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1942038220000004 meters 0.6139490834490395 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.01 [[ 9.99997624e-01 1.22672497e-03 -1.80183898e-03 4.10802559e-03] [-1.22569228e-03 9.99999084e-01 5.74120446e-04 2.08347318e-02] [ 1.80254162e-03 -5.71910582e-04 9.99998212e-01 1.08596353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.224203822 meters 0.6155256094527569 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.01 [[ 9.99997699e-01 1.07389610e-03 -1.85703902e-03 4.30325876e-03] [-1.07346435e-03 9.99999397e-01 2.33477320e-04 2.28943588e-02] [ 1.85728863e-03 -2.31483317e-04 9.99998248e-01 1.09544308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.254203822 meters 0.6323222162545543 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.01 [[ 9.99997486e-01 1.15241771e-03 -1.92360772e-03 4.52177650e-03] [-1.15164812e-03 9.99999256e-01 4.01134669e-04 2.18812542e-02] [ 1.92406857e-03 -3.98918341e-04 9.99998069e-01 1.11408525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2842038220000003 meters 0.6451035610935754 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.01 [[ 9.99997058e-01 1.42573733e-03 -1.96230538e-03 4.58855112e-03] [-1.42385835e-03 9.99998527e-01 9.58603742e-04 1.85009692e-02] [ 1.96366921e-03 -9.55806877e-04 9.99997615e-01 1.13306386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.314203822 meters 0.6683455819167504 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.01 [[ 0.99999677 0.00157301 -0.00199743 0.0045555 ] [-0.00157047 0.99999796 0.00127216 0.01661691] [ 0.00199943 -0.00126902 0.9999972 0.01173052] [ 0. 0. 0. 1. ]] SLAMing on 2.3442038220000003 meters 0.6661791392329578 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.01 [[ 0.99999657 0.00160884 -0.00206559 0.00479435] [-0.00160604 0.99999779 0.00135543 0.01612789] [ 0.00206777 -0.00135211 0.99999695 0.01187276] [ 0. 0. 0. 1. ]] SLAMing on 2.374203822 meters 0.7042686300382958 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.01 [[ 0.9999965 0.00153438 -0.00215768 0.00511296] [-0.0015318 0.99999811 0.00119726 0.01705136] [ 0.00215951 -0.00119395 0.99999696 0.01208308] [ 0. 0. 0. 1. ]] SLAMing on 2.4042038220000004 meters 0.6795112896348356 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.01 [[ 0.99999614 0.00163271 -0.00224641 0.00535371] [-0.00162952 0.99999766 0.0014217 0.01574411] [ 0.00224872 -0.00141804 0.99999647 0.01242261] [ 0. 0. 0. 1. ]] SLAMing on 2.434203822 meters 0.7054415530129654 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999518 0.0020393 -0.00234081 0.00551622] [-0.00203376 0.99999513 0.00236555 0.01024777] [ 0.00234562 -0.00236077 0.99999446 0.01285668] [ 0. 0. 0. 1. ]] SLAMing on 2.4642038220000004 meters 1.041268593103336 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999504 0.00204553 -0.00239388 0.00562841] [-0.00203982 0.99999508 0.00238247 0.01016107] [ 0.00239874 -0.00237757 0.9999943 0.01312362] [ 0. 0. 0. 1. ]] SLAMing on 2.4942038220000002 meters 0.7291452580460268 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.9999939 0.00219923 -0.00271524 0.01340206] [-0.00219257 0.99999459 0.00245364 0.01074305] [ 0.00272062 -0.00244767 0.9999933 0.0058274 ] [ 0. 0. 0. 1. ]] SLAMing on 2.524203822 meters 0.7366106718983324 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999366 0.00220997 -0.00279094 0.01367432] [-0.00220304 0.99999449 0.00248197 0.01058425] [ 0.00279641 -0.0024758 0.99999303 0.00594179] [ 0. 0. 0. 1. ]] SLAMing on 2.5542038220000003 meters 0.7480120881663302 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999357 0.00220252 -0.0028317 0.01382553] [-0.00219554 0.99999455 0.00246769 0.0106693 ] [ 0.00283712 -0.00246146 0.99999295 0.00599647] [ 0. 0. 0. 1. ]] SLAMing on 2.584203822 meters 1.0676702936003668 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999319 0.00227557 -0.00290619 0.01403607] [-0.00226788 0.99999393 0.00264622 0.00966298] [ 0.00291219 -0.00263961 0.99999228 0.00622422] [ 0. 0. 0. 1. ]] SLAMing on 2.6142038220000003 meters 1.086633675308006 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999295 0.00231413 -0.00295565 0.01422135] [-0.00230603 0.99999359 0.00273981 0.00913712] [ 0.00296197 -0.00273297 0.99999188 0.00627218] [ 0. 0. 0. 1. ]] SLAMing on 2.644203822 meters 1.086633675308006 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999295 0.00231413 -0.00295565 0.01422135] [-0.00230603 0.99999359 0.00273981 0.00913712] [ 0.00296197 -0.00273297 0.99999188 0.00627218] [ 0. 0. 0. 1. ]] SLAMing on 2.6742038220000004 meters 1.0760369184869034 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.999993 0.00225405 -0.00298704 0.01445997] [-0.00224632 0.99999413 0.00258812 0.00997478] [ 0.00299286 -0.00258139 0.99999219 0.00598576] [ 0. 0. 0. 1. ]] SLAMing on 2.704203822 meters 1.063255773734199 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999304 0.00218267 -0.00302597 0.01465808] [-0.00217537 0.99999472 0.00241476 0.01094312] [ 0.00303122 -0.00240816 0.99999251 0.00589654] [ 0. 0. 0. 1. ]] SLAMing on 2.7342038220000005 meters 1.089962995927884 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999318 0.00205576 -0.0030695 0.01476293] [-0.00204936 0.99999573 0.00208466 0.01278752] [ 0.00307378 -0.00207836 0.99999312 0.00604654] [ 0. 0. 0. 1. ]] SLAMing on 2.7642038220000003 meters 1.1010299526868157 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999317 0.00196729 -0.00312768 0.01491004] [-0.00196145 0.99999633 0.00186962 0.01398021] [ 0.00313134 -0.00186348 0.99999336 0.00623894] [ 0. 0. 0. 1. ]] SLAMing on 2.794203822 meters 1.1076730692131522 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.01 [[ 0.99999311 0.00188129 -0.00320124 0.01500861] [-0.00187598 0.99999686 0.00166155 0.01514961] [ 0.00320436 -0.00165553 0.9999935 0.00669939] [ 0. 0. 0. 1. ]] SLAMing on 2.8242038220000003 meters 1.1055711598854063 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.01 [[ 9.99997261e-01 -5.78386817e-05 -2.33981916e-03 8.51733888e-03] [ 5.74218725e-05 9.99999982e-01 -1.78204151e-04 1.58690791e-02] [ 2.33982942e-03 1.78069306e-04 9.99997247e-01 1.17728377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.854203822 meters 1.1121218310719703 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 9.99997117e-01 8.09883472e-05 -2.39968096e-03 8.76437838e-03] [-8.05412978e-05 9.99999979e-01 1.86391419e-04 1.38980101e-02] [ 2.39969600e-03 -1.86197608e-04 9.99997103e-01 1.17523104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8842038220000004 meters 1.1155977729449662 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 9.99997031e-01 2.28087603e-04 -2.42628215e-03 8.91247737e-03] [-2.26664640e-04 9.99999802e-01 5.86737194e-04 1.17155103e-02] [ 2.42641549e-03 -5.86185500e-04 9.99996884e-01 1.16091821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.914203822 meters 1.1197809367822136 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 9.99996934e-01 1.53906059e-04 -2.47163716e-03 9.12808295e-03] [-1.52894370e-04 9.99999904e-01 4.09503010e-04 1.26766607e-02] [ 2.47169995e-03 -4.09123855e-04 9.99996862e-01 1.15366537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9442038220000004 meters 1.1215439311362236 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 9.99996909e-01 2.99069331e-05 -2.48617726e-03 9.21591392e-03] [-2.96593973e-05 9.99999995e-01 9.96016432e-05 1.43431555e-02] [ 2.48618022e-03 -9.95275968e-05 9.99996904e-01 1.14629745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.974203822 meters 1.1190966267519509 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.02 [[ 0.9999968 -0.00197861 -0.00157425 0.00292537] [ 0.00197538 0.99999595 -0.00205117 0.01583133] [ 0.0015783 0.00204805 0.99999666 0.0162732 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0042038220000005 meters 1.1125184656692786 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.02 [[ 0.9999968 -0.00193497 -0.00163248 0.00316251] [ 0.0019318 0.99999625 -0.00193945 0.01523261] [ 0.00163622 0.00193629 0.99999679 0.01624461] [ 0. 0. 0. 1. ]] SLAMing on 3.0342038220000003 meters 0.7874781180851751 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.02 [[ 0.99999675 -0.00190561 -0.00169223 0.00325045] [ 0.00190247 0.99999646 -0.0018587 0.01481658] [ 0.00169577 0.00185548 0.99999684 0.01657089] [ 0. 0. 0. 1. ]] SLAMing on 3.064203822 meters 0.7873812577605019 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.02 [[ 9.99999722e-01 -4.89287713e-05 -7.43996014e-04 -3.01404987e-03] [ 4.91110827e-05 9.99999969e-01 2.45027179e-04 1.35304706e-02] [ 7.43984002e-04 -2.45063649e-04 9.99999693e-01 2.13731158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0942038220000003 meters 0.7927766705410461 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.02 [[ 9.99999640e-01 -3.10328101e-04 -7.89352387e-04 -2.95362206e-03] [ 3.09920820e-04 9.99999819e-01 -5.16038244e-04 1.74674712e-02] [ 7.89512385e-04 5.15793422e-04 9.99999555e-01 2.16017857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.124203822 meters 0.7854281877761282 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.02 [[ 9.99999581e-01 -3.59293157e-04 -8.41749605e-04 -2.85986704e-03] [ 3.58755221e-04 9.99999731e-01 -6.39133359e-04 1.81195780e-02] [ 8.41979016e-04 6.38831110e-04 9.99999441e-01 2.18398725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1542038220000004 meters 0.793868780629364 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.02 [[ 9.99999556e-01 -2.65656737e-04 -9.04070878e-04 -2.78541180e-03] [ 2.65309487e-04 9.99999891e-01 -3.84194457e-04 1.68150389e-02] [ 9.04172843e-04 3.83954428e-04 9.99999518e-01 2.22196712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.184203822 meters 0.7903933889107685 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:0.03 [[ 9.99997077e-01 -2.41208760e-03 1.65509807e-04 -9.48491891e-03] [ 2.41250251e-03 9.99993828e-01 -2.55419113e-03 1.66164600e-02] [-1.59347853e-04 2.55458296e-03 9.99996724e-01 2.72887619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2142038220000004 meters 0.7908424382014869 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.03 [[ 9.99997576e-01 -2.19883840e-03 1.13800342e-04 -9.48679422e-03] [ 2.19904364e-03 9.99995897e-01 -1.83597622e-03 1.30636383e-02] [-1.09762860e-04 1.83622202e-03 9.99998308e-01 2.77145658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2442038220000002 meters 0.787661872382301 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.03 [[ 9.99997352e-01 -2.30061033e-03 5.41032543e-05 -9.32479198e-03] [ 2.30071966e-03 9.99995115e-01 -2.11590623e-03 1.44748314e-02] [-4.92351143e-05 2.11602510e-03 9.99997760e-01 2.78315523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2742038220000005 meters 0.7907295717278462 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.02 [[ 9.99999336e-01 -9.06506110e-05 -1.14840483e-03 -2.88888078e-03] [ 9.12541263e-05 9.99999858e-01 5.25483414e-04 1.15678761e-02] [ 1.14835704e-03 -5.25587862e-04 9.99999203e-01 2.35842045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3042038220000003 meters 0.7811199137077038 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.03 [[ 9.99997622e-01 -2.18035039e-03 -3.63688713e-05 -9.47315379e-03] [ 2.18031349e-03 9.99997137e-01 -9.85521679e-04 6.96244228e-03] [ 3.85175497e-05 9.85440041e-04 9.99999514e-01 2.86957717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.334203822 meters 0.7888907998232086 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.02 [[ 9.99994245e-01 -3.35047979e-03 -5.32994207e-04 -4.88283908e-03] [ 3.34932989e-03 9.99992093e-01 -2.14389329e-03 7.10431686e-03] [ 5.40173063e-04 2.14209578e-03 9.99997560e-01 2.47708562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3642038220000003 meters 0.7782393785778043 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:0.03 [[ 9.99998892e-01 -1.41381278e-03 4.64942036e-04 -1.07552368e-02] [ 1.41369208e-03 9.99998967e-01 2.59835220e-04 3.49241368e-03] [-4.65308914e-04 -2.59177647e-04 9.99999858e-01 2.92332326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.394203822 meters 0.7706182704796856 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.04 [[ 9.99997798e-01 -1.53921744e-03 1.42613778e-03 -1.99759009e-02] [ 1.53892406e-03 9.99998794e-01 2.06790562e-04 3.09333330e-03] [-1.42645436e-03 -2.04595389e-04 9.99998962e-01 3.72364609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4242038220000004 meters 0.7652175891862529 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.00, Z:0.04 [[ 9.99996642e-01 5.81930533e-04 2.52551168e-03 -2.65638754e-02] [-5.88404773e-04 9.99996541e-01 2.56355080e-03 9.17904263e-04] [-2.52401113e-03 -2.56502821e-03 9.99993525e-01 4.22242319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.454203822 meters 0.7692609458229127 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.00, Z:0.04 [[ 9.99996791e-01 5.80941121e-04 2.46603251e-03 -2.63817002e-02] [-5.87266801e-04 9.99996537e-01 2.56517560e-03 9.11362783e-04] [-2.46453376e-03 -2.56661558e-03 9.99993669e-01 4.22643084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4842038220000005 meters 0.7780269299464635 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.00, Z:0.04 [[ 9.99996896e-01 6.38669117e-04 2.40844780e-03 -2.62134473e-02] [-6.45294015e-04 9.99996008e-01 2.75091921e-03 2.08327276e-05] [-2.40668125e-03 -2.75246483e-03 9.99993316e-01 4.23070297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5142038220000003 meters 0.7711487833514794 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.00, Z:0.04 [[ 9.99997051e-01 5.69986469e-04 2.36082508e-03 -2.62378041e-02] [-5.75938025e-04 9.99996656e-01 2.52105229e-03 1.15421812e-03] [-2.35938022e-03 -2.52240455e-03 9.99994035e-01 4.27663597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5442038220000005 meters 0.7729591230885448 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.00, Z:0.04 [[ 9.99997193e-01 4.49737650e-04 2.32636210e-03 -2.61829077e-02] [-4.54788045e-04 9.99997540e-01 2.17086786e-03 2.84735351e-03] [-2.32538006e-03 -2.17191976e-03 9.99994938e-01 4.28945947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5742038220000003 meters 0.768766133830167 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.00, Z:0.05 [[ 0.99999084 0.00254706 0.00343846 -0.03283337] [-0.0025621 0.99998713 0.00437888 0.00130364] [-0.00342727 -0.00438765 0.9999845 0.04810323] [ 0. 0. 0. 1. ]] SLAMing on 3.604203822 meters 0.7319118784622216 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.05 [[ 9.99979681e-01 4.51497844e-03 4.50017549e-03 -3.93037913e-02] [-4.54461322e-03 9.99967913e-01 6.59692481e-03 -1.45766739e-04] [-4.47024612e-03 -6.61724233e-03 9.99968114e-01 5.30750563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6342038220000004 meters 0.7391740389092144 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.00, Z:0.05 [[ 0.99998052 0.0043307 0.00449399 -0.03927016] [-0.00435784 0.99997221 0.00604872 0.00246166] [-0.00446767 -0.00606818 0.99997161 0.05299352] [ 0. 0. 0. 1. ]] SLAMing on 3.664203822 meters 0.7417754185603282 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:0.05 [[ 9.99989885e-01 -2.13683659e-04 4.49279678e-03 -3.91469038e-02] [ 2.09703904e-04 9.99999585e-01 8.86260275e-04 6.21060222e-03] [-4.49298429e-03 -8.85309153e-04 9.99989515e-01 5.25435366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6942038220000004 meters 0.7412730763394622 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:0.05 [[ 9.99989997e-01 -2.60283576e-04 4.46510549e-03 -3.89878582e-02] [ 2.56881078e-04 9.99999676e-01 7.62576066e-04 6.79497434e-03] [-4.46530253e-03 -7.61421437e-04 9.99989741e-01 5.23616073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.724203822 meters 0.728259314724532 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:0.05 [[ 9.99990096e-01 -3.63904044e-04 4.43578420e-03 -3.88655717e-02] [ 3.61720652e-04 9.99999813e-01 4.93014563e-04 8.08979255e-03] [-4.43596278e-03 -4.91405165e-04 9.99990040e-01 5.22894427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7542038220000005 meters 0.7244496555598268 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:0.05 [[ 9.99990278e-01 -4.00358171e-04 4.39125177e-03 -3.88597927e-02] [ 3.98625805e-04 9.99999842e-01 3.95372028e-04 8.57299411e-03] [-4.39140937e-03 -3.93617718e-04 9.99990280e-01 5.26261486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7842038220000003 meters 0.70124132797366 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.01, Z:0.06 [[ 0.99998111 -0.0026994 0.00552287 -0.04567393] [ 0.00271068 0.99999425 -0.0020358 0.00969462] [-0.00551734 0.00205074 0.99998268 0.05791595] [ 0. 0. 0. 1. ]] SLAMing on 3.8142038220000005 meters 0.6188208186153187 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.01, Z:0.06 [[ 9.99978874e-01 -7.32054251e-04 6.45871028e-03 -5.17295253e-02] [ 7.30314736e-04 9.99999696e-01 2.71682915e-04 7.63580611e-03] [-6.45890720e-03 -2.66960284e-04 9.99979105e-01 6.29608573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8442038220000003 meters 0.5991699206379043 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.01, Z:0.07 [[ 0.99996621 -0.0030866 0.00761873 -0.05837817] [ 0.00310513 0.99999225 -0.00242159 0.01065052] [-0.00761119 0.00244516 0.99996804 0.06773903] [ 0. 0. 0. 1. ]] SLAMing on 3.874203822 meters 0.5909508954546445 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.01, Z:0.07 [[ 0.9999667 -0.00303621 0.00757465 -0.05827263] [ 0.00305362 0.99999272 -0.00228687 0.01002292] [-0.00756765 0.00230992 0.9999687 0.06781158] [ 0. 0. 0. 1. ]] SLAMing on 3.9042038220000004 meters 0.5770053475068012 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.00, Z:0.07 [[ 0.99997181 -0.00668201 0.00342429 -0.07763395] [ 0.00666456 0.99996489 0.00508035 0.00487756] [-0.00345812 -0.00505738 0.99998123 0.07071251] [ 0. 0. 0. 1. ]] SLAMing on 3.934203822 meters 0.5559735784203661 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.01, Z:0.07 [[ 9.99990860e-01 -1.66950839e-04 -4.27230260e-03 -7.63633192e-02] [ 1.39867524e-04 9.99979900e-01 -6.33879193e-03 9.34611511e-03] [ 4.27327499e-03 6.33813644e-03 9.99970783e-01 7.48629204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9642038220000004 meters 0.5705903897175837 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.01, Z:0.07 [[ 0.99999667 -0.00227588 -0.00121909 -0.05465585] [ 0.0022777 0.9999963 0.00149052 0.00886663] [ 0.00121569 -0.00149329 0.99999815 0.07210163] [ 0. 0. 0. 1. ]] SLAMing on 3.9942038220000002 meters 0.5553867386608051 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.01, Z:0.07 [[ 0.99999646 -0.00234795 -0.00125336 -0.05468501] [ 0.00234959 0.99999639 0.00130245 0.00975462] [ 0.00125029 -0.00130539 0.99999837 0.07243637] [ 0. 0. 0. 1. ]] SLAMing on 4.0242038220000005 meters 0.4533494221758324 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.01, Z:0.07 [[ 9.99990938e-01 -2.29745088e-05 -4.25712913e-03 -7.60930337e-02] [-5.23801687e-06 9.99978041e-01 -6.62699505e-03 1.29520234e-02] [ 4.25718790e-03 6.62695729e-03 9.99968979e-01 7.49999061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054203822000001 meters 0.38724242341156284 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.01, Z:0.07 [[ 9.99996666e-01 -1.29523989e-03 2.23408889e-03 -9.69283918e-02] [ 1.29693290e-03 9.99998873e-01 -7.56523864e-04 1.26074676e-02] [-2.23310650e-03 7.59418805e-04 9.99997218e-01 6.96514098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084203822 meters 0.5617635279847681 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.02, Z:0.07 [[ 9.99998999e-01 -2.21026740e-04 1.39729211e-03 -5.09832823e-02] [ 2.22514135e-04 9.99999409e-01 -1.06441844e-03 1.64354487e-02] [-1.39705601e-03 1.06472830e-03 9.99998457e-01 6.82406307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114203822 meters 0.38645608321730834 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.02, Z:0.07 [[ 9.99997550e-01 -2.76132470e-04 2.19635945e-03 -9.69794260e-02] [ 2.77647085e-04 9.99999724e-01 -6.89327561e-04 1.83704749e-02] [-2.19616850e-03 6.89935685e-04 9.99997350e-01 6.96247677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144203822000001 meters 0.3951442495672151 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.02, Z:0.06 [[ 0.99999749 0.00193062 0.00113827 -0.09031185] [-0.00193248 0.99999679 0.00163717 0.01775046] [-0.00113511 -0.00163936 0.99999801 0.0644552 ] [ 0. 0. 0. 1. ]] SLAMing on 4.174203822 meters 0.29677495918073393 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.02, Z:0.06 [[ 9.99997927e-01 1.68101727e-03 1.14939997e-03 -9.03969465e-02] [-1.68214756e-03 9.99998102e-01 9.83116224e-04 2.07705154e-02] [-1.14774515e-03 -9.85047646e-04 9.99998856e-01 6.45923993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204203822 meters 0.3962338022456324 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.02, Z:0.07 [[ 0.99999375 -0.00187892 0.00299654 -0.07273636] [ 0.00185617 0.99996958 0.00757636 0.02197052] [-0.00301069 -0.00757075 0.99996681 0.06697386] [ 0. 0. 0. 1. ]] SLAMing on 4.2342038220000005 meters 0.3408166362779166 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.03, Z:0.07 [[ 9.99999876e-01 2.22305315e-04 -4.46646995e-04 -9.37805501e-02] [-2.22862529e-04 9.99999197e-01 -1.24788823e-03 3.04212196e-02] [ 4.46369224e-04 1.24798762e-03 9.99999122e-01 6.99453667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264203822000001 meters 0.3601319738236971 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.03, Z:0.07 [[ 9.99999896e-01 -3.93787010e-05 -4.55314200e-04 -9.36632185e-02] [ 3.85055154e-05 9.99998161e-01 -1.91761467e-03 3.34681961e-02] [ 4.55388875e-04 1.91759694e-03 9.99998058e-01 6.97090354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.294203822 meters 0.2916763345741891 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.03, Z:0.07 [[ 9.99999874e-01 -1.03599101e-04 -4.90643879e-04 -9.35136016e-02] [ 1.02577743e-04 9.99997829e-01 -2.08123687e-03 3.42083336e-02] [ 4.90858428e-04 2.08118628e-03 9.99997714e-01 6.95895841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324203822 meters 0.4041022744079486 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.04, Z:0.07 [[ 9.99999835e-01 -2.76161315e-04 -5.04447835e-04 -9.33899667e-02] [ 2.74882748e-04 9.99996754e-01 -2.53290056e-03 3.62542041e-02] [ 5.05145687e-04 2.53276148e-03 9.99996665e-01 6.93764745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354203822000001 meters 0.13606967575258236 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.04, Z:0.07 [[ 9.99999752e-01 -4.64634959e-04 -5.29665262e-04 -9.32436384e-02] [ 4.63038552e-04 9.99995362e-01 -3.01014085e-03 3.84270614e-02] [ 5.31061422e-04 3.00989485e-03 9.99995329e-01 6.91935670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384203822000001 meters 0.031021890079285765 Centerline is valid? [False, True] Translation: X:-0.09, Y:0.04, Z:0.07 [[ 9.99999537e-01 -7.94400511e-04 -5.42230319e-04 -9.31563035e-02] [ 7.92303443e-04 9.99992249e-01 -3.85680479e-03 4.22681676e-02] [ 5.45289964e-04 3.85637340e-03 9.99992415e-01 6.90503679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414203822 meters 0.02940718594208705 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.05, Z:0.07 [[ 0.99999586 -0.00269558 -0.00100894 -0.06366534] [ 0.00269309 0.99999334 -0.0024647 0.04612939] [ 0.00101558 0.00246198 0.99999645 0.06718186] [ 0. 0. 0. 1. ]] SLAMing on 4.444203822 meters 0.029453094188944547 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.06, Z:0.07 [[ 0.99995883 -0.00334347 -0.00843595 -0.03448514] [ 0.00314972 0.99973333 -0.02287699 0.06162002] [ 0.00851019 0.02284948 0.99970269 0.06524206] [ 0. 0. 0. 1. ]] SLAMing on 4.474203822000001 meters 0.03869292922439834 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.06, Z:0.04 [[ 0.99997307 -0.00596611 -0.00427304 -0.0062097 ] [ 0.00601257 0.99992204 0.0109433 0.05656421] [ 0.00420742 -0.0109687 0.99993099 0.04394211] [ 0. 0. 0. 1. ]] SLAMing on 4.504203822 meters 0.03589747277281896 Centerline is valid? [True, True] Translation: X:0.02, Y:0.06, Z:0.04 [[ 9.99968885e-01 -7.03081588e-03 -3.57721979e-03 2.26435118e-02] [ 7.03053722e-03 9.99975281e-01 -9.04677493e-05 6.28968484e-02] [ 3.57776742e-03 6.53151576e-05 9.99993598e-01 4.40733508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.534203822 meters 0.03819495204879664 Centerline is valid? [True, True] Translation: X:0.05, Y:0.07, Z:0.04 [[ 9.99960552e-01 -7.81502292e-03 -4.22134019e-03 5.05755682e-02] [ 7.81464049e-03 9.99969459e-01 -1.07080311e-04 6.88594375e-02] [ 4.22204810e-03 7.40878306e-05 9.99991084e-01 3.72679475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5642038220000005 meters 0.03819495204879664 Centerline is valid? [True, True] Translation: X:0.08, Y:0.07, Z:0.04 [[ 9.99959194e-01 -7.98694145e-03 -4.22123601e-03 7.80556010e-02] [ 7.98654304e-03 9.99968101e-01 -1.11231216e-04 6.97664120e-02] [ 4.22198976e-03 7.75135944e-05 9.99991084e-01 3.64564318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594203822000001 meters 0.03548669069564511 Centerline is valid? [True, True] Translation: X:0.11, Y:0.07, Z:0.04 [[ 9.99957816e-01 -8.17731762e-03 -4.18310495e-03 1.05611841e-01] [ 8.17692411e-03 9.99966562e-01 -1.11164733e-04 7.19555987e-02] [ 4.18387411e-03 7.69551116e-05 9.99991245e-01 3.87957657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624203822 meters 0.03573606729537016 Centerline is valid? [True, True] Translation: X:0.13, Y:0.08, Z:0.04 [[ 9.99953328e-01 -8.58951512e-03 -4.42287250e-03 1.33573127e-01] [ 8.58907729e-03 9.99963106e-01 -1.17976902e-04 7.53176171e-02] [ 4.42372269e-03 7.99830015e-05 9.99990212e-01 3.62844298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654203822 meters 0.032746575316434004 Centerline is valid? [True, True] Translation: X:0.16, Y:0.07, Z:0.04 [[ 9.99947220e-01 -9.70055631e-03 -3.38478521e-03 1.62909233e-01] [ 9.70030342e-03 9.99952947e-01 -9.11232891e-05 7.36131391e-02] [ 3.38550989e-03 5.82850360e-05 9.99994267e-01 3.89722008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684203822000001 meters 0.06284700034686172 Centerline is valid? [True, True] Translation: X:0.18, Y:0.19, Z:0.07 [[ 9.97048780e-01 8.15590263e-04 -7.67663005e-02 1.81896284e-01] [-1.54988714e-02 9.81492322e-01 -1.90873276e-01 1.94836439e-01] [ 7.51898601e-02 1.91499758e-01 9.78608363e-01 6.74868949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714203822 meters 0.03052555844552261 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.04, Z:0.06 [[ 0.99982914 -0.01668367 -0.00795952 0.2495298 ] [ 0.01788835 0.98178678 0.18914206 -0.04458217] [ 0.00465897 -0.18925213 0.98191747 0.05561605] [ 0. 0. 0. 1. ]] SLAMing on 4.744203822 meters 0.03141196481220407 Centerline is valid? [True, True] Translation: X:0.28, Y:0.08, Z:0.04 [[ 9.99923487e-01 -1.20903406e-02 -2.61615406e-03 2.76495872e-01] [ 1.20902111e-02 9.99926909e-01 -6.53188010e-05 8.20039568e-02] [ 2.61675257e-03 3.36839485e-05 9.99996576e-01 3.91481272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7742038220000005 meters 0.030305573036621566 Centerline is valid? [True, True] Translation: X:0.31, Y:0.08, Z:0.04 [[ 9.99920743e-01 -1.21060133e-02 -3.45726424e-03 3.05632451e-01] [ 1.21057625e-02 9.99926718e-01 -9.34628494e-05 8.29305427e-02] [ 3.45814234e-03 5.16026220e-05 9.99994019e-01 3.80638108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804203822000001 meters 0.02691346273493035 Centerline is valid? [True, True] Translation: X:0.33, Y:0.08, Z:0.05 [[ 9.99926405e-01 -1.17288226e-02 -3.10141899e-03 3.33936353e-01] [ 1.17286122e-02 9.99931214e-01 -8.59915887e-05 8.04928442e-02] [ 3.10221423e-03 4.96099195e-05 9.99995187e-01 4.55186285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834203822 meters 0.030030472434530803 Centerline is valid? [True, True] Translation: X:0.36, Y:0.09, Z:0.04 [[ 9.99952200e-01 -9.51887896e-03 -2.23360669e-03 3.61117438e-01] [ 9.51876913e-03 9.99954694e-01 -5.97980529e-05 8.73303138e-02] [ 2.23407470e-03 3.85340081e-05 9.99997504e-01 4.24704851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864203822 meters 0.03168790311101704 Centerline is valid? [True, True] Translation: X:0.39, Y:0.09, Z:0.04 [[ 9.99970087e-01 -7.68688811e-03 -8.58573594e-04 3.89697877e-01] [ 7.68687091e-03 9.99970455e-01 -2.33317202e-05 9.32524522e-02] [ 8.58727576e-04 1.67312779e-05 9.99999631e-01 4.40293243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894203822000001 meters 0.03770763193644118 Centerline is valid? [True, True] Translation: X:0.42, Y:0.11, Z:0.04 [[ 9.99990426e-01 -4.07044138e-03 1.60620278e-03 4.18355027e-01] [ 4.07037994e-03 9.99991715e-01 4.15192774e-05 1.07638942e-01] [-1.60635847e-03 -3.49810244e-05 9.99998709e-01 4.22903426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924203822000001 meters 0.036982695536488516 Centerline is valid? [True, True] Translation: X:0.45, Y:0.11, Z:0.05 [[ 9.99999811e-01 1.57066879e-04 5.94714764e-04 4.49128595e-01] [-1.57076313e-04 9.99999988e-01 1.58164531e-05 1.11296514e-01] [-5.94712273e-04 -1.59098657e-05 9.99999823e-01 4.62350757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954203822 meters 0.03881349826278686 Centerline is valid? [True, True] Translation: X:0.48, Y:0.11, Z:0.04 [[ 9.99997055e-01 2.42078384e-03 -1.73348885e-04 4.79334979e-01] [-2.42078466e-03 9.99997070e-01 -4.51365608e-06 1.14354746e-01] [ 1.73337451e-04 4.93328311e-06 9.99999985e-01 4.45385685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9842038220000005 meters 0.04277877584538183 Centerline is valid? [True, True] Translation: X:0.51, Y:0.12, Z:0.04 [[ 9.99980739e-01 6.19427115e-03 -3.90880612e-04 5.09280952e-01] [-6.19427574e-03 9.99980815e-01 -1.05139173e-05 1.19389126e-01] [ 3.90807987e-04 1.29349371e-05 9.99999924e-01 4.35887816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014203822000001 meters 0.04180521365526112 Centerline is valid? [True, True] Translation: X:0.54, Y:0.12, Z:0.05 [[ 9.99969120e-01 7.85383219e-03 2.77573487e-04 5.39927378e-01] [-7.85383450e-03 9.99969158e-01 7.23070028e-06 1.21448695e-01] [-2.77508137e-04 -9.41049323e-06 9.99999961e-01 4.60845141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044203822 meters 0.04753121091363787 Centerline is valid? [True, True] Translation: X:0.57, Y:0.13, Z:0.04 [[ 9.99947856e-01 1.01983017e-02 5.29608600e-04 5.69239519e-01] [-1.01983104e-02 9.99947996e-01 1.37961341e-05 1.33272925e-01] [-5.29440361e-04 -1.91965276e-05 9.99999860e-01 4.24655075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074203822 meters 0.04751796764668222 Centerline is valid? [True, True] Translation: X:0.60, Y:0.13, Z:0.04 [[ 9.99941968e-01 1.07403983e-02 8.38920363e-04 5.99963115e-01] [-1.07404204e-02 9.99942320e-01 2.18536063e-05 1.33767909e-01] [-8.38637257e-04 -3.08626955e-05 9.99999648e-01 4.28122888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104203822000001 meters 0.047227548772024806 Centerline is valid? [True, True] Translation: X:0.63, Y:0.13, Z:0.04 [[ 9.99937422e-01 1.08749842e-02 2.62421855e-03 6.30394102e-01] [-1.08752010e-02 9.99940861e-01 6.83600515e-05 1.32557095e-01] [-2.62331995e-03 -9.68946780e-05 9.99996554e-01 4.47525103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134203822000001 meters 0.050359210582095124 Centerline is valid? [True, True] Translation: X:0.66, Y:0.14, Z:0.04 [[ 9.99936520e-01 1.08955873e-02 2.87096548e-03 6.61487954e-01] [-1.08958578e-02 9.99940635e-01 7.85979931e-05 1.36906832e-01] [-2.86993868e-03 -1.09874635e-04 9.99995876e-01 4.10054952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164203822 meters 0.047127994133364846 Centerline is valid? [True, True] Translation: X:0.69, Y:0.13, Z:0.04 [[ 9.99942561e-01 1.05086405e-02 2.10802588e-03 6.92725074e-01] [-1.05087802e-02 9.99944780e-01 5.52027746e-05 1.34671849e-01] [-2.10732937e-03 -7.73523843e-05 9.99997777e-01 4.07485973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194203822 meters 0.047324942674254876 Centerline is valid? [True, True] Translation: X:0.72, Y:0.14, Z:0.04 [[ 9.99943118e-01 1.03308140e-02 2.65232772e-03 7.23633016e-01] [-1.03310339e-02 9.99946631e-01 6.92246572e-05 1.39122414e-01] [-2.65147102e-03 -9.66220072e-05 9.99996480e-01 3.94976483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224203822000001 meters 0.046334628405799175 Centerline is valid? [True, True] Translation: X:0.76, Y:0.14, Z:0.04 [[ 9.99945763e-01 1.00560398e-02 2.71043897e-03 7.55384952e-01] [-1.00562682e-02 9.99949432e-01 7.06697371e-05 1.40608823e-01] [-2.70959126e-03 -9.79228056e-05 9.99996324e-01 3.93341160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254203822 meters 0.04719492679950359 Centerline is valid? [True, True] Translation: X:0.79, Y:0.14, Z:0.04 [[ 9.99953084e-01 9.29436893e-03 2.72849939e-03 7.86189072e-01] [-9.29459741e-03 9.99956802e-01 7.10686748e-05 1.43051192e-01] [-2.72772099e-03 -9.64256439e-05 9.99996275e-01 3.79980623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284203822 meters 0.04491653673601776 Centerline is valid? [True, True] Translation: X:0.82, Y:0.14, Z:0.04 [[ 9.99959656e-01 8.33627116e-03 3.34544832e-03 8.17699200e-01] [-8.33660854e-03 9.99965246e-01 8.69157783e-05 1.40108736e-01] [-3.34460750e-03 -1.14801965e-04 9.99994400e-01 3.95245278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3142038220000005 meters 0.04303035029083048 Centerline is valid? [True, True] Translation: X:0.85, Y:0.14, Z:0.04 [[ 9.99972177e-01 6.30841688e-03 3.98099169e-03 8.49764642e-01] [-6.30888052e-03 9.99980093e-01 1.03917086e-04 1.40299374e-01] [-3.98025689e-03 -1.29029795e-04 9.99992070e-01 3.96510643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344203822000001 meters 0.041747873666218606 Centerline is valid? [True, True] Translation: X:0.88, Y:0.14, Z:0.04 [[ 9.99978887e-01 5.60163045e-03 3.29344221e-03 8.82344567e-01] [-5.60194468e-03 9.99984305e-01 8.61938517e-05 1.42454962e-01] [-3.29290769e-03 -1.04641713e-04 9.99994573e-01 3.81391049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374203822 meters 0.0428694568782535 Centerline is valid? [True, True] Translation: X:0.91, Y:0.15, Z:0.03 [[ 9.99989729e-01 3.86768404e-03 2.36267194e-03 9.13487103e-01] [-3.86784731e-03 9.99992518e-01 6.45390986e-05 1.47557736e-01] [-2.36240465e-03 -7.36768901e-05 9.99997207e-01 3.16423377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404203822 meters 0.03934087842357874 Centerline is valid? [True, True] Translation: X:0.95, Y:0.14, Z:0.03 [[ 9.99991845e-01 2.90782034e-03 2.80262425e-03 9.45189110e-01] [-2.90803390e-03 9.99995769e-01 7.21259589e-05 1.43276209e-01] [-2.80240266e-03 -8.02754971e-05 9.99996070e-01 3.30825198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434203822000001 meters 0.03687498319619898 Centerline is valid? [True, True] Translation: X:0.98, Y:0.14, Z:0.03 [[ 9.99991821e-01 7.98760705e-04 3.96475662e-03 9.76815751e-01] [-7.99170106e-04 9.99999675e-01 1.01676744e-04 1.39618608e-01] [-3.96467412e-03 -1.04844427e-04 9.99992135e-01 3.43319642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464203822000001 meters 0.037073714068593486 Centerline is valid? [True, True] Translation: X:1.01, Y:0.14, Z:0.03 [[ 9.99988164e-01 -4.59018127e-05 4.86516552e-03 1.00845952e+00] [ 4.52809868e-05 9.99999991e-01 1.27716411e-04 1.44525996e-01] [-4.86517134e-03 -1.27494599e-04 9.99988157e-01 3.47152065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494203822 meters 0.03586730508202008 Centerline is valid? [True, True] Translation: X:1.04, Y:0.15, Z:0.04 [[ 9.99984470e-01 2.57604052e-04 5.56725594e-03 1.04087733e+00] [-2.58398674e-04 9.99999957e-01 1.42012627e-04 1.47372618e-01] [-5.56721911e-03 -1.43448993e-04 9.99984493e-01 3.58982601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5242038220000005 meters 0.03818139706061998 Centerline is valid? [True, True] Translation: X:1.07, Y:0.16, Z:0.03 [[ 9.99982476e-01 2.04802064e-03 5.55456031e-03 1.07181557e+00] [-2.04883638e-03 9.99997891e-01 1.41173093e-04 1.56028846e-01] [-5.55425947e-03 -1.52551004e-04 9.99984563e-01 3.39767607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554203822000001 meters 0.04034818984936363 Centerline is valid? [True, True] Translation: X:1.10, Y:0.16, Z:0.03 [[ 9.99976683e-01 3.98619917e-03 5.54474773e-03 1.10424225e+00] [-3.98704217e-03 9.99992042e-01 1.40990382e-04 1.59163941e-01] [-5.54414159e-03 -1.63094237e-04 9.99984618e-01 3.31089363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584203822 meters 0.04283566473888648 Centerline is valid? [True, True] Translation: X:1.14, Y:0.16, Z:0.03 [[ 9.99971731e-01 5.18916217e-03 5.44150882e-03 1.13514247e+00] [-5.19000319e-03 9.99986522e-01 1.40446084e-04 1.63362245e-01] [-5.44070669e-03 -1.68683562e-04 9.99985185e-01 3.14407092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614203822 meters 0.046064795540946495 Centerline is valid? [True, True] Translation: X:1.17, Y:0.18, Z:0.03 [[ 9.99956296e-01 7.90206925e-03 4.99634402e-03 1.16605173e+00] [-7.90279574e-03 9.99968765e-01 1.25678451e-04 1.76145924e-01] [-4.99519484e-03 -1.65158045e-04 9.99987510e-01 3.09473284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644203822000001 meters 0.04754353562711197 Centerline is valid? [True, True] Translation: X:1.20, Y:0.18, Z:0.03 [[ 9.99939306e-01 9.31458052e-03 5.88415150e-03 1.19792589e+00] [-9.31562875e-03 9.99956597e-01 1.50760415e-04 1.84707480e-01] [-5.88249185e-03 -2.05565836e-04 9.99982677e-01 3.15211368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674203822000001 meters 0.0535805241480253 Centerline is valid? [True, True] Translation: X:1.23, Y:0.20, Z:0.03 [[ 9.99909604e-01 1.14918889e-02 6.98001346e-03 1.22807538e+00] [-1.14933837e-02 9.99933934e-01 1.74087895e-04 2.00622213e-01] [-6.97755171e-03 -2.54296131e-04 9.99975624e-01 2.98838931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704203822 meters 0.050743286414294035 Centerline is valid? [True, True] Translation: X:1.26, Y:0.20, Z:0.03 [[ 9.99902388e-01 1.19922243e-02 7.16947112e-03 1.25984738e+00] [-1.19938225e-02 9.99928055e-01 1.79962745e-04 2.00254693e-01] [-7.16679716e-03 -2.65934542e-04 9.99974283e-01 3.15600316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7342038220000005 meters 0.05034540219973787 Centerline is valid? [True, True] Translation: X:1.29, Y:0.20, Z:0.03 [[ 9.99906071e-01 1.13368268e-02 7.70224347e-03 1.29092817e+00] [-1.13386460e-02 9.99935697e-01 1.92568310e-04 2.03185374e-01] [-7.69956507e-03 -2.79883235e-04 9.99970319e-01 3.00136767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764203822000001 meters 0.047638872795457705 Centerline is valid? [True, True] Translation: X:1.32, Y:0.21, Z:0.03 [[ 9.99934368e-01 8.76032950e-03 7.38356156e-03 1.32226027e+00] [-8.76191692e-03 9.99961597e-01 1.82672588e-04 2.05530277e-01] [-7.38167773e-03 -2.47354752e-04 9.99972724e-01 2.79613296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794203822 meters 0.046444718000879424 Centerline is valid? [True, True] Translation: X:1.35, Y:0.21, Z:0.03 [[ 9.99944163e-01 7.00971026e-03 7.90791514e-03 1.35224232e+00] [-7.01147298e-03 9.99975400e-01 1.95204497e-04 2.09364941e-01] [-7.90635228e-03 -2.50639730e-04 9.99968713e-01 2.74072895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824203822 meters 0.03999026684460287 Centerline is valid? [True, True] Translation: X:1.38, Y:0.21, Z:0.03 [[ 9.99963948e-01 2.00758450e-03 8.25057916e-03 1.38324578e+00] [-2.00933135e-03 9.99997961e-01 2.03440714e-04 2.11151822e-01] [-8.25015390e-03 -2.20011527e-04 9.99965943e-01 2.77908450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854203822000001 meters 0.037309928386761025 Centerline is valid? [True, True] Translation: X:1.41, Y:0.21, Z:0.02 [[ 9.99971491e-01 -8.71935990e-04 7.50043158e-03 1.41388058e+00] [ 8.70570910e-04 9.99999604e-01 1.85263128e-04 2.09005871e-01] [-7.50059014e-03 -1.78728189e-04 9.99971854e-01 2.47584109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884203822000001 meters 0.03164466277235839 Centerline is valid? [True, True] Translation: X:1.44, Y:0.20, Z:0.02 [[ 9.99959042e-01 -6.14363702e-03 6.64608914e-03 1.44474701e+00] [ 6.14268209e-03 9.99981120e-01 1.64086551e-04 1.99372725e-01] [-6.64697175e-03 -1.23255017e-04 9.99977901e-01 2.12721621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914203822 meters 0.028887041959592824 Centerline is valid? [True, True] Translation: X:1.48, Y:0.20, Z:0.02 [[ 9.99940764e-01 -8.26918046e-03 7.07737294e-03 1.47689043e+00] [ 8.26814888e-03 9.99965803e-01 1.75003667e-04 1.96770892e-01] [-7.07857805e-03 -1.16476527e-04 9.99974940e-01 2.10482067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944203822 meters 0.025581921365303326 Centerline is valid? [True, True] Translation: X:1.51, Y:0.20, Z:0.02 [[ 9.99905034e-01 -1.09399816e-02 8.38094161e-03 1.50856917e+00] [ 1.09386355e-02 9.99940150e-01 2.06430527e-04 1.98238688e-01] [-8.38269836e-03 -1.14734858e-04 9.99964858e-01 2.27673896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974203822000001 meters 0.023288237579242175 Centerline is valid? [True, True] Translation: X:1.54, Y:0.20, Z:0.02 [[ 9.99872273e-01 -1.34845217e-02 8.57940283e-03 1.54023839e+00] [ 1.34832056e-02 9.99909075e-01 2.11227265e-04 1.97715723e-01] [-8.58147104e-03 -9.55224328e-05 9.99963174e-01 2.14020777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004203822000001 meters 0.021856053453074238 Centerline is valid? [True, True] Translation: X:1.57, Y:0.20, Z:0.02 [[ 9.99851586e-01 -1.50491706e-02 8.38620062e-03 1.57285472e+00] [ 1.50479710e-02 9.99886752e-01 2.06128166e-04 1.96120028e-01] [-8.38835296e-03 -7.99022696e-05 9.99964814e-01 1.99303989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034203822 meters 0.02030702451052069 Centerline is valid? [True, True] Translation: X:1.60, Y:0.19, Z:0.02 [[ 9.99813968e-01 -1.79322437e-02 7.10380073e-03 1.60397835e+00] [ 1.79314582e-02 9.99839203e-01 1.74260990e-04 1.94214513e-01] [-7.10578335e-03 -4.68470658e-05 9.99974753e-01 1.60927314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0642038220000005 meters 0.019565555186730567 Centerline is valid? [True, True] Translation: X:1.64, Y:0.19, Z:0.01 [[ 9.99792591e-01 -1.91692255e-02 6.87858209e-03 1.63644999e+00] [ 1.91685180e-02 9.99816253e-01 1.68774765e-04 1.92980828e-01] [-6.88055346e-03 -3.68875347e-05 9.99976328e-01 1.41746912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094203822000001 meters 0.014560800068848335 Centerline is valid? [True, True] Translation: X:1.67, Y:0.19, Z:0.02 [[ 9.99739867e-01 -2.14987298e-02 7.61595640e-03 1.66960188e+00] [ 2.14979304e-02 9.99768875e-01 1.86832906e-04 1.87668629e-01] [-7.61821283e-03 -2.30570046e-05 9.99970981e-01 2.43409805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124203822 meters 0.013684871989162168 Centerline is valid? [True, True] Translation: X:1.70, Y:0.19, Z:0.03 [[ 9.99718114e-01 -2.21481777e-02 8.55283545e-03 1.70184864e+00] [ 2.21472017e-02 9.99754699e-01 2.08829736e-04 1.88069160e-01] [-8.55536263e-03 -1.93494986e-05 9.99963402e-01 2.50834223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154203822 meters 0.014171621756826269 Centerline is valid? [True, True] Translation: X:1.73, Y:0.19, Z:0.02 [[ 9.99731136e-01 -2.16454641e-02 8.31441657e-03 1.73327482e+00] [ 2.16445296e-02 9.99765709e-01 2.02374921e-04 1.89517521e-01] [-8.31684908e-03 -2.23588746e-05 9.99965414e-01 2.24970360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184203822000001 meters 0.013204777655361965 Centerline is valid? [True, True] Translation: X:1.77, Y:0.19, Z:0.02 [[ 9.99740728e-01 -2.07278650e-02 9.42510148e-03 1.76555003e+00] [ 2.07266255e-02 9.99785154e-01 2.29181714e-04 1.89746366e-01] [-9.42782699e-03 -3.37717454e-05 9.99955556e-01 2.37761201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214203822000001 meters 0.015118504615848188 Centerline is valid? [True, True] Translation: X:1.80, Y:0.19, Z:0.02 [[ 9.99799357e-01 -1.80068767e-02 8.77480176e-03 1.79613594e+00] [ 1.80057028e-02 9.99837862e-01 2.12769341e-04 1.94818251e-01] [-8.77721034e-03 -5.47301783e-05 9.99961478e-01 2.05361524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244203822 meters 0.02403723849430062 Centerline is valid? [True, True] Translation: X:1.83, Y:0.21, Z:0.01 [[ 9.99871710e-01 -1.40686567e-02 7.65750624e-03 1.82642130e+00] [ 1.40676486e-02 9.99901029e-01 1.85495772e-04 2.07691559e-01] [-7.65935804e-03 -7.77488677e-05 9.99970664e-01 6.19814844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2742038220000005 meters 0.026423186719359844 Centerline is valid? [True, True] Translation: X:1.86, Y:0.21, Z:0.00 [[ 9.99904559e-01 -1.20411216e-02 6.77378203e-03 1.85795806e+00] [ 1.20402879e-02 9.99927500e-01 1.63837974e-04 2.12095913e-01] [-6.77526372e-03 -8.22640517e-05 9.99977044e-01 4.06692051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304203822000001 meters 0.03149666425575851 Centerline is valid? [True, True] Translation: X:1.89, Y:0.22, Z:0.00 [[ 9.99946783e-01 -8.30394389e-03 6.12178592e-03 1.88882494e+00] [ 8.30319508e-03 9.99965517e-01 1.47724574e-04 2.23416433e-01] [-6.12280151e-03 -9.68863294e-05 9.99981251e-01 9.14682941e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334203822 meters 0.0238167199212403 Centerline is valid? [True, True] Translation: X:1.92, Y:0.22, Z:0.01 [[ 9.99953750e-01 -6.48053196e-03 7.10632682e-03 1.92143564e+00] [ 6.47947427e-03 9.99978993e-01 1.71850458e-04 2.18732255e-01] [-7.10729122e-03 -1.25797248e-04 9.99974735e-01 1.38496656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364203822 meters 0.028773611101478615 Centerline is valid? [True, True] Translation: X:1.95, Y:0.23, Z:0.01 [[ 9.99965552e-01 -3.42693618e-03 7.55983461e-03 1.95250403e+00] [ 3.42565746e-03 9.99994116e-01 1.82088973e-04 2.27607945e-01] [-7.56041414e-03 -1.56185297e-04 9.99971407e-01 1.08210595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394203822000001 meters 0.025806265169660093 Centerline is valid? [True, True] Translation: X:1.99, Y:0.23, Z:0.01 [[ 9.99955381e-01 -2.35549322e-03 9.14810037e-03 1.98528648e+00] [ 2.35357859e-03 9.99997206e-01 2.20052142e-04 2.26652448e-01] [-9.14859314e-03 -1.98511550e-04 9.99958131e-01 1.43543288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424203822000001 meters 0.030288995114322963 Centerline is valid? [True, True] Translation: X:2.02, Y:0.23, Z:0.01 [[ 9.99974082e-01 -1.25806954e-03 7.08892719e-03 2.01578715e+00] [ 1.25689644e-03 9.99999196e-01 1.69935791e-04 2.33680295e-01] [-7.08913528e-03 -1.61021339e-04 9.99974859e-01 8.05157057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454203822 meters 0.026984918024728945 Centerline is valid? [True, True] Translation: X:2.05, Y:0.23, Z:0.01 [[ 9.99939748e-01 -2.21140663e-03 1.07522345e-02 2.04738463e+00] [ 2.20876992e-03 9.99997528e-01 2.57093393e-04 2.29388294e-01] [-1.07527765e-02 -2.33328690e-04 9.99942160e-01 1.33098110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4842038220000005 meters 0.026984918024728945 Centerline is valid? [True, True] Translation: X:2.08, Y:0.23, Z:0.01 [[ 9.99939910e-01 -2.13691551e-03 1.07522201e-02 2.07989194e+00] [ 2.13426797e-03 9.99997689e-01 2.57700583e-04 2.30028839e-01] [-1.07527459e-02 -2.34736979e-04 9.99942160e-01 1.23866717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514203822000001 meters 0.026188788615382003 Centerline is valid? [True, True] Translation: X:2.11, Y:0.23, Z:0.01 [[ 9.99933170e-01 -3.33425691e-03 1.10697328e-02 2.11162697e+00] [ 3.33151513e-03 9.99994415e-01 2.66112687e-04 2.29000803e-01] [-1.10705583e-02 -2.29215920e-04 9.99938693e-01 1.22795348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544203822000001 meters 0.021468299703992687 Centerline is valid? [True, True] Translation: X:2.14, Y:0.23, Z:0.01 [[ 9.99889909e-01 -7.16945381e-03 1.29910787e-02 2.14328578e+00] [ 7.16607072e-03 9.99974276e-01 3.06947911e-04 2.25220693e-01] [-1.29929452e-02 -2.13819130e-04 9.99915565e-01 1.35034691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574203822 meters 0.020407147582713114 Centerline is valid? [True, True] Translation: X:2.17, Y:0.22, Z:0.01 [[ 9.99879810e-01 -8.88139502e-03 1.27077107e-02 2.17468511e+00] [ 8.87829754e-03 9.99960542e-01 3.00141996e-04 2.24536254e-01] [-1.27098750e-02 -1.87283086e-04 9.99919209e-01 1.16816346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604203822000001 meters 0.018747925980861408 Centerline is valid? [True, True] Translation: X:2.21, Y:0.22, Z:0.01 [[ 9.99837144e-01 -1.14669612e-02 1.39353365e-02 2.20565239e+00] [ 1.14634960e-02 9.99934238e-01 3.28514099e-04 2.21985510e-01] [-1.39381871e-02 -1.68712924e-04 9.99902845e-01 1.04231134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634203822000001 meters 0.018201116922915813 Centerline is valid? [True, True] Translation: X:2.24, Y:0.22, Z:0.01 [[ 9.99848853e-01 -1.16674596e-02 1.28895693e-02 2.23822977e+00] [ 1.16645122e-02 9.99931921e-01 3.03829372e-04 2.17197187e-01] [-1.28922367e-02 -1.53432911e-04 9.99916880e-01 8.93903661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664203822 meters 0.01890465827070012 Centerline is valid? [True, True] Translation: X:2.27, Y:0.22, Z:0.01 [[ 9.99869097e-01 -1.11791216e-02 1.16968660e-02 2.27000077e+00] [ 1.11766696e-02 9.99937501e-01 2.74975773e-04 2.15523276e-01] [-1.16992089e-02 -1.44207772e-04 9.99931552e-01 5.88059089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.694203822 meters 0.01952418646044422 Centerline is valid? [True, True] Translation: X:2.30, Y:0.22, Z:0.00 [[ 9.99888995e-01 -1.04459982e-02 1.06244689e-02 2.30246127e+00] [ 1.04439379e-02 9.99945429e-01 2.49385828e-04 2.15094682e-01] [-1.06264942e-02 -1.38396851e-04 9.99943528e-01 3.72360646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724203822000001 meters 0.02346215664811777 Centerline is valid? [True, True] Translation: X:2.33, Y:0.22, Z:-0.00 [[ 9.99930907e-01 -7.50309247e-03 9.04907675e-03 2.33373216e+00] [ 7.50148168e-03 9.99971841e-01 2.11934740e-04 2.20652873e-01] [-9.05041211e-03 -1.44038613e-04 9.99959034e-01 -7.92212610e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754203822000001 meters 0.026475228115008194 Centerline is valid? [True, True] Translation: X:2.37, Y:0.23, Z:0.00 [[ 9.99948751e-01 -3.01863990e-03 9.66354146e-03 2.36526425e+00] [ 3.01659755e-03 9.99995425e-01 2.25914832e-04 2.26933070e-01] [-9.66417920e-03 -1.96752238e-04 9.99953281e-01 1.31078937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784203822 meters 0.0298306680687825 Centerline is valid? [True, True] Translation: X:2.40, Y:0.23, Z:-0.00 [[ 9.99953341e-01 -4.51430342e-04 9.64949461e-03 2.39614042e+00] [ 4.49270383e-04 9.99999874e-01 2.26008231e-04 2.31389007e-01] [-9.64959542e-03 -2.21662453e-04 9.99953417e-01 -7.50958921e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8142038220000005 meters 0.032506709231711166 Centerline is valid? [True, True] Translation: X:2.43, Y:0.23, Z:0.00 [[ 9.99923992e-01 3.17190126e-03 1.19142516e-02 2.42789087e+00] [-3.17542576e-03 9.99994920e-01 2.76916059e-04 2.33467570e-01] [-1.19133127e-02 -3.14727833e-04 9.99928984e-01 2.96783816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844203822000001 meters 0.03221791443827439 Centerline is valid? [True, True] Translation: X:2.46, Y:0.23, Z:0.00 [[ 9.99904210e-01 4.63009344e-03 1.30434894e-02 2.46013339e+00] [-4.63446152e-03 9.99989214e-01 3.04679527e-04 2.31825029e-01] [-1.30419380e-02 -3.65099892e-04 9.99914884e-01 4.77275496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874203822 meters 0.03391649203509754 Centerline is valid? [True, True] Translation: X:2.49, Y:0.24, Z:0.00 [[ 9.99886827e-01 6.60738644e-03 1.35157734e-02 2.49254685e+00] [-6.61222320e-03 9.99978090e-01 3.13204716e-04 2.35111594e-01] [-1.35134078e-02 -4.02538580e-04 9.99908609e-01 4.96746258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904203822 meters 0.033558141766466154 Centerline is valid? [True, True] Translation: X:2.53, Y:0.24, Z:0.00 [[ 9.99874005e-01 7.35349788e-03 1.40676666e-02 2.52580370e+00] [-7.35878004e-03 9.99972871e-01 3.23755262e-04 2.37066698e-01] [-1.40649043e-02 -4.27235335e-04 9.99900993e-01 4.44265713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934203822000001 meters 0.03480576489054634 Centerline is valid? [True, True] Translation: X:2.56, Y:0.24, Z:0.00 [[ 9.99878027e-01 7.43715057e-03 1.37338821e-02 2.55797413e+00] [-7.44214210e-03 9.99972258e-01 3.12373766e-04 2.36574150e-01] [-1.37311779e-02 -4.14545167e-04 9.99905637e-01 8.82148417e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964203822000001 meters 0.036726691507473326 Centerline is valid? [True, True] Translation: X:2.59, Y:0.24, Z:-0.00 [[ 9.99909452e-01 6.76821317e-03 1.16309582e-02 2.58898774e+00] [-6.77174393e-03 9.99977037e-01 2.64210357e-04 2.37265144e-01] [-1.16289028e-02 -3.42948304e-04 9.99932323e-01 -4.72281634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994203822 meters 0.03405818723076374 Centerline is valid? [True, True] Translation: X:2.62, Y:0.24, Z:-0.00 [[ 9.99912727e-01 6.73857198e-03 1.13635523e-02 2.62162605e+00] [-6.74192826e-03 9.99977240e-01 2.57073280e-04 2.35029449e-01] [-1.13615613e-02 -3.33663098e-04 9.99935400e-01 -4.47796841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0242038220000005 meters 0.036265791997788004 Centerline is valid? [True, True] Translation: X:2.65, Y:0.24, Z:-0.01 [[ 9.99916243e-01 6.95313371e-03 1.09160812e-02 2.65291284e+00] [-6.95621577e-03 9.99975775e-01 2.44397575e-04 2.37982737e-01] [-1.09141175e-02 -3.20311721e-04 9.99940388e-01 -7.11254222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054203822000001 meters 0.0313912761332163 Centerline is valid? [True, True] Translation: X:2.68, Y:0.23, Z:-0.00 [[ 9.99883798e-01 7.46652063e-03 1.32906826e-02 2.68497530e+00] [-7.47109879e-03 9.99972047e-01 2.94846381e-04 2.34354546e-01] [-1.32881096e-02 -3.94108121e-04 9.99911632e-01 -2.64949234e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084203822000001 meters 0.0397399143875914 Centerline is valid? [True, True] Translation: X:2.72, Y:0.25, Z:-0.01 [[ 9.99873008e-01 7.59973721e-03 1.40075604e-02 2.71557831e+00] [-7.60478132e-03 9.99971036e-01 3.06869081e-04 2.46918472e-01] [-1.40048226e-02 -4.13354546e-04 9.99901842e-01 -5.11900417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114203822 meters 0.03609043187736372 Centerline is valid? [True, True] Translation: X:2.75, Y:0.24, Z:-0.01 [[ 9.99879989e-01 7.15856918e-03 1.37391147e-02 2.74814804e+00] [-7.16337476e-03 9.99974298e-01 3.00593642e-04 2.44891109e-01] [-1.37366098e-02 -3.98975995e-04 9.99905569e-01 -5.51809584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144203822000001 meters 0.0326795789281022 Centerline is valid? [True, True] Translation: X:2.78, Y:0.24, Z:-0.00 [[ 9.99879902e-01 6.78000529e-03 1.39360654e-02 2.78045412e+00] [-6.78488182e-03 9.99976937e-01 3.02671793e-04 2.41743737e-01] [-1.39336919e-02 -3.97189999e-04 9.99902843e-01 -4.55984429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174203822000001 meters 0.035859684425342694 Centerline is valid? [True, True] Translation: X:2.81, Y:0.25, Z:-0.01 [[ 9.99893228e-01 5.21982115e-03 1.36486304e-02 2.81136138e+00] [-5.22432022e-03 9.99986310e-01 2.94001258e-04 2.47833587e-01] [-1.36469089e-02 -3.65274682e-04 9.99906810e-01 -9.30467995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204203822 meters 0.030040153596737926 Centerline is valid? [True, True] Translation: X:2.84, Y:0.24, Z:-0.01 [[ 9.99923933e-01 1.87691416e-03 1.21903590e-02 2.84335471e+00] [-1.88021279e-03 9.99998199e-01 2.59138479e-04 2.42200498e-01] [-1.21898507e-02 -2.82039236e-04 9.99925661e-01 -1.11846243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2342038220000005 meters 0.025923400572064853 Centerline is valid? [True, True] Translation: X:2.88, Y:0.24, Z:-0.01 [[ 9.99921888e-01 5.17588659e-04 1.24880239e-02 2.87579070e+00] [-5.20966123e-04 9.99999829e-01 2.67204744e-04 2.38344025e-01] [-1.24878835e-02 -2.73689710e-04 9.99921986e-01 -9.65360058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264203822000001 meters 0.024773697436170205 Centerline is valid? [True, True] Translation: X:2.91, Y:0.24, Z:-0.01 [[ 9.99932130e-01 -2.07442184e-03 1.14644256e-02 2.90697348e+00] [ 2.07176648e-03 9.99997824e-01 2.43488449e-04 2.38631557e-01] [-1.14649058e-02 -2.19720310e-04 9.99934252e-01 -1.32749354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294203822000001 meters 0.022300394542350856 Centerline is valid? [True, True] Translation: X:2.94, Y:0.24, Z:-0.01 [[ 9.99927702e-01 -3.57867771e-03 1.14797549e-02 2.93890007e+00] [ 3.57613309e-03 9.99993576e-01 2.42181165e-04 2.36948634e-01] [-1.14805479e-02 -2.01110525e-04 9.99934076e-01 -1.33443741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324203822 meters 0.018865130308208918 Centerline is valid? [True, True] Translation: X:2.97, Y:0.24, Z:-0.01 [[ 9.99890242e-01 -7.17627319e-03 1.29616397e-02 2.96962626e+00] [ 7.17339872e-03 9.99974235e-01 2.68245810e-04 2.35522002e-01] [-1.29632308e-02 -1.75237358e-04 9.99915958e-01 -1.14808894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354203822000001 meters 0.017757562713910505 Centerline is valid? [True, True] Translation: X:3.00, Y:0.24, Z:-0.01 [[ 9.99880162e-01 -8.76555608e-03 1.27603633e-02 3.00069423e+00] [ 8.76290113e-03 9.99961570e-01 2.63959596e-04 2.35353582e-01] [-1.27621867e-02 -1.52110161e-04 9.99918548e-01 -1.27471808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384203822000001 meters 0.014902007017811976 Centerline is valid? [True, True] Translation: X:3.03, Y:0.23, Z:-0.01 [[ 9.99858614e-01 -1.16748377e-02 1.21016685e-02 3.03303413e+00] [ 1.16726648e-02 9.99931841e-01 2.50168821e-04 2.32347463e-01] [-1.21037643e-02 -1.08874731e-04 9.99926741e-01 -1.39565645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414203822 meters 0.015616053909996598 Centerline is valid? [True, True] Translation: X:3.07, Y:0.23, Z:-0.02 [[ 9.99854020e-01 -1.24307990e-02 1.17223911e-02 3.06536398e+00] [ 1.24288161e-02 9.99922730e-01 2.41986078e-04 2.32124834e-01] [-1.17244934e-02 -9.62553089e-05 9.99931261e-01 -1.87866621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444203822 meters 0.014660083163489402 Centerline is valid? [True, True] Translation: X:3.10, Y:0.23, Z:-0.02 [[ 9.99847124e-01 -1.35163201e-02 1.10922205e-02 3.09869945e+00] [ 1.35146162e-02 9.99908647e-01 2.28558043e-04 2.28924221e-01] [-1.10942964e-02 -7.86159997e-05 9.99938453e-01 -2.09054659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474203822000001 meters 0.014192536096793704 Centerline is valid? [True, True] Translation: X:3.13, Y:0.23, Z:-0.02 [[ 9.99840913e-01 -1.36559195e-02 1.14745044e-02 3.13047138e+00] [ 1.36541205e-02 9.99906751e-01 2.35112085e-04 2.29329689e-01] [-1.14766451e-02 -7.84004167e-05 9.99934138e-01 -2.02099829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504203822000001 meters 0.014583863091291642 Centerline is valid? [True, True] Translation: X:3.16, Y:0.23, Z:-0.02 [[ 9.99827737e-01 -1.36268413e-02 1.26017781e-02 3.16204278e+00] [ 1.36246788e-02 9.99907147e-01 2.57443184e-04 2.33221893e-01] [-1.26041162e-02 -8.57036562e-05 9.99920561e-01 -1.99734934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534203822 meters 0.015038545390602467 Centerline is valid? [True, True] Translation: X:3.19, Y:0.23, Z:-0.02 [[ 9.99840604e-01 -1.33262319e-02 1.18818563e-02 3.19393945e+00] [ 1.33242945e-02 9.99911198e-01 2.42202145e-04 2.33495758e-01] [-1.18840289e-02 -8.38461864e-05 9.99929379e-01 -2.21332527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5642038220000005 meters 0.014384828211868282 Centerline is valid? [True, True] Translation: X:3.23, Y:0.23, Z:-0.02 [[ 9.99846307e-01 -1.29485362e-02 1.18194157e-02 3.22603762e+00] [ 1.29465988e-02 9.99916160e-01 2.40413987e-04 2.33095838e-01] [-1.18215377e-02 -8.73558041e-05 9.99930119e-01 -2.11483220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594203822000001 meters 0.014938692880005405 Centerline is valid? [True, True] Translation: X:3.26, Y:0.23, Z:-0.02 [[ 9.99853571e-01 -1.16812582e-02 1.25053694e-02 3.25772071e+00] [ 1.16789967e-02 9.99931766e-01 2.53863062e-04 2.32522853e-01] [-1.25074815e-02 -1.07775721e-04 9.99921773e-01 -2.11394966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624203822000001 meters 0.015718676495999628 Centerline is valid? [True, True] Translation: X:3.29, Y:0.23, Z:-0.02 [[ 9.99862704e-01 -1.07962075e-02 1.25703945e-02 3.28905139e+00] [ 1.07938558e-02 9.99941712e-01 2.54911977e-04 2.31885619e-01] [-1.25724139e-02 -1.19193953e-04 9.99920957e-01 -2.24158421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654203822 meters 0.01710383175764931 Centerline is valid? [True, True] Translation: X:3.32, Y:0.23, Z:-0.02 [[ 9.99883188e-01 -9.09057067e-03 1.22870691e-02 3.32122749e+00] [ 9.08821770e-03 9.99958671e-01 2.47322660e-04 2.33056236e-01] [-1.22888096e-02 -1.35626211e-04 9.99924481e-01 -2.36055653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684203822000001 meters 0.018307876582045513 Centerline is valid? [True, True] Translation: X:3.35, Y:0.24, Z:-0.02 [[ 9.99891144e-01 -6.67238995e-03 1.31597631e-02 3.35304509e+00] [ 6.66949105e-03 9.99977724e-01 2.64159570e-04 2.38031345e-01] [-1.31612325e-02 -1.76361893e-04 9.99913372e-01 -2.31020321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714203822000001 meters 0.019364512689815153 Centerline is valid? [True, True] Translation: X:3.39, Y:0.24, Z:-0.02 [[ 9.99896838e-01 -5.43068466e-03 1.32974217e-02 3.38556574e+00] [ 5.42761654e-03 9.99985235e-01 2.66808084e-04 2.39589887e-01] [-1.32986743e-02 -1.94607253e-04 9.99911550e-01 -2.40242062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744203822 meters 0.020938858465592403 Centerline is valid? [True, True] Translation: X:3.42, Y:0.24, Z:-0.03 [[ 9.99903015e-01 -4.06753740e-03 1.33197616e-02 3.41659396e+00] [ 4.06435201e-03 9.99991705e-01 2.66208625e-04 2.41201702e-01] [-1.33207339e-02 -2.12046607e-04 9.99911253e-01 -2.52970180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7742038220000005 meters 0.024275437710809897 Centerline is valid? [True, True] Translation: X:3.45, Y:0.24, Z:-0.03 [[ 9.99915115e-01 -1.12743443e-03 1.29804196e-02 3.44800451e+00] [ 1.12418820e-03 9.99999335e-01 2.57380451e-04 2.44313034e-01] [-1.29807011e-02 -2.42766169e-04 9.99915718e-01 -2.71737040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804203822000001 meters 0.026014535763282363 Centerline is valid? [True, True] Translation: X:3.48, Y:0.24, Z:-0.03 [[ 9.99927985e-01 1.27657743e-03 1.19329478e-02 3.48039043e+00] [-1.27949024e-03 9.99999153e-01 2.36466636e-04 2.43775910e-01] [-1.19326358e-02 -2.51717697e-04 9.99928772e-01 -2.86356765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834203822000001 meters 0.027552618857504034 Centerline is valid? [True, True] Translation: X:3.51, Y:0.25, Z:-0.03 [[ 9.99919317e-01 2.00837735e-03 1.25429809e-02 3.51274520e+00] [-2.01167116e-03 9.99997945e-01 2.49990876e-04 2.46398395e-01] [-1.25424530e-02 -2.75203058e-04 9.99921302e-01 -2.93484282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864203822 meters 0.029960343830083305 Centerline is valid? [True, True] Translation: X:3.54, Y:0.25, Z:-0.03 [[ 9.99898052e-01 3.77497848e-03 1.37707785e-02 3.54360719e+00] [-3.77904468e-03 9.99992823e-01 2.69268071e-04 2.53159980e-01] [-1.37696631e-02 -3.21281007e-04 9.99905142e-01 -2.96191498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894203822000001 meters 0.029981554856248677 Centerline is valid? [True, True] Translation: X:3.58, Y:0.25, Z:-0.03 [[ 9.99901264e-01 4.94122631e-03 1.31547375e-02 3.57554928e+00] [-4.94505881e-03 9.99987740e-01 2.58829177e-04 2.53017995e-01] [-1.31532973e-02 -3.23854572e-04 9.99913439e-01 -3.09891461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924203822000001 meters 0.030778639850031937 Centerline is valid? [True, True] Translation: X:3.61, Y:0.25, Z:-0.03 [[ 9.99893209e-01 4.83224154e-03 1.37920375e-02 3.60785418e+00] [-4.83640888e-03 9.99988268e-01 2.68818159e-04 2.49151031e-01] [-1.37905767e-02 -3.35493384e-04 9.99904849e-01 -3.10462578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954203822000001 meters 0.027832832802456763 Centerline is valid? [True, True] Translation: X:3.64, Y:0.25, Z:-0.03 [[ 9.99887422e-01 2.83766716e-03 1.47339980e-02 3.63827705e+00] [-2.84214480e-03 9.99995921e-01 2.82968011e-04 2.46667320e-01] [-1.47331350e-02 -3.24812311e-04 9.99891409e-01 -3.18801584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9842038220000005 meters 0.02785171746237773 Centerline is valid? [True, True] Translation: X:3.67, Y:0.25, Z:-0.03 [[ 9.99901010e-01 2.32637797e-03 1.38765190e-02 3.67034283e+00] [-2.33030969e-03 9.99997249e-01 2.67173610e-04 2.45146093e-01] [-1.38758593e-02 -2.99483750e-04 9.99903681e-01 -3.45554268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014203821999999 meters 0.027311899147444307 Centerline is valid? [True, True] Translation: X:3.70, Y:0.25, Z:-0.04 [[ 9.99913021e-01 1.45450164e-03 1.31086017e-02 3.70171375e+00] [-1.45789148e-03 9.99998906e-01 2.49044217e-04 2.45385570e-01] [-1.31082251e-02 -2.68133474e-04 9.99914048e-01 -3.64427977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044203822 meters 0.028322422410160343 Centerline is valid? [True, True] Translation: X:3.73, Y:0.25, Z:-0.04 [[ 9.99909197e-01 2.90975256e-03 1.31579554e-02 3.73353165e+00] [-2.91326864e-03 9.99995726e-01 2.48061804e-04 2.51980306e-01] [-1.31571773e-02 -2.86371938e-04 9.99913400e-01 -3.63590300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074203822 meters 0.030938611960017022 Centerline is valid? [True, True] Translation: X:3.76, Y:0.26, Z:-0.04 [[ 9.99902490e-01 4.65439442e-03 1.31661053e-02 3.76450162e+00] [-4.65807903e-03 9.99989120e-01 2.49203355e-04 2.57011054e-01] [-1.31648021e-02 -3.10507814e-04 9.99913292e-01 -3.77607081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104203822 meters 0.033839707446106405 Centerline is valid? [True, True] Translation: X:3.80, Y:0.26, Z:-0.04 [[ 9.99891580e-01 8.01829071e-03 1.23505011e-02 3.79565536e+00] [-8.02174353e-03 9.99967799e-01 2.30055133e-04 2.61651977e-01] [-1.23482587e-02 -3.29102743e-04 9.99923703e-01 -4.00423497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134203822 meters 0.03413108622922478 Centerline is valid? [True, True] Translation: X:3.83, Y:0.26, Z:-0.04 [[ 9.99889841e-01 9.48079127e-03 1.14201518e-02 3.82776534e+00] [-9.48386344e-03 9.99955004e-01 2.14885941e-04 2.62503819e-01] [-1.14176006e-02 -3.23169429e-04 9.99934765e-01 -4.18299103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164203822 meters 0.03730021945203707 Centerline is valid? [True, True] Translation: X:3.86, Y:0.27, Z:-0.04 [[ 9.99878764e-01 1.09488012e-02 1.10716736e-02 3.85870970e+00] [-1.09517586e-02 9.99940006e-01 2.06510796e-04 2.68869456e-01] [-1.10687483e-02 -3.27740056e-04 9.99938686e-01 -4.46982648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194203822 meters 0.03662479351666191 Centerline is valid? [True, True] Translation: X:3.89, Y:0.27, Z:-0.04 [[ 9.99873221e-01 1.06905297e-02 1.18006277e-02 3.89082625e+00] [-1.06938479e-02 9.99942795e-01 2.18124539e-04 2.70841911e-01] [-1.17976208e-02 -3.44291004e-04 9.99930346e-01 -4.41668590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224203822 meters 0.0346275825215006 Centerline is valid? [True, True] Translation: X:3.92, Y:0.27, Z:-0.04 [[ 9.99874944e-01 9.19603540e-03 1.28658366e-02 3.92264395e+00] [-9.19979789e-03 9.99957654e-01 2.33285551e-04 2.74667072e-01] [-1.28631464e-02 -3.51619473e-04 9.99917204e-01 -4.28710075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254203822 meters 0.02959998095338521 Centerline is valid? [True, True] Translation: X:3.95, Y:0.27, Z:-0.04 [[ 9.99896842e-01 6.30630344e-03 1.29049168e-02 3.95454926e+00] [-6.30984266e-03 9.99980065e-01 2.33555398e-04 2.70889355e-01] [-1.29031867e-02 -3.14959299e-04 9.99916701e-01 -4.30731758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284203822 meters 0.028740157155332978 Centerline is valid? [True, True] Translation: X:3.99, Y:0.27, Z:-0.05 [[ 9.99909349e-01 4.78822918e-03 1.25843819e-02 3.98576927e+00] [-4.79149310e-03 9.99988494e-01 2.29225316e-04 2.68705356e-01] [-1.25831395e-02 -2.89502516e-04 9.99920787e-01 -4.52955182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314203822 meters 0.026338283071550252 Centerline is valid? [True, True] Translation: X:4.02, Y:0.27, Z:-0.05 [[ 9.99923370e-01 2.06332024e-03 1.22064052e-02 4.01702396e+00] [-2.06615423e-03 9.99997841e-01 2.19566197e-04 2.65593433e-01] [-1.22059258e-02 -2.44769687e-04 9.99925475e-01 -4.66098070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344203821999999 meters 0.026338283071550252 Centerline is valid? [True, True] Translation: X:4.05, Y:0.27, Z:-0.05 [[ 9.99922957e-01 2.25457576e-03 1.22063989e-02 4.04955658e+00] [-2.25742855e-03 9.99997428e-01 2.19939827e-04 2.65972572e-01] [-1.22058716e-02 -2.47477956e-04 9.99925475e-01 -4.75333429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374203822 meters 0.025120330723442056 Centerline is valid? [True, True] Translation: X:4.08, Y:0.27, Z:-0.05 [[ 9.99927822e-01 1.27826562e-03 1.19463933e-02 4.08149673e+00] [-1.28089792e-03 9.99999157e-01 2.12694186e-04 2.66035100e-01] [-1.19461114e-02 -2.27980944e-04 9.99928617e-01 -4.85927658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404203822 meters 0.024149072115313835 Centerline is valid? [True, True] Translation: X:4.11, Y:0.27, Z:-0.05 [[ 9.99923207e-01 -6.28531360e-05 1.23926160e-02 4.11288665e+00] [ 6.01539695e-05 9.99999974e-01 2.18177048e-04 2.68903594e-01] [-1.23926294e-02 -2.17414828e-04 9.99923185e-01 -4.84949989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434203822 meters 0.026108112167630572 Centerline is valid? [True, True] Translation: X:4.14, Y:0.28, Z:-0.05 [[ 9.99919022e-01 5.88671572e-04 1.27123421e-02 4.14418202e+00] [-5.91514229e-04 9.99999801e-01 2.19855204e-04 2.76542927e-01] [-1.27122101e-02 -2.27356931e-04 9.99919171e-01 -4.98881504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464203822 meters 0.023494136930644043 Centerline is valid? [True, True] Translation: X:4.18, Y:0.28, Z:-0.05 [[ 9.99913881e-01 1.45421317e-03 1.30428834e-02 4.17624891e+00] [-1.45727565e-03 9.99998913e-01 2.25299946e-04 2.75374377e-01] [-1.30425416e-02 -2.44287620e-04 9.99914913e-01 -4.72481862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494203822 meters 0.027775399138142066 Centerline is valid? [True, True] Translation: X:4.21, Y:0.28, Z:-0.05 [[ 9.99913165e-01 3.04815028e-03 1.28207508e-02 4.20742193e+00] [-3.05123003e-03 9.99995321e-01 2.20661872e-04 2.81378140e-01] [-1.28200182e-02 -2.59761771e-04 9.99917786e-01 -5.12109312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524203822 meters 0.026669565115233856 Centerline is valid? [True, True] Translation: X:4.24, Y:0.28, Z:-0.05 [[ 9.99917374e-01 3.80290981e-03 1.22794051e-02 4.23914628e+00] [-3.80581068e-03 9.99992735e-01 2.12880086e-04 2.81849926e-01] [-1.22785063e-02 -2.59595587e-04 9.99924583e-01 -5.13158199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554203822 meters 0.02869842686694153 Centerline is valid? [True, True] Translation: X:4.27, Y:0.29, Z:-0.05 [[ 9.99912762e-01 4.08947994e-03 1.25596088e-02 4.27100126e+00] [-4.09251580e-03 9.99991602e-01 2.16024188e-04 2.89232161e-01] [-1.25586199e-02 -2.67405740e-04 9.99921102e-01 -5.43678563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584203822 meters 0.026057591716947655 Centerline is valid? [True, True] Translation: X:4.30, Y:0.29, Z:-0.05 [[ 9.99919951e-01 2.55197198e-03 1.23927222e-02 4.30359614e+00] [-2.55475848e-03 9.99996715e-01 2.09023833e-04 2.91606335e-01] [-1.23921481e-02 -2.40667513e-04 9.99923185e-01 -5.40209566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614203822 meters 0.023929519127009316 Centerline is valid? [True, True] Translation: X:4.34, Y:0.29, Z:-0.05 [[ 9.99922417e-01 1.07670748e-03 1.24096863e-02 4.33608275e+00] [-1.07940026e-03 9.99999395e-01 2.10294215e-04 2.90905161e-01] [-1.24094524e-02 -2.23672919e-04 9.99922975e-01 -5.45498587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644203822 meters 0.019780699757024713 Centerline is valid? [True, True] Translation: X:4.37, Y:0.29, Z:-0.05 [[ 9.99905296e-01 -3.06129209e-03 1.34174175e-02 4.36789405e+00] [ 3.05857828e-03 9.99995298e-01 2.22775941e-04 2.86281379e-01] [-1.34180364e-02 -1.81716622e-04 9.99909958e-01 -5.35110240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674203821999999 meters 0.015644848940871023 Centerline is valid? [True, True] Translation: X:4.40, Y:0.28, Z:-0.05 [[ 9.99857705e-01 -7.08580553e-03 1.53088380e-02 4.39950143e+00] [ 7.08275714e-03 9.99974885e-01 2.53334797e-04 2.81264252e-01] [-1.53102486e-02 -1.44869967e-04 9.99882781e-01 -5.10427582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704203822 meters 0.014070756264010024 Centerline is valid? [True, True] Translation: X:4.43, Y:0.28, Z:-0.05 [[ 9.99838312e-01 -8.72132938e-03 1.57254063e-02 4.43163270e+00] [ 8.71831650e-03 9.99961961e-01 2.60138073e-04 2.78619947e-01] [-1.57270769e-02 -1.22996943e-04 9.99876314e-01 -5.08568802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734203822 meters 0.012445811366848589 Centerline is valid? [True, True] Translation: X:4.46, Y:0.28, Z:-0.05 [[ 9.99813970e-01 -1.05339885e-02 1.61573442e-02 4.46394145e+00] [ 1.05310573e-02 9.99944511e-01 2.66486742e-04 2.76079835e-01] [-1.61592548e-02 -9.62832505e-05 9.99869426e-01 -5.03147635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764203822 meters 0.012330935943240811 Centerline is valid? [True, True] Translation: X:4.49, Y:0.28, Z:-0.05 [[ 9.99802178e-01 -1.07164380e-02 1.67559663e-02 4.49480868e+00] [ 1.07133281e-02 9.99942573e-01 2.75353755e-04 2.77486267e-01] [-1.67579548e-02 -9.57871197e-05 9.99859571e-01 -5.13528285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794203822 meters 0.013320206464506056 Centerline is valid? [True, True] Translation: X:4.53, Y:0.28, Z:-0.05 [[ 9.99810956e-01 -1.05647677e-02 1.63229449e-02 4.52542473e+00] [ 1.05618056e-02 9.99944187e-01 2.67662306e-04 2.81037371e-01] [-1.63248617e-02 -9.52119343e-05 9.99866736e-01 -5.44820325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824203822 meters 0.012881850803188056 Centerline is valid? [True, True] Translation: X:4.56, Y:0.28, Z:-0.05 [[ 9.99819399e-01 -1.03937432e-02 1.59103669e-02 4.55727296e+00] [ 1.03909136e-02 9.99945979e-01 2.60504957e-04 2.81698261e-01] [-1.59122151e-02 -9.51346610e-05 9.99873388e-01 -5.45668564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854203822 meters 0.013452810416147716 Centerline is valid? [True, True] Translation: X:4.59, Y:0.28, Z:-0.06 [[ 9.99835000e-01 -1.00746346e-02 1.51153488e-02 4.58813028e+00] [ 1.00720455e-02 9.99949245e-01 2.47404430e-04 2.82543305e-01] [-1.51170741e-02 -9.51211275e-05 9.99885726e-01 -5.77698790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884203822 meters 0.014142873976631113 Centerline is valid? [True, True] Translation: X:4.62, Y:0.28, Z:-0.06 [[ 9.99847793e-01 -9.61113155e-03 1.45608242e-02 4.61966741e+00] [ 9.60870862e-03 9.99953807e-01 2.36352307e-04 2.81698192e-01] [-1.45624232e-02 -9.64056157e-05 9.99893958e-01 -6.01068682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914203822 meters 0.014090737998207224 Centerline is valid? [True, True] Translation: X:4.65, Y:0.28, Z:-0.06 [[ 9.99851421e-01 -9.41005169e-03 1.44425127e-02 4.65223323e+00] [ 9.40764712e-03 9.99955720e-01 2.34423607e-04 2.81294301e-01] [-1.44440791e-02 -9.85187138e-05 9.99895674e-01 -6.15795771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944203822 meters 0.014265406106043928 Centerline is valid? [True, True] Translation: X:4.68, Y:0.28, Z:-0.06 [[ 9.99857972e-01 -9.40561125e-03 1.39846283e-02 4.68378685e+00] [ 9.40336524e-03 9.99955762e-01 2.26352317e-04 2.82046986e-01] [-1.39861386e-02 -9.48176010e-05 9.99902185e-01 -6.30404053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974203822 meters 0.013849312331740369 Centerline is valid? [True, True] Translation: X:4.72, Y:0.28, Z:-0.06 [[ 9.99863388e-01 -9.27514594e-03 1.36812718e-02 4.71570514e+00] [ 9.27300857e-03 9.99956981e-01 2.19655086e-04 2.82720973e-01] [-1.36827206e-02 -9.27585284e-05 9.99906383e-01 -6.31122498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004203822 meters 0.015334281256131338 Centerline is valid? [True, True] Translation: X:4.75, Y:0.28, Z:-0.07 [[ 9.99884263e-01 -9.03075805e-03 1.22436178e-02 4.74708918e+00] [ 9.02903579e-03 9.99959218e-01 1.95935837e-04 2.84135401e-01] [-1.22448879e-02 -8.53650970e-05 9.99925025e-01 -6.85018849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034203822 meters 0.015363529214314109 Centerline is valid? [True, True] Translation: X:4.78, Y:0.28, Z:-0.07 [[ 9.99892932e-01 -8.62885061e-03 1.18181234e-02 4.77958396e+00] [ 8.62722040e-03 9.99962767e-01 1.88916212e-04 2.83383731e-01] [-1.18193135e-02 -8.69384293e-05 9.99930146e-01 -6.91964506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064203822 meters 0.015380637409474839 Centerline is valid? [True, True] Translation: X:4.81, Y:0.28, Z:-0.07 [[ 9.99895824e-01 -7.35025793e-03 1.24223725e-02 4.81297802e+00] [ 7.34836101e-03 9.99972981e-01 1.98339953e-04 2.83328946e-01] [-1.24234947e-02 -1.07035214e-04 9.99922820e-01 -6.77395324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094203821999999 meters 0.015250086834183689 Centerline is valid? [True, True] Translation: X:4.85, Y:0.28, Z:-0.07 [[ 9.99893763e-01 -7.39703067e-03 1.25597219e-02 4.84542969e+00] [ 7.39511175e-03 9.99972636e-01 1.99219442e-04 2.84435180e-01] [-1.25608518e-02 -1.06317731e-04 9.99921104e-01 -6.85014103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124203822 meters 0.01526873649226042 Centerline is valid? [True, True] Translation: X:4.88, Y:0.29, Z:-0.07 [[ 9.99890122e-01 -7.09671185e-03 1.30146292e-02 4.87772368e+00] [ 7.09463480e-03 9.99974812e-01 2.05755906e-04 2.85451712e-01] [-1.30157615e-02 -1.13399257e-04 9.99915285e-01 -6.84301069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154203822 meters 0.016557290538970336 Centerline is valid? [True, True] Translation: X:4.91, Y:0.29, Z:-0.07 [[ 9.99898760e-01 -6.31614961e-03 1.27505647e-02 4.90850772e+00] [ 6.31410249e-03 9.99980046e-01 2.00801422e-04 2.86598571e-01] [-1.27515786e-02 -1.20272720e-04 9.99918688e-01 -7.17661294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184203822 meters 0.01701844554132035 Centerline is valid? [True, True] Translation: X:4.94, Y:0.29, Z:-0.07 [[ 9.99912741e-01 -5.59548633e-03 1.19666716e-02 4.94096855e+00] [ 5.59363373e-03 9.99984338e-01 1.88278038e-04 2.85631788e-01] [-1.19675376e-02 -1.21324431e-04 9.99928379e-01 -7.42658870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214203822 meters 0.017697009204620022 Centerline is valid? [True, True] Translation: X:4.97, Y:0.28, Z:-0.08 [[ 9.99926562e-01 -4.38171059e-03 1.12991728e-02 4.97313621e+00] [ 4.37998655e-03 9.99990392e-01 1.77323266e-04 2.82415284e-01] [-1.12998412e-02 -1.27820018e-04 9.99936147e-01 -7.73347771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244203822 meters 0.01949877891119921 Centerline is valid? [True, True] Translation: X:5.00, Y:0.29, Z:-0.08 [[ 9.99924501e-01 -3.44349943e-03 1.17955552e-02 5.00479342e+00] [ 3.44156041e-03 9.99994061e-01 1.84679852e-04 2.85579231e-01] [-1.17961211e-02 -1.44070793e-04 9.99930413e-01 -7.84813909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274203822 meters 0.019120950830176214 Centerline is valid? [True, True] Translation: X:5.04, Y:0.29, Z:-0.08 [[ 9.99920750e-01 -3.13373769e-03 1.21931388e-02 5.03695764e+00] [ 3.13165503e-03 9.99995078e-01 1.89895643e-04 2.87332086e-01] [-1.21936739e-02 -1.51695890e-04 9.99925643e-01 -7.72385740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304203822 meters 0.018417088465932166 Centerline is valid? [True, True] Translation: X:5.07, Y:0.29, Z:-0.08 [[ 9.99918983e-01 -3.08638236e-03 1.23491882e-02 5.06893232e+00] [ 3.08424960e-03 9.99995225e-01 1.91744997e-04 2.87834393e-01] [-1.23497211e-02 -1.53641483e-04 9.99923727e-01 -7.68697792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334203822 meters 0.019073035486939244 Centerline is valid? [True, True] Translation: X:5.10, Y:0.29, Z:-0.08 [[ 9.99920248e-01 -2.85233017e-03 1.23029012e-02 5.10117636e+00] [ 2.85020059e-03 9.99995920e-01 1.90625390e-04 2.87359760e-01] [-1.23033947e-02 -1.55544451e-04 9.99924298e-01 -7.94392101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364203822 meters 0.02091459867832438 Centerline is valid? [True, True] Translation: X:5.13, Y:0.29, Z:-0.08 [[ 9.99902740e-01 -1.95664841e-03 1.38087761e-02 5.13212457e+00] [ 1.95389960e-03 9.99998069e-01 2.12551080e-04 2.88469595e-01] [-1.38091653e-02 -1.85549446e-04 9.99904632e-01 -7.95629882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394203822 meters 0.021082820171269 Centerline is valid? [True, True] Translation: X:5.16, Y:0.29, Z:-0.08 [[ 9.99874551e-01 -3.28995314e-04 1.58358466e-02 5.16445620e+00] [ 3.25185210e-04 9.99999918e-01 2.43174346e-04 2.89865051e-01] [-1.58359253e-02 -2.37994257e-04 9.99874576e-01 -7.52947823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424203821999999 meters 0.020449129344016548 Centerline is valid? [True, True] Translation: X:5.20, Y:0.29, Z:-0.08 [[ 9.99881133e-01 2.01907470e-04 1.54168417e-02 5.19643111e+00] [-2.05571446e-04 9.99999951e-01 2.36076211e-04 2.89676878e-01] [-1.54167933e-02 -2.39217412e-04 9.99881126e-01 -7.56833983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454203822 meters 0.022432805475956868 Centerline is valid? [True, True] Translation: X:5.23, Y:0.29, Z:-0.08 [[ 9.99897641e-01 6.53985551e-04 1.42926181e-02 5.22772373e+00] [-6.57180942e-04 9.99999760e-01 2.18873796e-04 2.94557342e-01] [-1.42924715e-02 -2.28244228e-04 9.99897831e-01 -8.03492602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484203822 meters 0.022290990616851202 Centerline is valid? [True, True] Translation: X:5.26, Y:0.30, Z:-0.08 [[ 9.99903803e-01 5.62141646e-05 1.38701868e-02 5.25863368e+00] [-5.91492067e-05 9.99999976e-01 2.11197834e-04 2.96017456e-01] [-1.38701746e-02 -2.11997928e-04 9.99903782e-01 -8.27443610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514203822 meters 0.01939833445372838 Centerline is valid? [True, True] Translation: X:5.29, Y:0.29, Z:-0.09 [[ 9.99915577e-01 -2.24393451e-03 1.27985581e-02 5.29098845e+00] [ 2.24162168e-03 9.99997469e-01 1.95052919e-04 2.91062433e-01] [-1.27989634e-02 -1.66346927e-04 9.99918076e-01 -8.53527036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544203822 meters 0.017889756524456134 Centerline is valid? [True, True] Translation: X:5.32, Y:0.29, Z:-0.09 [[ 9.99920337e-01 -3.57428086e-03 1.21055509e-02 5.32338363e+00] [ 3.57232990e-03 9.99993603e-01 1.82782132e-04 2.88678029e-01] [-1.21061268e-02 -1.39522549e-04 9.99926708e-01 -8.68944219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574203822 meters 0.017898805277464153 Centerline is valid? [True, True] Translation: X:5.35, Y:0.29, Z:-0.09 [[ 9.99921604e-01 -5.54649106e-03 1.12259354e-02 5.35408764e+00] [ 5.54495716e-03 9.99984613e-01 1.67758931e-04 2.89337982e-01] [-1.12266932e-02 -1.05498449e-04 9.99936973e-01 -9.16207991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604203822 meters 0.015984640673916528 Centerline is valid? [True, True] Translation: X:5.39, Y:0.29, Z:-0.09 [[ 9.99891640e-01 -5.92618823e-03 1.34755104e-02 5.38649398e+00] [ 5.92407363e-03 9.99982433e-01 1.96833082e-04 2.88637623e-01] [-1.34764402e-02 -1.16981838e-04 9.99909182e-01 -8.64825319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634203822 meters 0.0157567559313957 Centerline is valid? [True, True] Translation: X:5.42, Y:0.29, Z:-0.08 [[ 9.99871609e-01 -5.52328454e-03 1.50418875e-02 5.41833316e+00] [ 5.52061691e-03 9.99984737e-01 2.18863820e-04 2.91001402e-01] [-1.50428668e-02 -1.35795222e-04 9.99886840e-01 -8.45372137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664203822 meters 0.01636641112999921 Centerline is valid? [True, True] Translation: X:5.45, Y:0.30, Z:-0.08 [[ 9.99863630e-01 -4.32063878e-03 1.59390708e-02 5.45143436e+00] [ 4.31749891e-03 9.99990653e-01 2.31397676e-04 2.98054625e-01] [-1.59399216e-02 -1.62549200e-04 9.99872938e-01 -8.38471896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694203822 meters 0.017531461737785383 Centerline is valid? [True, True] Translation: X:5.48, Y:0.30, Z:-0.09 [[ 9.99877681e-01 -3.39074185e-03 1.52684771e-02 5.48264078e+00] [ 3.38777437e-03 9.99994237e-01 2.20214374e-04 3.01983802e-01] [-1.52691358e-02 -1.68461282e-04 9.99883406e-01 -8.64029138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724203822 meters 0.017200595059548632 Centerline is valid? [True, True] Translation: X:5.52, Y:0.30, Z:-0.09 [[ 9.99883753e-01 -2.76524910e-03 1.49944803e-02 5.51510249e+00] [ 2.76232180e-03 9.99996161e-01 2.15932497e-04 3.04949549e-01] [-1.49950198e-02 -1.74487816e-04 9.99887553e-01 -8.61328875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754203822 meters 0.018662750738635877 Centerline is valid? [True, True] Translation: X:5.55, Y:0.31, Z:-0.09 [[ 9.99893891e-01 -2.57873806e-03 1.43372788e-02 5.54618930e+00] [ 2.57605406e-03 9.99996661e-01 2.05668958e-04 3.13934070e-01] [-1.43377613e-02 -1.68713529e-04 9.99897195e-01 -8.92264833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784203822 meters 0.01854320429263108 Centerline is valid? [True, True] Translation: X:5.58, Y:0.32, Z:-0.09 [[ 9.99895478e-01 -2.69067732e-03 1.42053938e-02 5.57869387e+00] [ 2.68805420e-03 9.99996366e-01 2.03746690e-04 3.16141362e-01] [-1.42058904e-02 -1.65540526e-04 9.99899078e-01 -9.09431690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814203822 meters 0.016513918730776296 Centerline is valid? [True, True] Translation: X:5.61, Y:0.32, Z:-0.09 [[ 9.99896578e-01 -4.17928839e-03 1.37610410e-02 5.61114707e+00] [ 4.17696080e-03 9.99991257e-01 1.97880741e-04 3.16127168e-01] [-1.37617477e-02 -1.40380947e-04 9.99905293e-01 -9.17404709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844203822 meters 0.015514488138027806 Centerline is valid? [True, True] Translation: X:5.64, Y:0.32, Z:-0.09 [[ 9.99872093e-01 -5.66741699e-03 1.49558481e-02 5.64285939e+00] [ 5.66490082e-03 9.99983932e-01 2.10599023e-04 3.16126842e-01] [-1.49568013e-02 -1.25848690e-04 9.99888133e-01 -9.22867547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874203822 meters 0.012381465940337484 Centerline is valid? [True, True] Translation: X:5.67, Y:0.31, Z:-0.09 [[ 9.99826042e-01 -8.27816227e-03 1.67139863e-02 5.67481873e+00] [ 8.27540001e-03 9.99965731e-01 2.34423202e-04 3.13509835e-01] [-1.67153541e-02 -9.60674998e-05 9.99860284e-01 -8.93616407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904203822 meters 0.011784482143881309 Centerline is valid? [True, True] Translation: X:5.71, Y:0.31, Z:-0.09 [[ 9.99823533e-01 -9.45046390e-03 1.62355230e-02 5.70825996e+00] [ 9.44801925e-03 9.99955341e-01 2.27270946e-04 3.13561792e-01] [-1.62369457e-02 -7.38373065e-05 9.99868169e-01 -9.09579038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934203822 meters 0.01179557979347985 Centerline is valid? [True, True] Translation: X:5.74, Y:0.32, Z:-0.10 [[ 9.99811587e-01 -1.19878219e-02 1.52670686e-02 5.74017243e+00] [ 1.19859498e-02 9.99928143e-01 2.14118776e-04 3.16661891e-01] [-1.52685383e-02 -3.10881156e-05 9.99883429e-01 -9.53914742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964203822 meters 0.011734266537000618 Centerline is valid? [True, True] Translation: X:5.77, Y:0.32, Z:-0.10 [[ 9.99768433e-01 -1.51429671e-02 1.52895624e-02 5.77342498e+00] [ 1.51415213e-02 9.99885338e-01 2.10322598e-04 3.17146648e-01] [-1.52909942e-02 2.12333406e-05 9.99883086e-01 -9.66577689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994203822 meters 0.011340043669490082 Centerline is valid? [True, True] Translation: X:5.81, Y:0.32, Z:-0.09 [[ 9.99739564e-01 -1.70154072e-02 1.52079038e-02 5.80534323e+00] [ 1.70142124e-02 9.99855226e-01 2.07951108e-04 3.16804072e-01] [-1.52092404e-02 5.08535547e-05 9.99884332e-01 -9.45340114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024203822 meters 0.014207856472841162 Centerline is valid? [True, True] Translation: X:5.84, Y:0.31, Z:-0.10 [[ 9.99685330e-01 -2.00083002e-02 1.51297443e-02 5.83617958e+00] [ 2.00074627e-02 9.99799809e-01 2.06730495e-04 3.12250374e-01] [-1.51308518e-02 9.60423516e-05 9.99885517e-01 -9.86298962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054203822 meters 0.013243295220521251 Centerline is valid? [True, True] Translation: X:5.87, Y:0.31, Z:-0.09 [[ 9.99656482e-01 -2.11014097e-02 1.55450303e-02 5.86935693e+00] [ 2.11006845e-02 9.99777334e-01 2.10686749e-04 3.13137506e-01] [-1.55460148e-02 1.17396407e-04 9.99879147e-01 -9.49963342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084203822 meters 0.017066428583284145 Centerline is valid? [True, True] Translation: X:5.90, Y:0.31, Z:-0.10 [[ 9.99594344e-01 -2.34614140e-02 1.61465025e-02 5.90059866e+00] [ 2.34609665e-02 9.99724730e-01 2.17158217e-04 3.08379278e-01] [-1.61471527e-02 1.61742428e-04 9.99869613e-01 -9.89742964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114203822 meters 0.016505022131175415 Centerline is valid? [True, True] Translation: X:5.93, Y:0.31, Z:-0.10 [[ 9.99542372e-01 -2.57277809e-02 1.59099683e-02 5.93235638e+00] [ 2.57276422e-02 9.99668967e-01 2.13430340e-04 3.08213994e-01] [-1.59101926e-02 1.95993303e-04 9.99873406e-01 -9.72105272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144203822 meters 0.018232598103847617 Centerline is valid? [True, True] Translation: X:5.96, Y:0.31, Z:-0.10 [[ 9.99500345e-01 -2.64501444e-02 1.73046255e-02 5.96403977e+00] [ 2.64501009e-02 9.99650108e-01 2.31422069e-04 3.05537237e-01] [-1.73046919e-02 2.26402654e-04 9.99850237e-01 -9.67836575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174203821999999 meters 0.0175680114369951 Centerline is valid? [True, True] Translation: X:6.00, Y:0.31, Z:-0.10 [[ 9.99501671e-01 -2.63180699e-02 1.74289498e-02 5.99748585e+00] [ 2.63180102e-02 9.99653594e-01 2.32829903e-04 3.07492395e-01] [-1.74290399e-02 2.25981401e-04 9.99848077e-01 -9.63099903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204203822 meters 0.016806629027260045 Centerline is valid? [True, True] Translation: X:6.03, Y:0.31, Z:-0.10 [[ 9.99547649e-01 -2.54027962e-02 1.60995203e-02 6.03004830e+00] [ 2.54026468e-02 9.99677278e-01 2.13813145e-04 3.10000257e-01] [-1.60997560e-02 1.95254000e-04 9.99870371e-01 -9.89645695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234203822 meters 0.014490697178600227 Centerline is valid? [True, True] Translation: X:6.06, Y:0.32, Z:-0.10 [[ 9.99675172e-01 -2.13637956e-02 1.38974515e-02 6.06122148e+00] [ 2.13633005e-02 9.99771762e-01 1.84095366e-04 3.16556278e-01] [-1.38982125e-02 1.12859866e-04 9.99903409e-01 -1.03969359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264203822 meters 0.01336496693218429 Centerline is valid? [True, True] Translation: X:6.09, Y:0.32, Z:-0.11 [[ 9.99724998e-01 -1.90322444e-02 1.37004199e-02 6.09202358e+00] [ 1.90315552e-02 9.99818867e-01 1.80694835e-04 3.19375151e-01] [-1.37013773e-02 8.00951535e-05 9.99906129e-01 -1.06119509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294203822 meters 0.01336496693218429 Centerline is valid? [True, True] Translation: X:6.12, Y:0.32, Z:-0.11 [[ 9.99726309e-01 -1.89632909e-02 1.37004196e-02 6.12452902e+00] [ 1.89625949e-02 9.99820178e-01 1.80716425e-04 3.19668564e-01] [-1.37013830e-02 7.91285427e-05 9.99906129e-01 -1.07042396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324203822 meters 0.011078412299614709 Centerline is valid? [True, True] Translation: X:6.16, Y:0.33, Z:-0.11 [[ 9.99789309e-01 -1.43896421e-02 1.46381561e-02 6.15641902e+00] [ 1.43883785e-02 9.99896464e-01 1.91640639e-04 3.25464067e-01] [-1.46393981e-02 1.90190678e-05 9.99892838e-01 -1.05254835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354203822 meters 0.011175274091853302 Centerline is valid? [True, True] Translation: X:6.19, Y:0.33, Z:-0.11 [[ 9.99810880e-01 -1.25305161e-02 1.48724442e-02 6.18728935e+00] [ 1.25290191e-02 9.99921490e-01 1.93827120e-04 3.28517226e-01] [-1.48737053e-02 -7.45332592e-06 9.99889380e-01 -1.07002120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384203822 meters 0.012070751389659483 Centerline is valid? [True, True] Translation: X:6.22, Y:0.33, Z:-0.11 [[ 9.99845670e-01 -9.06968446e-03 1.50458140e-02 6.21892652e+00] [ 9.06776653e-03 9.99958868e-01 1.95688751e-04 3.34439215e-01] [-1.50469700e-02 -5.92266220e-05 9.99886786e-01 -1.07235395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414203822 meters 0.014221167305951044 Centerline is valid? [True, True] Translation: X:6.25, Y:0.34, Z:-0.11 [[ 9.99851757e-01 -5.21548517e-03 1.64092156e-02 6.25003408e+00] [ 5.21270158e-03 9.99986391e-01 2.12402817e-04 3.41786715e-01] [-1.64101001e-02 -1.26834986e-04 9.99865337e-01 -1.06053986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444203822 meters 0.014303338350562895 Centerline is valid? [True, True] Translation: X:6.28, Y:0.34, Z:-0.10 [[ 9.99855274e-01 -3.50221505e-03 1.66482826e-02 6.28248072e+00] [ 3.49911929e-03 9.99993855e-01 2.15076607e-04 3.43153672e-01] [-1.66489336e-02 -1.56791153e-04 9.99861385e-01 -1.04920148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474203822 meters 0.01813423374475364 Centerline is valid? [True, True] Translation: X:6.31, Y:0.35, Z:-0.11 [[ 9.99870710e-01 -1.52804589e-03 1.60071386e-02 6.31351111e+00] [ 1.52494514e-03 9.99998816e-01 2.05914082e-04 3.46352333e-01] [-1.60074343e-02 -1.81477451e-04 9.99871856e-01 -1.10108186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504203822 meters 0.01704193571153466 Centerline is valid? [True, True] Translation: X:6.35, Y:0.34, Z:-0.11 [[ 9.99867946e-01 -1.03739073e-03 1.62176922e-02 6.34704734e+00] [ 1.03414620e-03 9.99999444e-01 2.08446298e-04 3.44381595e-01] [-1.62178994e-02 -1.91647308e-04 9.99868463e-01 -1.08936632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534203822 meters 0.017783433966602157 Centerline is valid? [True, True] Translation: X:6.38, Y:0.35, Z:-0.11 [[ 9.99840452e-01 -1.11534098e-03 1.78277058e-02 6.37833267e+00] [ 1.11144360e-03 9.99999356e-01 2.28520002e-04 3.45219426e-01] [-1.78279492e-02 -2.08669053e-04 9.99841048e-01 -1.08088377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564203822 meters 0.01430846522460019 Centerline is valid? [True, True] Translation: X:6.41, Y:0.34, Z:-0.11 [[ 9.99824232e-01 -2.98824478e-03 1.85087789e-02 6.41031877e+00] [ 2.98441809e-03 9.99995519e-01 2.34367773e-04 3.38339643e-01] [-1.85093963e-02 -1.79088644e-04 9.99828670e-01 -1.06058829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594203822 meters 0.013451128754379463 Centerline is valid? [True, True] Translation: X:6.44, Y:0.34, Z:-0.11 [[ 9.99820562e-01 -4.00273901e-03 1.85154642e-02 6.44286693e+00] [ 3.99914109e-03 9.99991977e-01 2.31341963e-04 3.35966804e-01] [-1.85162416e-02 -1.57254498e-04 9.99828547e-01 -1.06750602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624203822 meters 0.012482905233739072 Centerline is valid? [True, True] Translation: X:6.47, Y:0.33, Z:-0.11 [[ 9.99794305e-01 -5.71650778e-03 1.94594100e-02 6.47407161e+00] [ 5.71292804e-03 9.99983652e-01 2.39545025e-04 3.31958728e-01] [-1.94604612e-02 -1.28325543e-04 9.99810619e-01 -1.06881900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654203822 meters 0.011406027342162579 Centerline is valid? [True, True] Translation: X:6.51, Y:0.33, Z:-0.11 [[ 9.99789285e-01 -6.33104369e-03 1.95269843e-02 6.50738368e+00] [ 6.32760941e-03 9.99979952e-01 2.37654805e-04 3.29099176e-01] [-1.95280974e-02 -1.14045598e-04 9.99809302e-01 -1.07080848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684203822 meters 0.01109564266086298 Centerline is valid? [True, True] Translation: X:6.54, Y:0.33, Z:-0.11 [[ 9.99786413e-01 -6.98484418e-03 1.94509922e-02 6.53921581e+00] [ 6.98163283e-03 9.99975601e-01 2.33002145e-04 3.25104770e-01] [-1.94521451e-02 -9.71526929e-05 9.99810784e-01 -1.09286586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714203822 meters 0.011142635705226321 Centerline is valid? [True, True] Translation: X:6.57, Y:0.32, Z:-0.11 [[ 9.99791186e-01 -6.60240971e-03 1.93388644e-02 6.57261635e+00] [ 6.59924701e-03 9.99978199e-01 2.27354445e-04 3.21507683e-01] [-1.93399439e-02 -9.96850271e-05 9.99812961e-01 -1.10022788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744203822 meters 0.011807993373317408 Centerline is valid? [True, True] Translation: X:6.60, Y:0.32, Z:-0.11 [[ 9.99793371e-01 -5.63834554e-03 1.95300960e-02 6.60481779e+00] [ 5.63494521e-03 9.99984097e-01 2.29134018e-04 3.22373838e-01] [-1.95310774e-02 -1.19035651e-04 9.99809243e-01 -1.10567171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774203822 meters 0.01291565436703068 Centerline is valid? [True, True] Translation: X:6.64, Y:0.32, Z:-0.11 [[ 9.99785588e-01 -3.93164229e-03 2.03302864e-02 6.63656068e+00] [ 3.92768127e-03 9.99992259e-01 2.34759723e-04 3.24427824e-01] [-2.03310520e-02 -1.54858502e-04 9.99793291e-01 -1.10930484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804203822 meters 0.013036750492082859 Centerline is valid? [True, True] Translation: X:6.67, Y:0.32, Z:-0.11 [[ 9.99790880e-01 -3.63030081e-03 2.01250383e-02 6.66953464e+00] [ 3.62642509e-03 9.99993398e-01 2.29073780e-04 3.23716668e-01] [-2.01257370e-02 -1.56043932e-04 9.99797445e-01 -1.12201166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834203822 meters 0.01294271470785016 Centerline is valid? [True, True] Translation: X:6.70, Y:0.32, Z:-0.12 [[ 9.99808717e-01 -4.13418972e-03 1.91164356e-02 6.70104020e+00] [ 4.13085131e-03 9.99991445e-01 2.14119992e-04 3.18866693e-01] [-1.91171573e-02 -1.35111882e-04 9.99817241e-01 -1.16059678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864203822 meters 0.012103391271093665 Centerline is valid? [True, True] Translation: X:6.73, Y:0.32, Z:-0.12 [[ 9.99802899e-01 -5.14955276e-03 1.91740543e-02 6.73367157e+00] [ 5.14646007e-03 9.99986735e-01 2.10636510e-04 3.15242731e-01] [-1.91748846e-02 -1.11916489e-04 9.99816139e-01 -1.17232134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894203822 meters 0.010418943016410324 Centerline is valid? [True, True] Translation: X:6.77, Y:0.31, Z:-0.12 [[ 9.99805097e-01 -7.50852123e-03 1.82589506e-02 6.76718568e+00] [ 7.50609723e-03 9.99971809e-01 2.01286420e-04 3.08305661e-01] [-1.82599472e-02 -6.41937302e-05 9.99833271e-01 -1.18184631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924203822 meters 0.010727962474960169 Centerline is valid? [True, True] Translation: X:6.80, Y:0.31, Z:-0.12 [[ 9.99808511e-01 -8.28626782e-03 1.77279453e-02 6.79884547e+00] [ 8.28416443e-03 9.99965667e-01 1.92082166e-04 3.07972020e-01] [-1.77289283e-02 -4.51841702e-05 9.99842829e-01 -1.21386647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954203822 meters 0.010522465135094472 Centerline is valid? [True, True] Translation: X:6.83, Y:0.31, Z:-0.12 [[ 9.99835617e-01 -8.58969319e-03 1.59673586e-02 6.83091346e+00] [ 8.58808884e-03 9.99963107e-01 1.69044456e-04 3.08300854e-01] [-1.59682216e-02 -3.18875731e-05 9.99872499e-01 -1.21468834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984203822 meters 0.011352224498055338 Centerline is valid? [True, True] Translation: X:6.86, Y:0.31, Z:-0.12 [[ 9.99853031e-01 -7.45385720e-03 1.54388134e-02 6.86203304e+00] [ 7.45222384e-03 9.99972218e-01 1.63324369e-04 3.06137961e-01] [-1.54396019e-02 -4.82468720e-05 9.99880801e-01 -1.24288764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014203822 meters 0.011564758308295061 Centerline is valid? [True, True] Translation: X:6.89, Y:0.31, Z:-0.12 [[ 9.99850885e-01 -6.53039329e-03 1.59862774e-02 6.89452678e+00] [ 6.52855877e-03 9.99978675e-01 1.66940993e-04 3.05456306e-01] [-1.59870267e-02 -6.25487482e-05 9.99872197e-01 -1.24679697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044203822 meters 0.01262148830813384 Centerline is valid? [True, True] Translation: X:6.93, Y:0.31, Z:-0.12 [[ 9.99846133e-01 -3.86838663e-03 1.71098289e-02 6.92723558e+00] [ 3.86590611e-03 9.99992512e-01 1.78049098e-04 3.06969027e-01] [-1.71103896e-02 -1.11876710e-04 9.99853600e-01 -1.23796490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074203822 meters 0.014233298194644372 Centerline is valid? [True, True] Translation: X:6.96, Y:0.31, Z:-0.12 [[ 9.99833853e-01 -1.41951970e-03 1.81727923e-02 6.95984870e+00] [ 1.41634691e-03 9.99998979e-01 1.87459591e-04 3.12421432e-01] [-1.81730398e-02 -1.61689467e-04 9.99834844e-01 -1.23138973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104203822 meters 0.01458199622786312 Centerline is valid? [True, True] Translation: X:6.99, Y:0.32, Z:-0.12 [[ 9.99830372e-01 -9.05206044e-04 1.83958596e-02 6.99273277e+00] [ 9.01879722e-04 9.99999575e-01 1.89114385e-04 3.15418780e-01] [-1.83960230e-02 -1.72491453e-04 9.99830764e-01 -1.23235514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134203822 meters 0.013811434817363258 Centerline is valid? [True, True] Translation: X:7.03, Y:0.32, Z:-0.12 [[ 9.99813156e-01 -1.16870449e-03 1.92947606e-02 7.02523093e+00] [ 1.16510574e-03 9.99999302e-01 1.97754685e-04 3.16902089e-01] [-1.92949782e-02 -1.75237299e-04 9.99813819e-01 -1.22396281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164203822 meters 0.012917828426061026 Centerline is valid? [True, True] Translation: X:7.06, Y:0.31, Z:-0.12 [[ 9.99815597e-01 -1.75845712e-03 1.91227342e-02 7.05809574e+00] [ 1.75508472e-03 9.99998441e-01 1.93136255e-04 3.14338507e-01] [-1.91230440e-02 -1.59538622e-04 9.99817125e-01 -1.22615655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194203822 meters 0.011046586993088844 Centerline is valid? [True, True] Translation: X:7.09, Y:0.31, Z:-0.12 [[ 9.99797924e-01 -3.91613146e-03 1.97173684e-02 7.09022244e+00] [ 3.91304798e-03 9.99992325e-01 1.94962882e-04 3.06090330e-01] [-1.97179806e-02 -1.17768476e-04 9.99805575e-01 -1.23104283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224203822 meters 0.010142817102189842 Centerline is valid? [True, True] Translation: X:7.12, Y:0.30, Z:-0.12 [[ 9.99785413e-01 -5.50193651e-03 1.99713776e-02 7.12150974e+00] [ 5.49916101e-03 9.99984861e-01 1.93890182e-04 3.03005642e-01] [-1.99721420e-02 -8.40227549e-05 9.99800533e-01 -1.23940616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254203822 meters 0.00927435805044878 Centerline is valid? [True, True] Translation: X:7.15, Y:0.30, Z:-0.13 [[ 9.99773554e-01 -8.05486284e-03 1.96966933e-02 7.15432669e+00] [ 8.05271249e-03 9.99967559e-01 1.88485875e-04 3.01778586e-01] [-1.96975726e-02 -2.98313844e-05 9.99805984e-01 -1.25363006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284203822 meters 0.009349369535206938 Centerline is valid? [True, True] Translation: X:7.19, Y:0.30, Z:-0.13 [[ 9.99769355e-01 -9.73832866e-03 1.91416395e-02 7.18769376e+00] [ 9.73667387e-03 9.99952581e-01 1.79646839e-04 2.98873638e-01] [-1.91424813e-02 6.77049709e-06 9.99816766e-01 -1.28448723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314203822 meters 0.009658085530030447 Centerline is valid? [True, True] Translation: X:7.22, Y:0.30, Z:-0.13 [[ 9.99775060e-01 -1.01610884e-02 1.86167019e-02 7.21967262e+00] [ 1.01596624e-02 9.99948375e-01 1.71175751e-04 2.97618085e-01] [-1.86174801e-02 1.80021593e-05 9.99826680e-01 -1.30527732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344203822 meters 0.01015832645470874 Centerline is valid? [True, True] Translation: X:7.25, Y:0.29, Z:-0.13 [[ 9.99786004e-01 -1.12240035e-02 1.73772067e-02 7.25147293e+00] [ 1.12229951e-02 9.99937008e-01 1.55553877e-04 2.94216026e-01] [-1.73778580e-02 3.95037160e-05 9.99848993e-01 -1.33025486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374203822 meters 0.010491104116782024 Centerline is valid? [True, True] Translation: X:7.28, Y:0.29, Z:-0.13 [[ 9.99773601e-01 -1.13882692e-02 1.79737060e-02 7.28287969e+00] [ 1.13872132e-02 9.99935151e-01 1.61095411e-04 2.92164156e-01] [-1.79743750e-02 4.36114834e-05 9.99838447e-01 -1.34459827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404203822 meters 0.010089370692193948 Centerline is valid? [True, True] Translation: X:7.32, Y:0.29, Z:-0.13 [[ 9.99783954e-01 -1.05916668e-02 1.78846700e-02 7.31570613e+00] [ 1.05905590e-02 9.99943906e-01 1.56655906e-04 2.93815223e-01] [-1.78853261e-02 3.27865910e-05 9.99840044e-01 -1.33805835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434203822 meters 0.010108789159064099 Centerline is valid? [True, True] Translation: X:7.35, Y:0.30, Z:-0.14 [[ 9.99805337e-01 -9.56096523e-03 1.72590655e-02 7.34810899e+00] [ 9.55980446e-03 9.99954293e-01 1.49759066e-04 2.96152863e-01] [-1.72597085e-02 1.52633777e-05 9.99851040e-01 -1.35873452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464203822 meters 0.010124725671597636 Centerline is valid? [True, True] Translation: X:7.38, Y:0.30, Z:-0.14 [[ 9.99829231e-01 -7.39533721e-03 1.69357042e-02 7.37987926e+00] [ 7.39392180e-03 9.99972654e-01 1.46189671e-04 2.98248233e-01] [-1.69363222e-02 -2.09434341e-05 9.99856570e-01 -1.37533225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494203822 meters 0.01016284695217598 Centerline is valid? [True, True] Translation: X:7.41, Y:0.30, Z:-0.14 [[ 9.99818837e-01 -6.29081911e-03 1.79643693e-02 7.41065632e+00] [ 6.28904518e-03 9.99980212e-01 1.55239614e-04 2.98724034e-01] [-1.79649904e-02 -4.22327603e-05 9.99838616e-01 -1.37773825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524203822 meters 0.0100903651244622 Centerline is valid? [True, True] Translation: X:7.44, Y:0.30, Z:-0.14 [[ 9.99805274e-01 -5.42658481e-03 1.89727931e-02 7.44145577e+00] [ 5.42451148e-03 9.99985274e-01 1.60741536e-04 3.00824783e-01] [-1.89733860e-02 -5.77921014e-05 9.99819987e-01 -1.36626602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554203822 meters 0.010328657271404534 Centerline is valid? [True, True] Translation: X:7.47, Y:0.30, Z:-0.14 [[ 9.99812061e-01 -5.08929951e-03 1.87067145e-02 7.47351224e+00] [ 5.08727331e-03 9.99987048e-01 1.55900309e-04 3.04071086e-01] [-1.87072657e-02 -6.07048398e-05 9.99825002e-01 -1.37931641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584203822 meters 0.010467660125458318 Centerline is valid? [True, True] Translation: X:7.51, Y:0.30, Z:-0.14 [[ 9.99815129e-01 -4.83525609e-03 1.86099195e-02 7.50576040e+00] [ 4.83326705e-03 9.99988308e-01 1.51856866e-04 3.04590268e-01] [-1.86104362e-02 -6.18820809e-05 9.99826809e-01 -1.39266057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614203822 meters 0.010163543458320028 Centerline is valid? [True, True] Translation: X:7.54, Y:0.30, Z:-0.14 [[ 9.99824771e-01 -4.79275660e-03 1.80957533e-02 7.53772629e+00] [ 4.79094637e-03 9.99988513e-01 1.43386030e-04 3.03992609e-01] [-1.80962327e-02 -5.66651213e-05 9.99836248e-01 -1.40990080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644203822 meters 0.011005517441506114 Centerline is valid? [True, True] Translation: X:7.57, Y:0.30, Z:-0.15 [[ 9.99828144e-01 -4.48699777e-03 1.79874606e-02 7.57012330e+00] [ 4.48515039e-03 9.99989931e-01 1.43044125e-04 3.04105746e-01] [-1.79879213e-02 -6.23430762e-05 9.99838202e-01 -1.45293119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674203822 meters 0.011821046622072805 Centerline is valid? [True, True] Translation: X:7.60, Y:0.31, Z:-0.15 [[ 9.99846767e-01 -3.34632808e-03 1.71827016e-02 7.60187733e+00] [ 3.34454986e-03 9.99994398e-01 1.32224742e-04 3.07757607e-01] [-1.71830478e-02 -7.47360789e-05 9.99852358e-01 -1.47012819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704203822 meters 0.012671066934867433 Centerline is valid? [True, True] Translation: X:7.63, Y:0.31, Z:-0.15 [[ 9.99852800e-01 -2.38287080e-03 1.69911613e-02 7.63354486e+00] [ 2.38098181e-03 9.99997157e-01 1.31403308e-04 3.13158810e-01] [-1.69914261e-02 -9.09283192e-05 9.99855631e-01 -1.48828338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734203822 meters 0.013806252144073093 Centerline is valid? [True, True] Translation: X:7.67, Y:0.32, Z:-0.15 [[ 9.99864183e-01 -8.89813810e-04 1.64567201e-02 7.66592622e+00] [ 8.87907062e-04 9.99999598e-01 1.23170542e-04 3.21475310e-01] [-1.64568231e-02 -1.08541776e-04 9.99864571e-01 -1.51621730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764203822 meters 0.01276068128843453 Centerline is valid? [True, True] Translation: X:7.70, Y:0.32, Z:-0.15 [[ 9.99867816e-01 -9.10871156e-04 1.62333224e-02 7.69935962e+00] [ 9.09024721e-04 9.99999580e-01 1.21121917e-04 3.21008757e-01] [-1.62334259e-02 -1.06349415e-04 9.99868224e-01 -1.50351995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794203822 meters 0.011836196563869318 Centerline is valid? [True, True] Translation: X:7.73, Y:0.32, Z:-0.15 [[ 9.99858439e-01 -1.17732096e-03 1.67843940e-02 7.73168995e+00] [ 1.17538627e-03 9.99999301e-01 1.25131543e-04 3.21357380e-01] [-1.67845296e-02 -1.05385683e-04 9.99859124e-01 -1.49271896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824203822 meters 0.011216086384439728 Centerline is valid? [True, True] Translation: X:7.76, Y:0.32, Z:-0.15 [[ 9.99843922e-01 -2.80492654e-03 1.74431548e-02 7.76244863e+00] [ 2.80314309e-03 9.99996063e-01 1.26692269e-04 3.23553138e-01] [-1.74434415e-02 -7.77768366e-05 9.99847849e-01 -1.50451868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854203822 meters 0.010563290780029657 Centerline is valid? [True, True] Translation: X:7.79, Y:0.32, Z:-0.15 [[ 9.99835576e-01 -3.99940452e-03 1.76868777e-02 7.79482371e+00] [ 3.99780763e-03 9.99992001e-01 1.25643309e-04 3.23087162e-01] [-1.76872387e-02 -5.49139157e-05 9.99843567e-01 -1.50713341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884203822 meters 0.009143231706217617 Centerline is valid? [True, True] Translation: X:7.83, Y:0.32, Z:-0.15 [[ 9.99774026e-01 -7.06677531e-03 2.00488605e-02 7.82751798e+00] [ 7.06541783e-03 9.99975030e-01 1.38542676e-04 3.21990626e-01] [-2.00493389e-02 3.14220742e-06 9.99798992e-01 -1.47224897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914203822 meters 0.00917841638083065 Centerline is valid? [True, True] Translation: X:7.86, Y:0.32, Z:-0.15 [[ 9.99737108e-01 -8.87916467e-03 2.11394218e-02 7.85828771e+00] [ 8.87814305e-03 9.99960578e-01 1.42179353e-04 3.20924562e-01] [-2.11398509e-02 4.55368357e-05 9.99776527e-01 -1.46318117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944203822 meters 0.010801283379934348 Centerline is valid? [True, True] Translation: X:7.89, Y:0.32, Z:-0.15 [[ 9.99676499e-01 -1.21165639e-02 2.23626242e-02 7.88993392e+00] [ 1.21163103e-02 9.99926584e-01 1.46840678e-04 3.15176192e-01] [-2.23627616e-02 1.24159318e-04 9.99749914e-01 -1.45569306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974203822 meters 0.012367623162442153 Centerline is valid? [True, True] Translation: X:7.92, Y:0.31, Z:-0.15 [[ 9.99663829e-01 -1.32711661e-02 2.22734195e-02 7.92069952e+00] [ 1.32713006e-02 9.99911922e-01 1.41787227e-04 3.12353113e-01] [-2.22733394e-02 1.53857682e-04 9.99751907e-01 -1.47455204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004203822000001 meters 0.01259381688171104 Centerline is valid? [True, True] Translation: X:7.95, Y:0.31, Z:-0.15 [[ 9.99655177e-01 -1.38943132e-02 2.22817396e-02 7.95241001e+00] [ 1.38946521e-02 9.99903455e-01 1.39616814e-04 3.13610895e-01] [-2.22815283e-02 1.70028348e-04 9.99751721e-01 -1.47986614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034203822 meters 0.010823017107042214 Centerline is valid? [True, True] Translation: X:7.99, Y:0.32, Z:-0.15 [[ 9.99707254e-01 -1.21657361e-02 2.09141499e-02 7.98562879e+00] [ 1.21656703e-02 9.99925987e-01 1.30382544e-04 3.17191161e-01] [-2.09141882e-02 1.24090277e-04 9.99781267e-01 -1.50724881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064203822 meters 0.00990629610679386 Centerline is valid? [True, True] Translation: X:8.02, Y:0.32, Z:-0.15 [[ 9.99772928e-01 -9.05111820e-03 1.92916904e-02 8.01757695e+00] [ 9.05048755e-03 9.99959036e-01 1.19999896e-04 3.23932606e-01] [-1.92919863e-02 5.46265565e-05 9.99813891e-01 -1.54793330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094203822 meters 0.009584715224613627 Centerline is valid? [True, True] Translation: X:8.05, Y:0.33, Z:-0.16 [[ 9.99778984e-01 -7.37904235e-03 1.96858385e-02 8.04887552e+00] [ 7.37814758e-03 9.99972774e-01 1.18082788e-04 3.28472519e-01] [-1.96861738e-02 2.71883315e-05 9.99806208e-01 -1.55825233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124203822 meters 0.009314435467632422 Centerline is valid? [True, True] Translation: X:8.08, Y:0.34, Z:-0.16 [[ 9.99782741e-01 -4.82210091e-03 2.02785164e-02 8.08100782e+00] [ 4.82067325e-03 9.99988373e-01 1.19285124e-04 3.36434832e-01] [-2.02788558e-02 -2.15031062e-05 9.99794363e-01 -1.55108010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154203822 meters 0.009314435467632422 Centerline is valid? [True, True] Translation: X:8.11, Y:0.34, Z:-0.16 [[ 9.99783607e-01 -4.63907608e-03 2.02785154e-02 8.11353864e+00] [ 4.63760694e-03 9.99989239e-01 1.19474532e-04 3.36431785e-01] [-2.02788515e-02 -2.54048950e-05 9.99794363e-01 -1.56031525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184203822 meters 0.009306766188447484 Centerline is valid? [True, True] Translation: X:8.15, Y:0.34, Z:-0.16 [[ 9.99787540e-01 -3.71190289e-03 2.02755034e-02 8.14621789e+00] [ 3.71033723e-03 9.99993110e-01 1.14837694e-04 3.39238278e-01] [-2.02757900e-02 -3.95843409e-05 9.99794424e-01 -1.55832963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214203822 meters 0.009979110129786249 Centerline is valid? [True, True] Translation: X:8.18, Y:0.34, Z:-0.16 [[ 9.99793297e-01 -2.28272175e-03 2.02028035e-02 8.17818144e+00] [ 2.28088710e-03 9.99997392e-01 1.13853957e-04 3.41763992e-01] [-2.02030107e-02 -6.77501090e-05 9.99795896e-01 -1.59319233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244203822 meters 0.009752615162786948 Centerline is valid? [True, True] Translation: X:8.21, Y:0.34, Z:-0.16 [[ 9.99790902e-01 -1.84491190e-03 2.03653957e-02 8.21161872e+00] [ 1.84302832e-03 9.99998295e-01 1.11257926e-04 3.41292443e-01] [-2.03655663e-02 -7.37006610e-05 9.99792598e-01 -1.59500572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274203822 meters 0.009719147245587699 Centerline is valid? [True, True] Translation: X:8.24, Y:0.34, Z:-0.16 [[ 9.99784172e-01 -1.69391102e-03 2.07060395e-02 8.24359523e+00] [ 1.69201787e-03 9.99998563e-01 1.08948515e-04 3.43744433e-01] [-2.07061943e-02 -7.38900124e-05 9.99785601e-01 -1.60687988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304203822 meters 0.009739229203275867 Centerline is valid? [True, True] Translation: X:8.28, Y:0.34, Z:-0.16 [[ 9.99782777e-01 -2.03811256e-03 2.07423649e-02 8.27549485e+00] [ 2.03636480e-03 9.99997921e-01 1.05381860e-04 3.44345067e-01] [-2.07425366e-02 -6.31199469e-05 9.99784848e-01 -1.62398697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334203822000001 meters 0.009203051754811663 Centerline is valid? [True, True] Translation: X:8.31, Y:0.34, Z:-0.16 [[ 9.99788513e-01 -3.72538370e-03 2.02250137e-02 8.30840886e+00] [ 3.72413479e-03 9.99993060e-01 9.94145160e-05 3.41226302e-01] [-2.02252437e-02 -2.40728138e-05 9.99795449e-01 -1.64489526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364203822 meters 0.009568097387056407 Centerline is valid? [True, True] Translation: X:8.34, Y:0.34, Z:-0.17 [[ 9.99805139e-01 -6.56540464e-03 1.86166204e-02 8.34073919e+00] [ 6.56489942e-03 9.99978447e-01 8.82520455e-05 3.39021912e-01] [-1.86167985e-02 3.39813914e-05 9.99826692e-01 -1.66326500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394203822 meters 0.01043403780155329 Centerline is valid? [True, True] Translation: X:8.37, Y:0.34, Z:-0.17 [[ 9.99796348e-01 -7.93522274e-03 1.85551867e-02 8.37284575e+00] [ 7.93501357e-03 9.99968514e-01 8.48982542e-05 3.37655778e-01] [-1.85552762e-02 6.23546938e-05 9.99827834e-01 -1.69129471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424203822 meters 0.01155270169684796 Centerline is valid? [True, True] Translation: X:8.40, Y:0.33, Z:-0.17 [[ 9.99776673e-01 -1.00340925e-02 1.85989530e-02 8.40489529e+00] [ 1.00343126e-02 9.99949652e-01 8.14903306e-05 3.31944426e-01] [-1.85988342e-02 1.05155578e-04 9.99827021e-01 -1.71031256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454203822 meters 0.011461659625562056 Centerline is valid? [True, True] Translation: X:8.44, Y:0.33, Z:-0.17 [[ 9.99766869e-01 -1.07646097e-02 1.87171200e-02 8.43758989e+00] [ 1.07650390e-02 9.99942052e-01 7.78172015e-05 3.28884570e-01] [-1.87168731e-02 1.23691468e-04 9.99824816e-01 -1.70803749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484203822 meters 0.013048406216930292 Centerline is valid? [True, True] Translation: X:8.47, Y:0.33, Z:-0.17 [[ 9.99749999e-01 -1.17061184e-02 1.90501142e-02 8.46923190e+00] [ 1.17067286e-02 9.99931471e-01 7.94920600e-05 3.25642547e-01] [-1.90497392e-02 1.43542329e-04 9.99818527e-01 -1.72061206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514203822 meters 0.013236002231456774 Centerline is valid? [True, True] Translation: X:8.50, Y:0.33, Z:-0.18 [[ 9.99790965e-01 -1.15482473e-02 1.68719896e-02 8.50156210e+00] [ 1.15487715e-02 9.99933309e-01 6.63612271e-05 3.29144971e-01] [-1.68716307e-02 1.28503398e-04 9.99857656e-01 -1.75834462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544203822 meters 0.013254707214230416 Centerline is valid? [True, True] Translation: X:8.53, Y:0.33, Z:-0.18 [[ 9.99806175e-01 -1.12917407e-02 1.61278929e-02 8.53346695e+00] [ 1.12921977e-02 9.99936239e-01 6.27354703e-05 3.28545667e-01] [-1.61275730e-02 1.19396044e-04 9.99869935e-01 -1.77943752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574203822 meters 0.013050518823337553 Centerline is valid? [True, True] Translation: X:8.56, Y:0.33, Z:-0.18 [[ 9.99805155e-01 -1.08624781e-02 1.64820726e-02 8.56464726e+00] [ 1.08629126e-02 9.99940995e-01 6.31693648e-05 3.26764984e-01] [-1.64817863e-02 1.15886257e-04 9.99864159e-01 -1.79145837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604203822 meters 0.011813280600124569 Centerline is valid? [True, True] Translation: X:8.60, Y:0.32, Z:-0.18 [[ 9.99792895e-01 -9.39905718e-03 1.80506165e-02 8.59696093e+00] [ 9.39935084e-03 9.99955823e-01 6.85721900e-05 3.24265951e-01] [-1.80504636e-02 1.01106089e-04 9.99837072e-01 -1.78591996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634203822 meters 0.010644291720640941 Centerline is valid? [True, True] Translation: X:8.63, Y:0.32, Z:-0.18 [[ 9.99775969e-01 -7.96357680e-03 1.96110653e-02 8.62964587e+00] [ 7.96366038e-03 9.99968287e-01 7.38351377e-05 3.23589157e-01] [-1.96110313e-02 8.23572673e-05 9.99807682e-01 -1.77215479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664203822 meters 0.010411448642651894 Centerline is valid? [True, True] Translation: X:8.66, Y:0.32, Z:-0.18 [[ 9.99776784e-01 -7.21873769e-03 1.98563085e-02 8.66146837e+00] [ 7.21869671e-03 9.99973942e-01 7.37398157e-05 3.24612460e-01] [-1.98563234e-02 6.96133131e-05 9.99802841e-01 -1.77812937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694203822 meters 0.009642954911833652 Centerline is valid? [True, True] Translation: X:8.69, Y:0.33, Z:-0.18 [[ 9.99791344e-01 -5.97640588e-03 1.95333366e-02 8.69410159e+00] [ 5.97621035e-03 9.99982140e-01 6.83836300e-05 3.29363626e-01] [-1.95333964e-02 4.83659670e-05 9.99809204e-01 -1.77519690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724203822 meters 0.009665887608802043 Centerline is valid? [True, True] Translation: X:8.73, Y:0.33, Z:-0.18 [[ 9.99803701e-01 -5.02848667e-03 1.91643921e-02 8.72628263e+00] [ 5.02813122e-03 9.99987357e-01 6.67321760e-05 3.30214696e-01] [-1.91644853e-02 2.96420016e-05 9.99816344e-01 -1.80209603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754203822000001 meters 0.010132209724484089 Centerline is valid? [True, True] Translation: X:8.76, Y:0.33, Z:-0.18 [[ 9.99855097e-01 -2.94328444e-03 1.67666665e-02 8.75873970e+00] [ 2.94278403e-03 9.99995669e-01 5.45179710e-05 3.29163846e-01] [-1.67667544e-02 -5.16939274e-06 9.99859428e-01 -1.84476985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784203822 meters 0.010887031457176876 Centerline is valid? [True, True] Translation: X:8.79, Y:0.33, Z:-0.19 [[ 9.99866628e-01 -1.04269163e-03 1.62984428e-02 8.78957528e+00] [ 1.04198088e-03 9.99999456e-01 5.21006699e-05 3.27412293e-01] [-1.62984883e-02 -3.51110554e-05 9.99867170e-01 -1.88372511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814203822 meters 0.011031052185160737 Centerline is valid? [True, True] Translation: X:8.82, Y:0.33, Z:-0.19 [[ 9.99859302e-01 1.44766654e-06 1.67742754e-02 8.82190064e+00] [-2.36391863e-06 9.99999999e-01 5.46026272e-05 3.28510023e-01] [-1.67742753e-02 -5.46345977e-05 9.99859300e-01 -1.88410052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844203822 meters 0.011119954800899466 Centerline is valid? [True, True] Translation: X:8.85, Y:0.33, Z:-0.19 [[ 9.99844250e-01 8.38089620e-04 1.76287702e-02 8.85271043e+00] [-8.39168024e-04 9.99999646e-01 5.37757040e-05 3.30390316e-01] [-1.76287189e-02 -6.85608287e-05 9.99844600e-01 -1.87425056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874203822 meters 0.010723958306235366 Centerline is valid? [True, True] Translation: X:8.88, Y:0.33, Z:-0.19 [[ 9.99831411e-01 4.52871629e-04 1.83560522e-02 8.88417067e+00] [-4.53921841e-04 9.99999896e-01 5.30470134e-05 3.28985091e-01] [-1.83560262e-02 -6.13702832e-05 9.99831512e-01 -1.87417441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904203822 meters 0.009267089063932815 Centerline is valid? [True, True] Translation: X:8.92, Y:0.32, Z:-0.19 [[ 9.99802169e-01 -1.84657913e-03 1.98043772e-02 8.91659090e+00] [ 1.84587012e-03 9.99998295e-01 5.40804594e-05 3.24803701e-01] [-1.98044433e-02 -1.75134526e-05 9.99803873e-01 -1.85610781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934203822 meters 0.0095400415396735 Centerline is valid? [True, True] Translation: X:8.95, Y:0.32, Z:-0.19 [[ 9.99805754e-01 -2.65061912e-03 1.95302025e-02 8.94870424e+00] [ 2.65014327e-03 9.99996487e-01 5.02462354e-05 3.22514406e-01] [-1.95302671e-02 1.52135933e-06 9.99809266e-01 -1.88220973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964203822 meters 0.009731823987488166 Centerline is valid? [True, True] Translation: X:8.98, Y:0.32, Z:-0.19 [[ 9.99827110e-01 -3.69502835e-03 1.82235203e-02 8.98114154e+00] [ 3.69484175e-03 9.99993173e-01 4.39089077e-05 3.17432605e-01] [-1.82235581e-02 2.34317073e-05 9.99833937e-01 -1.89972152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994203822 meters 0.010131591778021391 Centerline is valid? [True, True] Translation: X:9.01, Y:0.32, Z:-0.19 [[ 9.99826382e-01 -3.67558554e-03 1.82673358e-02 9.01332506e+00] [ 3.67544958e-03 9.99993245e-01 4.10157812e-05 3.16283199e-01] [-1.82673631e-02 2.61320115e-05 9.99833137e-01 -1.92069812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024203822 meters 0.009993294089401594 Centerline is valid? [True, True] Translation: X:9.05, Y:0.32, Z:-0.19 [[ 9.99829999e-01 -3.35883557e-03 1.81298217e-02 9.04644131e+00] [ 3.35872861e-03 9.99994359e-01 3.63488882e-05 3.16525048e-01] [-1.81298415e-02 2.45504422e-05 9.99835641e-01 -1.93843265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054203822 meters 0.00999218241457757 Centerline is valid? [True, True] Translation: X:9.08, Y:0.32, Z:-0.19 [[ 9.99832794e-01 -3.15975906e-03 1.80111259e-02 9.07957222e+00] [ 3.15964370e-03 9.99995008e-01 3.48616860e-05 3.17083247e-01] [-1.80111462e-02 2.20528837e-05 9.99837786e-01 -1.94634887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084203822000001 meters 0.009835602840905632 Centerline is valid? [True, True] Translation: X:9.11, Y:0.32, Z:-0.19 [[ 9.99812728e-01 -2.92290123e-03 1.91302258e-02 9.11086924e+00] [ 2.92274168e-03 9.99995728e-01 3.62987907e-05 3.17770389e-01] [-1.91302502e-02 1.96207154e-05 9.99817000e-01 -1.94964659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114203822 meters 0.009426902234398652 Centerline is valid? [True, True] Translation: X:9.14, Y:0.32, Z:-0.19 [[ 9.99784649e-01 -3.16940117e-03 2.05088101e-02 9.14262018e+00] [ 3.16935736e-03 9.99994977e-01 3.46396876e-05 3.17661136e-01] [-2.05088168e-02 3.03675202e-05 9.99789672e-01 -1.93917041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144203822 meters 0.009505735532424304 Centerline is valid? [True, True] Translation: X:9.18, Y:0.32, Z:-0.20 [[ 9.99795805e-01 -3.23598367e-03 1.99468466e-02 9.17590348e+00] [ 3.23594917e-03 9.99994764e-01 3.40063973e-05 3.16481419e-01] [-1.99468522e-02 3.05475283e-05 9.99801041e-01 -1.95289432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174203822 meters 0.010278871783315848 Centerline is valid? [True, True] Translation: X:9.21, Y:0.31, Z:-0.20 [[ 9.99825898e-01 -3.96878299e-03 1.82324389e-02 9.20770009e+00] [ 3.96893397e-03 9.99992123e-01 2.79041048e-05 3.14920700e-01] [-1.82324061e-02 4.44640995e-05 9.99833775e-01 -1.99799262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204203822 meters 0.010485739377775945 Centerline is valid? [True, True] Translation: X:9.24, Y:0.31, Z:-0.20 [[ 9.99845194e-01 -3.91519433e-03 1.71540102e-02 9.23973507e+00] [ 3.91538601e-03 9.99992335e-01 2.24104402e-05 3.14411782e-01] [-1.71539665e-02 4.47576007e-05 9.99852859e-01 -2.02304587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234203822 meters 0.010886020381364358 Centerline is valid? [True, True] Translation: X:9.27, Y:0.31, Z:-0.21 [[ 9.99866692e-01 -3.65739743e-03 1.59129436e-02 9.27152313e+00] [ 3.65754028e-03 9.99993311e-01 2.01257309e-05 3.12231822e-01] [-1.59129108e-02 3.80791844e-05 9.99873381e-01 -2.05720006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264203822 meters 0.010584042157227384 Centerline is valid? [True, True] Translation: X:9.30, Y:0.31, Z:-0.20 [[ 9.99856924e-01 -2.30960373e-03 1.67569967e-02 9.30246684e+00] [ 2.30957835e-03 9.99997333e-01 2.08664277e-05 3.14047521e-01] [-1.67570002e-02 1.78381547e-05 9.99859591e-01 -2.04947195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294203822 meters 0.010910925812850936 Centerline is valid? [True, True] Translation: X:9.33, Y:0.32, Z:-0.21 [[ 9.99856506e-01 -1.40205437e-03 1.68819693e-02 9.33483273e+00] [ 1.40191155e-03 9.99999017e-01 2.02943266e-05 3.15740391e-01] [-1.68819811e-02 3.37561319e-06 9.99857489e-01 -2.07065479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324203822 meters 0.01090684680692466 Centerline is valid? [True, True] Translation: X:9.37, Y:0.32, Z:-0.21 [[ 9.99869781e-01 5.03252528e-05 1.61375051e-02 9.36674884e+00] [-5.05785736e-05 9.99999999e-01 1.52895124e-05 3.18160830e-01] [-1.61375043e-02 -1.61037334e-05 9.99869782e-01 -2.08452641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354203822 meters 0.01102192180943473 Centerline is valid? [True, True] Translation: X:9.40, Y:0.32, Z:-0.21 [[ 9.99891460e-01 9.10119871e-04 1.47051196e-02 9.39904449e+00] [-9.10415491e-04 9.99999585e-01 1.34089575e-05 3.18063016e-01] [-1.47051013e-02 -2.67952707e-05 9.99891874e-01 -2.11475765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384203822 meters 0.011520409395993669 Centerline is valid? [True, True] Translation: X:9.43, Y:0.32, Z:-0.21 [[ 9.99879958e-01 1.61362468e-03 1.54099201e-02 9.42978632e+00] [-1.61404203e-03 9.99998697e-01 1.46464498e-05 3.19532381e-01] [-1.54098764e-02 -3.95169504e-05 9.99881260e-01 -2.13445122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414203822000001 meters 0.010875131361058608 Centerline is valid? [True, True] Translation: X:9.46, Y:0.32, Z:-0.21 [[ 9.99854607e-01 2.35379587e-03 1.68885718e-02 9.46195977e+00] [-2.35435231e-03 9.99997228e-01 1.30653295e-05 3.20914395e-01] [-1.68884942e-02 -5.28250778e-05 9.99857378e-01 -2.11312546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444203822 meters 0.011613297410184516 Centerline is valid? [True, True] Translation: X:9.49, Y:0.32, Z:-0.21 [[ 9.99867872e-01 3.15794207e-03 1.59457093e-02 9.49327930e+00] [-3.15849976e-03 9.99995012e-01 9.79064836e-06 3.21061881e-01] [-1.59455989e-02 -6.01538738e-05 9.99872859e-01 -2.14291040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474203822 meters 0.013644645603929674 Centerline is valid? [True, True] Translation: X:9.52, Y:0.33, Z:-0.22 [[ 9.99879195e-01 5.11839373e-03 1.46764403e-02 9.52411394e+00] [-5.11904861e-03 9.99986898e-01 7.05474725e-06 3.27104271e-01] [-1.46762119e-02 -8.21833066e-05 9.99892295e-01 -2.18655296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504203822000001 meters 0.013034910562081845 Centerline is valid? [True, True] Translation: X:9.56, Y:0.33, Z:-0.22 [[ 9.99867027e-01 5.63875409e-03 1.53014001e-02 9.55644403e+00] [-5.63949117e-03 9.99984098e-01 5.02177058e-06 3.29706042e-01] [-1.53011284e-02 -9.13132134e-05 9.99882927e-01 -2.17235245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534203822 meters 0.013845094287977132 Centerline is valid? [True, True] Translation: X:9.59, Y:0.33, Z:-0.22 [[ 9.99867411e-01 5.76423700e-03 1.52293648e-02 9.58847769e+00] [-5.76494653e-03 9.99983383e-01 2.68913093e-06 3.34899255e-01] [-1.52290963e-02 -9.04852484e-05 9.99884026e-01 -2.19701333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564203822 meters 0.011769551019135158 Centerline is valid? [True, True] Translation: X:9.62, Y:0.33, Z:-0.22 [[ 9.99853561e-01 4.32666664e-03 1.65570621e-02 9.62089884e+00] [-4.32725112e-03 9.99990637e-01 -5.24542032e-07 3.33761570e-01] [-1.65569093e-02 -7.11221002e-05 9.99862922e-01 -2.16903100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594203822 meters 0.010543832067170713 Centerline is valid? [True, True] Translation: X:9.65, Y:0.33, Z:-0.22 [[ 9.99839459e-01 3.18414202e-03 1.76328305e-02 9.65319406e+00] [-3.18457255e-03 9.99994929e-01 -3.66231026e-06 3.32543747e-01] [-1.76327527e-02 -5.24913055e-05 9.99844530e-01 -2.15959440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624203822 meters 0.010067367618950536 Centerline is valid? [True, True] Translation: X:9.69, Y:0.33, Z:-0.22 [[ 9.99851599e-01 -3.52471576e-05 1.72272450e-02 9.68595879e+00] [ 3.53562208e-05 9.99999999e-01 -6.02628655e-06 3.30580387e-01] [-1.72272448e-02 6.63448253e-06 9.99851600e-01 -2.17522221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654203822 meters 0.011280818917100584 Centerline is valid? [True, True] Translation: X:9.72, Y:0.33, Z:-0.22 [[ 9.99873780e-01 -1.63141318e-03 1.58038624e-02 9.71691780e+00] [ 1.63176508e-03 9.99998669e-01 -9.37152944e-06 3.29018041e-01] [-1.58038261e-02 3.51585373e-05 9.99875111e-01 -2.22467873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684203822 meters 0.012873649567183138 Centerline is valid? [True, True] Translation: X:9.75, Y:0.33, Z:-0.23 [[ 9.99905339e-01 -3.78362335e-03 1.32286746e-02 9.74889565e+00] [ 3.78405403e-03 9.99992840e-01 -7.52635425e-06 3.30040267e-01] [-1.32285515e-02 5.75836614e-05 9.99912497e-01 -2.26891954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714203822 meters 0.01393986583590075 Centerline is valid? [True, True] Translation: X:9.78, Y:0.33, Z:-0.23 [[ 9.99919215e-01 -4.85361139e-03 1.17475927e-02 9.78070951e+00] [ 4.85406383e-03 9.99988219e-01 -1.00004632e-05 3.33346752e-01] [-1.17474057e-02 6.70232199e-05 9.99930995e-01 -2.30570366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744203822 meters 0.014012875447998837 Centerline is valid? [True, True] Translation: X:9.81, Y:0.33, Z:-0.23 [[ 9.99913769e-01 -5.10466148e-03 1.20994743e-02 9.81277499e+00] [ 5.10516712e-03 9.99986968e-01 -1.09050557e-05 3.32392952e-01] [-1.20992610e-02 7.26739539e-05 9.99926799e-01 -2.31028621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774203822 meters 0.013132031488961964 Centerline is valid? [True, True] Translation: X:9.84, Y:0.33, Z:-0.23 [[ 9.99903041e-01 -4.42253984e-03 1.32041729e-02 9.84464521e+00] [ 4.42309221e-03 9.99990218e-01 -1.26307280e-05 3.34091015e-01] [-1.32039879e-02 7.10327779e-05 9.99912821e-01 -2.28909356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804203822 meters 0.012879335831874679 Centerline is valid? [True, True] Translation: X:9.88, Y:0.34, Z:-0.23 [[ 9.99900095e-01 -3.61196786e-03 1.36657953e-02 9.87633065e+00] [ 3.61249325e-03 9.99993475e-01 -1.37606328e-05 3.37490961e-01] [-1.36656564e-02 6.31268513e-05 9.99906619e-01 -2.29579519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834203822000001 meters 0.01153780524441719 Centerline is valid? [True, True] Translation: X:9.91, Y:0.34, Z:-0.23 [[ 9.99868380e-01 -3.01351150e-03 1.59418422e-02 9.90899443e+00] [ 3.01416573e-03 9.99995457e-01 -1.70117340e-05 3.43332250e-01] [-1.59417186e-02 6.50608495e-05 9.99872921e-01 -2.26031165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864203822 meters 0.011434321966897134 Centerline is valid? [True, True] Translation: X:9.94, Y:0.35, Z:-0.23 [[ 9.99862775e-01 -2.98793763e-03 1.62942541e-02 9.94117721e+00] [ 2.98863071e-03 9.99995534e-01 -1.81847088e-05 3.45191289e-01] [-1.62941270e-02 6.68797216e-05 9.99867240e-01 -2.26551918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894203822 meters 0.012013711623295606 Centerline is valid? [True, True] Translation: X:9.97, Y:0.35, Z:-0.23 [[ 9.99890332e-01 -3.48644782e-03 1.43933392e-02 9.97274614e+00] [ 3.48702550e-03 9.99993920e-01 -1.50389389e-05 3.46863077e-01] [-1.43931993e-02 6.52272305e-05 9.99896410e-01 -2.30410299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924203822 meters 0.012945811493404338 Centerline is valid? [True, True] Translation: X:10.00, Y:0.35, Z:-0.23 [[ 9.99895783e-01 -3.91694857e-03 1.38953590e-02 1.00040842e+01] [ 3.91758118e-03 9.99992326e-01 -1.83075227e-05 3.46226106e-01] [-1.38951807e-02 7.27418118e-05 9.99903455e-01 -2.34817444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954203822 meters 0.013096508072696592 Centerline is valid? [True, True] Translation: X:10.04, Y:0.35, Z:-0.24 [[ 9.99895398e-01 -3.50773031e-03 1.40317284e-02 1.00358652e+01] [ 3.50831502e-03 9.99993846e-01 -1.70557659e-05 3.46605833e-01] [-1.40315822e-02 6.62817052e-05 9.99901550e-01 -2.36352427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984203822 meters 0.01167908791208929 Centerline is valid? [True, True] Translation: X:10.07, Y:0.35, Z:-0.23 [[ 9.99898470e-01 -1.89337866e-03 1.41232230e-02 1.00684037e+01] [ 1.89386995e-03 9.99998206e-01 -2.14120206e-05 3.52640752e-01] [-1.41231571e-02 4.81573943e-05 9.99900262e-01 -2.34673437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014203822 meters 0.011552709234764381 Centerline is valid? [True, True] Translation: X:10.10, Y:0.36, Z:-0.24 [[ 9.99904897e-01 -5.70803636e-04 1.37794004e-02 1.01018508e+01] [ 5.71149597e-04 9.99999837e-01 -2.11718786e-05 3.57835806e-01] [-1.37793861e-02 2.90399640e-05 9.99905059e-01 -2.35615892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044203822 meters 0.012574477441539689 Centerline is valid? [True, True] Translation: X:10.13, Y:0.37, Z:-0.24 [[ 9.99927235e-01 1.54083988e-03 1.19645563e-02 1.01326442e+01] [-1.54071620e-03 9.99998813e-01 -1.95549031e-05 3.67828771e-01] [-1.19645722e-02 1.11949451e-06 9.99928422e-01 -2.41093525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074203822 meters 0.012574477441539689 Centerline is valid? [True, True] Translation: X:10.17, Y:0.37, Z:-0.24 [[ 9.99926933e-01 1.72556160e-03 1.19645600e-02 1.01651840e+01] [-1.72547541e-03 9.99998511e-01 -1.75258135e-05 3.67583714e-01] [-1.19645725e-02 -3.12002123e-06 9.99928422e-01 -2.42017324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104203822 meters 0.012815163127916196 Centerline is valid? [True, True] Translation: X:10.20, Y:0.37, Z:-0.24 [[ 9.99939730e-01 2.50194751e-03 1.06900633e-02 1.01971020e+01] [-2.50188194e-03 9.99996870e-01 -1.95067881e-05 3.70710309e-01] [-1.06900786e-02 -7.23966385e-06 9.99942859e-01 -2.44908833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134203822 meters 0.013368746955697286 Centerline is valid? [True, True] Translation: X:10.23, Y:0.37, Z:-0.25 [[ 9.99937852e-01 2.46066694e-03 1.08737036e-02 1.02295713e+01] [-2.46061775e-03 9.99996973e-01 -1.79019349e-05 3.70152550e-01] [-1.08737147e-02 -8.85520576e-06 9.99940879e-01 -2.48385807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164203822000001 meters 0.012873978766377837 Centerline is valid? [True, True] Translation: X:10.26, Y:0.37, Z:-0.25 [[ 9.99951288e-01 8.41130311e-04 9.83430486e-03 1.02619640e+01] [-8.40994754e-04 9.99999646e-01 -1.79194560e-05 3.65711524e-01] [-9.83431645e-03 9.64798430e-06 9.99951642e-01 -2.48470956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194203822 meters 0.013848648427528525 Centerline is valid? [True, True] Translation: X:10.29, Y:0.36, Z:-0.25 [[ 9.99955434e-01 2.64548173e-04 9.43712313e-03 1.02932600e+01] [-2.64382161e-04 9.99999965e-01 -1.88388548e-05 3.63721878e-01] [-9.43712778e-03 1.63430082e-05 9.99955469e-01 -2.52383098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224203822 meters 0.013777342499332717 Centerline is valid? [True, True] Translation: X:10.33, Y:0.36, Z:-0.25 [[ 9.99949268e-01 -9.75729246e-04 1.00254168e-02 1.03253956e+01] [ 9.75996022e-04 9.99999523e-01 -2.17175102e-05 3.64438460e-01] [-1.00253908e-02 3.15011753e-05 9.99949744e-01 -2.50629900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254203822000001 meters 0.01333353352486762 Centerline is valid? [True, True] Translation: X:10.36, Y:0.37, Z:-0.25 [[ 9.99941905e-01 -8.94443841e-04 1.07418144e-02 1.03579910e+01] [ 8.94789646e-04 9.99999599e-01 -2.73864413e-05 3.66569923e-01] [-1.07417856e-02 3.69965146e-05 9.99942305e-01 -2.49687290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284203822 meters 0.01318820855902828 Centerline is valid? [True, True] Translation: X:10.39, Y:0.37, Z:-0.25 [[ 9.99931827e-01 -4.86868417e-04 1.16663613e-02 1.03896134e+01] [ 4.87235954e-04 9.99999881e-01 -2.86618132e-05 3.66705091e-01] [-1.16663459e-02 3.43441299e-05 9.99931945e-01 -2.49603530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314203822 meters 0.012899547554995647 Centerline is valid? [True, True] Translation: X:10.42, Y:0.36, Z:-0.25 [[ 9.99929913e-01 5.22962724e-04 1.18277090e-02 1.04217410e+01] [-5.22613290e-04 9.99999863e-01 -3.26344032e-05 3.64617186e-01] [-1.18277244e-02 2.64507981e-05 9.99930050e-01 -2.50651745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344203822 meters 0.012972366719662436 Centerline is valid? [True, True] Translation: X:10.45, Y:0.36, Z:-0.25 [[ 9.99931404e-01 1.05305043e-03 1.16652288e-02 1.04539984e+01] [-1.05275384e-03 9.99999445e-01 -3.15651529e-05 3.64230389e-01] [-1.16652556e-02 1.92823733e-05 9.99931958e-01 -2.52106596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374203822 meters 0.01282843002246586 Centerline is valid? [True, True] Translation: X:10.49, Y:0.36, Z:-0.25 [[ 9.99927837e-01 1.52492025e-03 1.19161733e-02 1.04865747e+01] [-1.52461387e-03 9.99998837e-01 -3.47949064e-05 3.64860141e-01] [-1.19162125e-02 1.66248324e-05 9.99928999e-01 -2.53116471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404203822 meters 0.0126583557630916 Centerline is valid? [True, True] Translation: X:10.52, Y:0.37, Z:-0.25 [[ 9.99933351e-01 1.61247454e-03 1.14321481e-02 1.05184307e+01] [-1.61221567e-03 9.99998700e-01 -3.18602186e-05 3.65065544e-01] [-1.14321846e-02 1.34270069e-05 9.99934650e-01 -2.53469771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434203822 meters 0.014145462558031322 Centerline is valid? [True, True] Translation: X:10.55, Y:0.37, Z:-0.26 [[ 9.99954891e-01 1.89638877e-03 9.30696021e-03 1.05495050e+01] [-1.89622320e-03 9.99998202e-01 -2.66142128e-05 3.65846742e-01] [-9.30699395e-03 8.96493838e-06 9.99956689e-01 -2.59824368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464203822 meters 0.015237754883544096 Centerline is valid? [True, True] Translation: X:10.58, Y:0.37, Z:-0.27 [[ 9.99963111e-01 3.34264932e-03 7.91224444e-03 1.05800426e+01] [-3.34255693e-03 9.99994413e-01 -2.49006347e-05 3.67829885e-01] [-7.91228347e-03 -1.54741138e-06 9.99968697e-01 -2.65416436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494203822000001 meters 0.01428672992723288 Centerline is valid? [True, True] Translation: X:10.61, Y:0.37, Z:-0.26 [[ 9.99962183e-01 4.71709386e-03 7.30633334e-03 1.06125472e+01] [-4.71706214e-03 9.99988874e-01 -2.15742383e-05 3.68594449e-01] [-7.30635382e-03 -1.28910059e-05 9.99973308e-01 -2.63415816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524203822 meters 0.01688735239538055 Centerline is valid? [True, True] Translation: X:10.64, Y:0.37, Z:-0.27 [[ 9.99940103e-01 8.30970429e-03 7.12314772e-03 1.06438350e+01] [-8.30973798e-03 9.99965473e-01 -2.48662511e-05 3.74319983e-01] [-7.12310841e-03 -3.43267295e-05 9.99974630e-01 -2.69192985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554203822 meters 0.01758694319271732 Centerline is valid? [True, True] Translation: X:10.68, Y:0.38, Z:-0.27 [[ 9.99927615e-01 1.01978957e-02 6.38492430e-03 1.06764112e+01] [-1.01979779e-02 9.99947999e-01 -1.96795432e-05 3.77727524e-01] [-6.38479297e-03 -4.54351984e-05 9.99979616e-01 -2.70049293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584203822000001 meters 0.018643743303446095 Centerline is valid? [True, True] Translation: X:10.71, Y:0.39, Z:-0.27 [[ 9.99911264e-01 1.26951359e-02 4.03711066e-03 1.07084616e+01] [-1.26951823e-02 9.99919413e-01 -1.41374577e-05 3.85140479e-01] [-4.03696480e-03 -3.71156527e-05 9.99991851e-01 -2.71831616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614203822 meters 0.020337897102122103 Centerline is valid? [True, True] Translation: X:10.74, Y:0.39, Z:-0.28 [[ 9.99900067e-01 1.37104550e-02 3.44667158e-03 1.07386404e+01] [-1.37104918e-02 9.99906007e-01 -1.29358172e-05 3.89727387e-01] [-3.44652498e-03 -3.43210381e-05 9.99994060e-01 -2.75451901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644203822 meters 0.0205766256900647 Centerline is valid? [True, True] Translation: X:10.77, Y:0.39, Z:-0.28 [[ 9.99891452e-01 1.43077025e-02 3.51777201e-03 1.07686163e+01] [-1.43077413e-02 9.99897639e-01 -1.41377343e-05 3.94850961e-01] [-3.51761421e-03 -3.61951720e-05 9.99993813e-01 -2.75539392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674203822 meters 0.02208331245862933 Centerline is valid? [True, True] Translation: X:10.80, Y:0.40, Z:-0.28 [[ 9.99878001e-01 1.53993673e-02 2.61597890e-03 1.07977311e+01] [-1.53993930e-02 9.99881422e-01 -1.03178617e-05 4.02023222e-01] [-2.61582760e-03 -2.99678844e-05 9.99996578e-01 -2.78127536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704203822 meters 0.019602608510391622 Centerline is valid? [True, True] Translation: X:10.83, Y:0.40, Z:-0.27 [[ 9.99873124e-01 1.52059759e-02 4.74499747e-03 1.08274076e+01] [-1.52060584e-02 9.99884381e-01 -1.86838864e-05 4.02268447e-01] [-4.74473296e-03 -5.34711928e-05 9.99988742e-01 -2.73646636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734203822 meters 0.021633692765107595 Centerline is valid? [True, True] Translation: X:10.86, Y:0.40, Z:-0.28 [[ 9.99881780e-01 1.45045757e-02 5.10319469e-03 1.08566068e+01] [-1.45046644e-02 9.99894802e-01 -1.96316963e-05 4.04608262e-01] [-5.10294259e-03 -5.43907508e-05 9.99986978e-01 -2.79473420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764203822 meters 0.019114677305289495 Centerline is valid? [True, True] Translation: X:10.89, Y:0.41, Z:-0.28 [[ 9.99919428e-01 1.21266018e-02 3.75278851e-03 1.08872700e+01] [-1.21266339e-02 9.99926470e-01 -1.41833887e-05 4.05779656e-01] [-3.75268456e-03 -3.13264466e-05 9.99992958e-01 -2.79693071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794203822 meters 0.017543879878603185 Centerline is valid? [True, True] Translation: X:10.92, Y:0.41, Z:-0.28 [[ 9.99935438e-01 1.05810375e-02 4.14271013e-03 1.09181021e+01] [-1.05810635e-02 9.99944019e-01 -1.56570688e-05 4.06570979e-01] [-4.14264389e-03 -2.81782209e-05 9.99991419e-01 -2.78473781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824203822 meters 0.016444040459127604 Centerline is valid? [True, True] Translation: X:10.95, Y:0.41, Z:-0.28 [[ 9.99954645e-01 7.92271549e-03 5.28571407e-03 1.09481004e+01] [-7.92272878e-03 9.99968615e-01 -1.84259184e-05 4.09645150e-01] [-5.28569416e-03 -2.34521963e-05 9.99986030e-01 -2.78465639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854203822 meters 0.0165666546243232 Centerline is valid? [True, True] Translation: X:10.98, Y:0.41, Z:-0.28 [[ 9.99957215e-01 6.98230904e-03 6.06755524e-03 1.09795255e+01] [-6.98231624e-03 9.99975623e-01 -1.99972822e-05 4.11290445e-01] [-6.06754696e-03 -2.23691629e-05 9.99981592e-01 -2.79631604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884203822 meters 0.01472713851408571 Centerline is valid? [True, True] Translation: X:11.01, Y:0.41, Z:-0.28 [[ 9.99960926e-01 5.22542828e-03 7.13032156e-03 1.10117782e+01] [-5.22538268e-03 9.99986347e-01 -2.50246600e-05 4.10488699e-01] [-7.13035497e-03 -1.22349766e-05 9.99974579e-01 -2.77508299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914203822000001 meters 0.014851994468504557 Centerline is valid? [True, True] Translation: X:11.04, Y:0.41, Z:-0.28 [[ 9.99964609e-01 4.01467496e-03 7.39349228e-03 1.10425668e+01] [-4.01458068e-03 9.99991941e-01 -2.75926876e-05 4.08903872e-01] [-7.39354347e-03 -2.09006023e-06 9.99972667e-01 -2.79622424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944203822 meters 0.014412127233523165 Centerline is valid? [True, True] Translation: X:11.08, Y:0.41, Z:-0.28 [[ 9.99968690e-01 8.07626363e-04 7.87191201e-03 1.10752931e+01] [-8.07414556e-04 9.99999674e-01 -3.00846746e-05 4.10230846e-01] [-7.87193373e-03 2.37278364e-05 9.99969016e-01 -2.77482356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974203822 meters 0.016986750271088293 Centerline is valid? [True, True] Translation: X:11.11, Y:0.41, Z:-0.28 [[ 9.99981162e-01 -1.92126357e-03 5.82959111e-03 1.11063933e+01] [ 1.92143849e-03 9.99998154e-01 -2.44042199e-05 4.12123087e-01] [-5.82953346e-03 3.56049609e-05 9.99983007e-01 -2.83176139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004203822000001 meters 0.017459164860084107 Centerline is valid? [True, True] Translation: X:11.14, Y:0.41, Z:-0.29 [[ 9.99985184e-01 -2.95933796e-03 4.56872474e-03 1.11379879e+01] [ 2.95944797e-03 9.99995621e-01 -1.73192574e-05 4.11675815e-01] [-4.56865348e-03 3.08399040e-05 9.99989563e-01 -2.85525408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034203822 meters 0.019532833660544778 Centerline is valid? [True, True] Translation: X:11.17, Y:0.41, Z:-0.29 [[ 9.99982431e-01 -5.16337748e-03 2.91150710e-03 1.11689383e+01] [ 5.16343356e-03 9.99986669e-01 -1.17460558e-05 4.09466396e-01] [-2.91140764e-03 2.67792229e-05 9.99995761e-01 -2.89892290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064203822 meters 0.018819891960326112 Centerline is valid? [True, True] Translation: X:11.20, Y:0.41, Z:-0.29 [[ 9.99979825e-01 -5.71010707e-03 2.78285165e-03 1.12009029e+01] [ 5.71016302e-03 9.99983697e-01 -1.21592709e-05 4.10747814e-01] [-2.78273685e-03 2.80495622e-05 9.99996128e-01 -2.88185185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094203822 meters 0.021008234923679727 Centerline is valid? [True, True] Translation: X:11.23, Y:0.41, Z:-0.29 [[ 9.99974864e-01 -6.07943767e-03 3.64841056e-03 1.12321988e+01] [ 6.07953955e-03 9.99981519e-01 -1.68368720e-05 4.12123073e-01] [-3.64824078e-03 3.90171051e-05 9.99993344e-01 -2.91994825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124203822 meters 0.021047351300904713 Centerline is valid? [True, True] Translation: X:11.26, Y:0.42, Z:-0.29 [[ 9.99973720e-01 -6.00654509e-03 4.05973657e-03 1.12637948e+01] [ 6.00666765e-03 9.99981960e-01 -1.79968117e-05 4.15085448e-01] [-4.05955523e-03 4.23818270e-05 9.99991759e-01 -2.92476165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154203822 meters 0.02023294417353914 Centerline is valid? [True, True] Translation: X:11.30, Y:0.42, Z:-0.29 [[ 9.99976928e-01 -5.78224316e-03 3.56491801e-03 1.12956048e+01] [ 5.78233904e-03 9.99983282e-01 -1.65891346e-05 4.16897139e-01] [-3.56476249e-03 3.72023164e-05 9.99993646e-01 -2.92258815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184203822 meters 0.018959218867514203 Centerline is valid? [True, True] Translation: X:11.33, Y:0.42, Z:-0.29 [[ 9.99975660e-01 -5.48541114e-03 4.31153425e-03 1.13274950e+01] [ 5.48555049e-03 9.99984954e-01 -2.04963401e-05 4.19169132e-01] [-4.31135695e-03 4.41469801e-05 9.99990705e-01 -2.90170340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214203822 meters 0.018961091816474596 Centerline is valid? [True, True] Translation: X:11.36, Y:0.42, Z:-0.29 [[ 9.99975889e-01 -5.13371704e-03 4.67613457e-03 1.13591623e+01] [ 5.13387869e-03 9.99986821e-01 -2.25655742e-05 4.19235073e-01] [-4.67595710e-03 4.65717377e-05 9.99989067e-01 -2.91481447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244203822000001 meters 0.019916778751707304 Centerline is valid? [True, True] Translation: X:11.39, Y:0.42, Z:-0.30 [[ 9.99984586e-01 -4.26562450e-03 3.55417068e-03 1.13905126e+01] [ 4.26571295e-03 9.99990902e-01 -1.73041921e-05 4.17847479e-01] [-3.55406453e-03 3.24649973e-05 9.99993684e-01 -2.96097099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274203822 meters 0.01825554792704496 Centerline is valid? [True, True] Translation: X:11.42, Y:0.42, Z:-0.30 [[ 9.99992974e-01 -2.80160860e-03 2.49072591e-03 1.14227786e+01] [ 2.80164618e-03 9.99996075e-01 -1.15989912e-05 4.18567275e-01] [-2.49068364e-03 1.85770425e-05 9.99996898e-01 -2.95925564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304203822 meters 0.019016493856756772 Centerline is valid? [True, True] Translation: X:11.45, Y:0.42, Z:-0.30 [[ 9.99996621e-01 -1.24243988e-03 2.28349516e-03 1.14542123e+01] [ 1.24246810e-03 9.99999228e-01 -1.09382452e-05 4.19261283e-01] [-2.28347981e-03 1.37753782e-05 9.99997393e-01 -3.00888619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334203822000001 meters 0.0174859075418899 Centerline is valid? [True, True] Translation: X:11.49, Y:0.42, Z:-0.30 [[ 9.99995740e-01 2.53648473e-03 1.44416126e-03 1.14862446e+01] [-2.53647828e-03 9.99996783e-01 -6.29699725e-06 4.24682639e-01] [-1.44417259e-03 2.63388674e-06 9.99998957e-01 -3.00092632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364203822 meters 0.01771162896849854 Centerline is valid? [True, True] Translation: X:11.52, Y:0.43, Z:-0.30 [[ 9.99985734e-01 5.08367885e-03 1.63975033e-03 1.15164344e+01] [-5.08367202e-03 9.99987078e-01 -8.33590970e-06 4.28299587e-01] [-1.63977152e-03 -1.62107220e-10 9.99998656e-01 -3.01502084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394203822 meters 0.017903297010363677 Centerline is valid? [True, True] Translation: X:11.55, Y:0.44, Z:-0.30 [[ 9.99934816e-01 1.11245675e-02 2.57067809e-03 1.15469072e+01] [-1.11245694e-02 9.99938120e-01 -1.35819791e-05 4.37616073e-01] [-2.57067011e-03 -1.50165930e-05 9.99996696e-01 -2.97606972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424203822 meters 0.02072060809569349 Centerline is valid? [True, True] Translation: X:11.58, Y:0.44, Z:-0.30 [[ 9.99897358e-01 1.41247016e-02 2.40126772e-03 1.15754534e+01] [-1.41247104e-02 9.99900241e-01 -1.32954311e-05 4.42540008e-01] [-2.40121597e-03 -2.06231448e-05 9.99997117e-01 -3.01347369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454203822 meters 0.024752450048434876 Centerline is valid? [True, True] Translation: X:11.60, Y:0.45, Z:-0.30 [[ 9.99800185e-01 1.99442671e-02 1.34735631e-03 1.16047202e+01] [-1.99442744e-02 9.99801093e-01 -8.03830385e-06 4.51748145e-01] [-1.34724863e-03 -1.88353462e-05 9.99999092e-01 -3.02965083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484203822 meters 0.026837352334225125 Centerline is valid? [True, True] Translation: X:11.63, Y:0.46, Z:-0.30 [[ 9.99727696e-01 2.32363182e-02 2.14660669e-03 1.16336606e+01] [-2.32363450e-02 9.99730000e-01 -1.24612930e-05 4.57542083e-01] [-2.14631666e-03 -3.74213940e-05 9.99997696e-01 -3.02273383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514203822 meters 0.028498892465868394 Centerline is valid? [True, True] Translation: X:11.66, Y:0.46, Z:-0.30 [[ 9.99694234e-01 2.44693533e-02 3.56222854e-03 1.16619601e+01] [-2.44694376e-02 9.99700578e-01 -1.99106167e-05 4.61805901e-01] [-3.56164914e-03 -6.72612004e-05 9.99993655e-01 -3.01415462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544203822 meters 0.02830290335716321 Centerline is valid? [True, True] Translation: X:11.69, Y:0.46, Z:-0.30 [[ 9.99688426e-01 2.46594022e-02 3.86831345e-03 1.16911122e+01] [-2.46595057e-02 9.99695908e-01 -2.09462148e-05 4.62700488e-01] [-3.86765365e-03 -7.44510091e-05 9.99992518e-01 -3.00813901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574203822000001 meters 0.02846922755041216 Centerline is valid? [True, True] Translation: X:11.72, Y:0.46, Z:-0.30 [[ 9.99712589e-01 2.34703835e-02 4.88669796e-03 1.17191796e+01] [-2.34705359e-02 9.99724529e-01 -2.61533216e-05 4.62844104e-01] [-4.88596565e-03 -8.85476153e-05 9.99988060e-01 -3.01817043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604203822 meters 0.025192514230123503 Centerline is valid? [True, True] Translation: X:11.75, Y:0.46, Z:-0.30 [[ 9.99738577e-01 2.23653076e-02 4.75087562e-03 1.17490049e+01] [-2.23654442e-02 9.99749862e-01 -2.43781165e-05 4.57544933e-01] [-4.75023247e-03 -8.18837001e-05 9.99988714e-01 -2.99748688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634203822 meters 0.02335333511523838 Centerline is valid? [True, True] Translation: X:11.78, Y:0.45, Z:-0.30 [[ 9.99810599e-01 1.91694177e-02 3.36135195e-03 1.17780091e+01] [-1.91694677e-02 9.99816249e-01 -1.73602235e-05 4.52982902e-01] [-3.36106708e-03 -4.70783921e-05 9.99994350e-01 -3.02976676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664203822000001 meters 0.0218921512164269 Centerline is valid? [True, True] Translation: X:11.81, Y:0.45, Z:-0.30 [[ 9.99843418e-01 1.72845658e-02 3.79250207e-03 1.18080315e+01] [-1.72846165e-02 9.99850610e-01 -1.94084101e-05 4.51208674e-01] [-3.79227097e-03 -4.61465727e-05 9.99992808e-01 -3.03292694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694203822 meters 0.019857458136660715 Centerline is valid? [True, True] Translation: X:11.84, Y:0.45, Z:-0.30 [[ 9.99883238e-01 1.39738520e-02 6.18406839e-03 1.18368018e+01] [-1.39739254e-02 9.99902359e-01 -3.13406294e-05 4.47552011e-01] [-6.18390252e-03 -5.50787405e-05 9.99980878e-01 -3.03619947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724203822 meters 0.017331355065109418 Centerline is valid? [True, True] Translation: X:11.87, Y:0.44, Z:-0.30 [[ 9.99898651e-01 1.27838464e-02 6.26584726e-03 1.18683471e+01] [-1.27839080e-02 9.99918282e-01 -3.02230327e-05 4.42363205e-01] [-6.26572159e-03 -4.98820450e-05 9.99980369e-01 -3.01006896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754203822000001 meters 0.018524086405778958 Centerline is valid? [True, True] Translation: X:11.90, Y:0.44, Z:-0.31 [[ 9.99919203e-01 1.13201547e-02 5.78288112e-03 1.18989053e+01] [-1.13201991e-02 9.99935924e-01 -2.50528735e-05 4.35147067e-01] [-5.78279418e-03 -4.04125164e-05 9.99983279e-01 -3.08362109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784203822 meters 0.017816706143769366 Centerline is valid? [True, True] Translation: X:11.93, Y:0.43, Z:-0.31 [[ 9.99923505e-01 1.11236664e-02 5.40816052e-03 1.19304547e+01] [-1.11236832e-02 9.99938130e-01 -2.69716765e-05 4.32877261e-01] [-5.40812594e-03 -3.31890509e-05 9.99985375e-01 -3.07550409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814203822 meters 0.018623113777727813 Centerline is valid? [True, True] Translation: X:11.96, Y:0.43, Z:-0.31 [[ 9.99927230e-01 1.16215569e-02 3.23641860e-03 1.19619893e+01] [-1.16215661e-02 9.99932467e-01 -1.59479922e-05 4.34935549e-01] [-3.23638537e-03 -2.16654211e-05 9.99994763e-01 -3.10112089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844203822 meters 0.01961754165605998 Centerline is valid? [True, True] Translation: X:11.99, Y:0.44, Z:-0.31 [[ 9.99917848e-01 1.26272292e-02 2.20237302e-03 1.19919590e+01] [-1.26272336e-02 9.99920273e-01 -1.19032070e-05 4.35970149e-01] [-2.20234773e-03 -1.59076495e-05 9.99997575e-01 -3.11843973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874203822 meters 0.020020280226949756 Centerline is valid? [True, True] Translation: X:12.02, Y:0.44, Z:-0.31 [[ 9.99909921e-01 1.32791890e-02 1.95289824e-03 1.20214319e+01] [-1.32791937e-02 9.99911828e-01 -1.05864380e-05 4.35261775e-01] [-1.95286663e-03 -1.53474296e-05 9.99998093e-01 -3.12791075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904203822000001 meters 0.022283615609194233 Centerline is valid? [True, True] Translation: X:12.05, Y:0.43, Z:-0.32 [[ 9.99891240e-01 1.47416522e-02 4.39134380e-04 1.20496657e+01] [-1.47416522e-02 9.99891336e-01 -3.20233127e-06 4.32916035e-01] [-4.39133869e-04 -3.27158332e-06 9.99999904e-01 -3.18418674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934203822 meters 0.022644527244074657 Centerline is valid? [True, True] Translation: X:12.08, Y:0.43, Z:-0.32 [[ 9.99879063e-01 1.55102766e-02 1.13602543e-03 1.20783030e+01] [-1.55102787e-02 9.99879708e-01 -6.98392187e-06 4.31746005e-01] [-1.13599710e-03 -1.06369938e-05 9.99999355e-01 -3.18337292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964203822 meters 0.022644527244074657 Centerline is valid? [True, True] Translation: X:12.11, Y:0.43, Z:-0.32 [[ 9.99879772e-01 1.54644876e-02 1.13602572e-03 1.21066219e+01] [-1.54644897e-02 9.99880418e-01 -6.93040963e-06 4.31694078e-01] [-1.13599705e-03 -1.06384818e-05 9.99999355e-01 -3.19141712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994203822000001 meters 0.021978942518856296 Centerline is valid? [True, True] Translation: X:12.14, Y:0.43, Z:-0.32 [[ 9.99879603e-01 1.54835327e-02 1.01969867e-03 1.21351533e+01] [-1.54835343e-02 9.99880123e-01 -6.33236459e-06 4.30627371e-01] [-1.01967447e-03 -9.45693708e-06 9.99999480e-01 -3.18192568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024203822 meters 0.0226244899264639 Centerline is valid? [True, True] Translation: X:12.16, Y:0.43, Z:-0.32 [[ 9.99894072e-01 1.45546591e-02 8.62038971e-05 1.21631541e+01] [-1.45546589e-02 9.99894075e-01 -2.06594897e-06 4.27014888e-01] [-8.62248352e-05 8.11061803e-07 9.99999996e-01 -3.22607665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054203822 meters 0.022823410008771174 Centerline is valid? [True, True] Translation: X:12.19, Y:0.42, Z:-0.33 [[ 9.99906013e-01 1.37077989e-02 -2.45850428e-04 1.21908559e+01] [-1.37077994e-02 9.99906044e-01 -4.32146857e-07 4.22936997e-01] [ 2.45821405e-04 3.80217458e-06 9.99999970e-01 -3.26474393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084203822000003 meters 0.021116724255334507 Centerline is valid? [True, True] Translation: X:12.22, Y:0.42, Z:-0.33 [[ 9.99919236e-01 1.26464780e-02 -1.26054671e-03 1.22194329e+01] [-1.26464822e-02 9.99920030e-01 4.64570699e-06 4.15526761e-01] [ 1.26050465e-03 1.12961497e-05 9.99999206e-01 -3.25921672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114203822000004 meters 0.02134896510118801 Centerline is valid? [True, True] Translation: X:12.25, Y:0.41, Z:-0.33 [[ 9.99913587e-01 1.31358058e-02 -5.18816463e-04 1.22472776e+01] [-1.31358072e-02 9.99913722e-01 7.62477565e-07 4.14716694e-01] [ 5.18781716e-04 6.05266133e-06 9.99999865e-01 -3.25911286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144203822 meters 0.02171706009591255 Centerline is valid? [True, True] Translation: X:12.28, Y:0.41, Z:-0.33 [[ 9.99900732e-01 1.40876223e-02 -2.55861353e-04 1.22761620e+01] [-1.40876228e-02 9.99900765e-01 -1.38576478e-07 4.14641642e-01] [ 2.55834011e-04 3.74304097e-06 9.99999967e-01 -3.25293798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174203822000003 meters 0.023561666271447256 Centerline is valid? [True, True] Translation: X:12.31, Y:0.42, Z:-0.33 [[ 9.99852500e-01 1.70362492e-02 -2.17815083e-03 1.23051473e+01] [-1.70362692e-02 9.99854872e-01 9.37817085e-06 4.15374415e-01] [ 2.17799449e-03 2.77307763e-05 9.99997628e-01 -3.26462733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204203822000004 meters 0.0258359085067101 Centerline is valid? [True, True] Translation: X:12.33, Y:0.42, Z:-0.33 [[ 9.99818481e-01 1.88862734e-02 -2.51275575e-03 1.23324354e+01] [-1.88863094e-02 9.99821638e-01 9.37819370e-06 4.19056661e-01] [ 2.51248469e-03 3.80801912e-05 9.99996843e-01 -3.29242066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234203822 meters 0.031410136859985116 Centerline is valid? [True, True] Translation: X:12.36, Y:0.43, Z:-0.33 [[ 9.99734962e-01 2.27984163e-02 -3.19953741e-03 1.23608779e+01] [-2.27984901e-02 9.99740081e-01 1.34241530e-05 4.29035810e-01] [ 3.19901184e-03 5.95240269e-05 9.99994881e-01 -3.34433375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264203822000002 meters 0.030204389252364648 Centerline is valid? [True, True] Translation: X:12.39, Y:0.43, Z:-0.33 [[ 9.99695487e-01 2.44722483e-02 -3.16900358e-03 1.23899476e+01] [-2.44723307e-02 9.99700508e-01 1.27783040e-05 4.28041474e-01] [ 3.16836720e-03 6.47784908e-05 9.99994979e-01 -3.32245325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294203822000004 meters 0.031817295437568664 Centerline is valid? [True, True] Translation: X:12.42, Y:0.43, Z:-0.33 [[ 9.99696783e-01 2.45130746e-02 -2.33486393e-03 1.24177216e+01] [-2.45131214e-02 9.99699508e-01 8.58551387e-06 4.30222411e-01] [ 2.33437278e-03 4.86518923e-05 9.99997274e-01 -3.34449761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324203822 meters 0.029072479833206766 Centerline is valid? [True, True] Translation: X:12.45, Y:0.43, Z:-0.33 [[ 9.99740895e-01 2.26706697e-02 -2.04559982e-03 1.24461737e+01] [-2.26707017e-02 9.99742987e-01 7.56769194e-06 4.25930132e-01] [ 2.04524564e-03 3.88094522e-05 9.99997908e-01 -3.33881501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354203822000002 meters 0.027681313596469557 Centerline is valid? [True, True] Translation: X:12.47, Y:0.42, Z:-0.34 [[ 9.99774858e-01 2.10710893e-02 -2.49866898e-03 1.24746395e+01] [-2.10711315e-02 9.99777979e-01 9.41658573e-06 4.23107894e-01] [ 2.49831264e-03 4.32353170e-05 9.99996878e-01 -3.35488741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384203822000003 meters 0.023419999288568985 Centerline is valid? [True, True] Translation: X:12.50, Y:0.42, Z:-0.33 [[ 9.99846440e-01 1.72467052e-02 -3.10599825e-03 1.25040593e+01] [-1.72467504e-02 9.99851264e-01 1.22183994e-05 4.19595842e-01] [ 3.10574700e-03 4.13518535e-05 9.99995176e-01 -3.33164287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414203822 meters 0.022501114920204873 Centerline is valid? [True, True] Translation: X:12.53, Y:0.41, Z:-0.34 [[ 9.99907951e-01 1.32446903e-02 -2.94426467e-03 1.25321774e+01] [-1.32447152e-02 9.99912285e-01 1.10441413e-05 4.14239409e-01] [ 2.94415269e-03 2.79528222e-05 9.99995666e-01 -3.37705283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444203822000002 meters 0.023319631175477955 Centerline is valid? [True, True] Translation: X:12.56, Y:0.41, Z:-0.34 [[ 9.99933664e-01 1.10396851e-02 -3.28535629e-03 1.25600011e+01] [-1.10397052e-02 9.99939061e-01 1.20207237e-05 4.09917095e-01] [ 3.28528879e-03 2.42494386e-05 9.99994603e-01 -3.43755614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474203822000003 meters 0.021147135923524123 Centerline is valid? [True, True] Translation: X:12.59, Y:0.40, Z:-0.34 [[ 9.99962469e-01 7.41259216e-03 -4.48493958e-03 1.25887853e+01] [-7.41258986e-03 9.99972526e-01 1.71348876e-05 4.03377312e-01] [ 4.48494337e-03 1.61107731e-05 9.99989942e-01 -3.42601233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504203822 meters 0.02093226270857877 Centerline is valid? [True, True] Translation: X:12.62, Y:0.40, Z:-0.34 [[ 9.99970005e-01 5.95548702e-03 -4.95194872e-03 1.26171100e+01] [-5.95546683e-03 9.99982266e-01 1.88231384e-05 4.01430518e-01] [ 4.95197300e-03 1.06685926e-05 9.99987739e-01 -3.44065642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534203822000002 meters 0.02086670316801248 Centerline is valid? [True, True] Translation: X:12.65, Y:0.40, Z:-0.35 [[ 9.99975934e-01 3.91554731e-03 -5.72709752e-03 1.26456438e+01] [-3.91548726e-03 9.99992334e-01 2.16972499e-05 3.97269465e-01] [ 5.72713858e-03 7.27649661e-07 9.99983600e-01 -3.45952102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564203822000003 meters 0.02033685449100305 Centerline is valid? [True, True] Translation: X:12.67, Y:0.40, Z:-0.34 [[ 9.99977890e-01 3.35869307e-03 -5.73920301e-03 1.26746600e+01] [-3.35862525e-03 9.99994360e-01 2.14545077e-05 3.98908133e-01] [ 5.73924269e-03 -2.17820116e-06 9.99983530e-01 -3.44049458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594203822 meters 0.020666958252902396 Centerline is valid? [True, True] Translation: X:12.70, Y:0.40, Z:-0.34 [[ 9.99981508e-01 3.24328923e-03 -5.14439136e-03 1.27020657e+01] [-3.24323719e-03 9.99994741e-01 1.84573129e-05 4.00691916e-01] [ 5.14442417e-03 -1.77249025e-06 9.99986767e-01 -3.44930564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624203822000002 meters 0.019440876018222728 Centerline is valid? [True, True] Translation: X:12.73, Y:0.40, Z:-0.34 [[ 9.99990999e-01 2.36704348e-03 -3.52112403e-03 1.27308063e+01] [-2.36701492e-03 9.99997199e-01 1.22780582e-05 3.97476815e-01] [ 3.52114323e-03 -3.94339452e-06 9.99993801e-01 -3.42401733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654203822000003 meters 0.019114780755467367 Centerline is valid? [True, True] Translation: X:12.76, Y:0.40, Z:-0.34 [[ 9.99991265e-01 1.63792266e-03 -3.84529234e-03 1.27594964e+01] [-1.63788354e-03 9.99998659e-01 1.33229213e-05 3.95141859e-01] [ 3.84530901e-03 -7.02466392e-06 9.99992607e-01 -3.42236903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684203822 meters 0.02203513554839808 Centerline is valid? [True, True] Translation: X:12.79, Y:0.39, Z:-0.35 [[ 9.99988296e-01 -5.36844238e-04 -4.80835482e-03 1.27874030e+01] [ 5.36929179e-04 9.99999856e-01 1.63744927e-05 3.91369461e-01] [ 4.80834534e-03 -1.89560471e-05 9.99988440e-01 -3.50146780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714203822 meters 0.020212684853858055 Centerline is valid? [True, True] Translation: X:12.82, Y:0.39, Z:-0.34 [[ 9.99992104e-01 -2.61951144e-03 -2.98820030e-03 1.28161331e+01] [ 2.61955231e-03 9.99996569e-01 9.76245770e-06 3.89360341e-01] [ 2.98816447e-03 -1.75901276e-05 9.99995535e-01 -3.44432020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744203822000003 meters 0.019972018349633434 Centerline is valid? [True, True] Translation: X:12.85, Y:0.39, Z:-0.34 [[ 9.99991378e-01 -3.65911326e-03 -1.96352834e-03 1.28460964e+01] [ 3.65913323e-03 9.99993305e-01 6.57441072e-06 3.87202456e-01] [ 1.96349114e-03 -1.37591658e-05 9.99998072e-01 -3.42332604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774203822 meters 0.020002430445844623 Centerline is valid? [True, True] Translation: X:12.88, Y:0.38, Z:-0.34 [[ 9.99985265e-01 -5.42864899e-03 -7.91508927e-06 1.28758224e+01] [ 5.42864898e-03 9.99985265e-01 -6.40508845e-07 3.78166925e-01] [ 7.91844972e-06 5.97531164e-07 1.00000000e+00 -3.40979120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804203822 meters 0.02050783353469108 Centerline is valid? [True, True] Translation: X:12.91, Y:0.37, Z:-0.34 [[ 9.99983320e-01 -5.74507922e-03 -5.95436393e-04 1.29060046e+01] [ 5.74508174e-03 9.99983497e-01 2.52232283e-06 3.72814892e-01] [ 5.95412075e-04 -5.94311151e-06 9.99999823e-01 -3.42644414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834203822000003 meters 0.022452888496467798 Centerline is valid? [True, True] Translation: X:12.94, Y:0.37, Z:-0.35 [[ 9.99982842e-01 -5.24243246e-03 -2.61379178e-03 1.29362657e+01] [ 5.24247643e-03 9.99986258e-01 9.97169763e-06 3.72126082e-01] [ 2.61370359e-03 -2.36742684e-05 9.99996584e-01 -3.48930037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864203822000004 meters 0.02145435267515213 Centerline is valid? [True, True] Translation: X:12.97, Y:0.37, Z:-0.35 [[ 9.99985260e-01 -3.09895462e-03 -4.45824664e-03 1.29657522e+01] [ 3.09905533e-03 9.99995198e-01 1.56810330e-05 3.74140562e-01] [ 4.45817663e-03 -2.94971549e-05 9.99990062e-01 -3.50393530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894203822 meters 0.018842291119428253 Centerline is valid? [True, True] Translation: X:13.00, Y:0.38, Z:-0.34 [[ 9.99997192e-01 1.42714625e-04 -2.36552535e-03 1.29959904e+01] [-1.42695376e-04 9.99999990e-01 8.30615190e-06 3.77864714e-01] [ 2.36552651e-03 -7.96857905e-06 9.99997202e-01 -3.44700044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924203822000003 meters 0.020139244822641428 Centerline is valid? [True, True] Translation: X:13.02, Y:0.38, Z:-0.35 [[ 9.99996853e-01 1.63571122e-03 -1.90227736e-03 1.30241553e+01] [-1.63571048e-03 9.99998662e-01 1.94514665e-06 3.78905501e-01] [ 1.90227799e-03 1.16643448e-06 9.99998191e-01 -3.48862000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954203822000004 meters 0.019796423299803818 Centerline is valid? [True, True] Translation: X:13.05, Y:0.38, Z:-0.35 [[ 9.99989749e-01 4.49697365e-03 -5.28613236e-04 1.30530490e+01] [-4.49697381e-03 9.99989889e-01 8.71582893e-07 3.78706052e-01] [ 5.28611811e-04 1.50558592e-06 9.99999860e-01 -3.48159950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984203822 meters 0.018969365144225737 Centerline is valid? [True, True] Translation: X:13.08, Y:0.38, Z:-0.35 [[ 9.99980676e-01 6.19261722e-03 5.46457136e-04 1.30825061e+01] [-6.19261659e-03 9.99980826e-01 -2.84438412e-06 3.79818808e-01] [-5.46464272e-04 -5.39670372e-07 9.99999851e-01 -3.45909705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014203822000002 meters 0.019538425908291038 Centerline is valid? [True, True] Translation: X:13.11, Y:0.38, Z:-0.34 [[ 9.99952638e-01 9.56217631e-03 1.81275644e-03 1.31122056e+01] [-9.56217967e-03 9.99954281e-01 -6.80989815e-06 3.83131877e-01] [-1.81273868e-03 -1.05243271e-05 9.99998357e-01 -3.44446843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044203822000004 meters 0.01831747695931276 Centerline is valid? [True, True] Translation: X:13.14, Y:0.38, Z:-0.34 [[ 9.99940610e-01 1.07533285e-02 1.77255180e-03 1.31418349e+01] [-1.07533336e-02 9.99942181e-01 -6.67008867e-06 3.84480723e-01] [-1.77252104e-03 -1.23911483e-05 9.99998429e-01 -3.40471398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074203822 meters 0.018260856937136617 Centerline is valid? [True, True] Translation: X:13.17, Y:0.38, Z:-0.34 [[ 9.99941376e-01 1.07265410e-02 1.47861402e-03 1.31717287e+01] [-1.07265444e-02 9.99942469e-01 -5.64786215e-06 3.84830398e-01] [-1.47858954e-03 -1.02128879e-05 9.99998907e-01 -3.41558873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104203822000002 meters 0.020507464895363328 Centerline is valid? [True, True] Translation: X:13.20, Y:0.38, Z:-0.35 [[ 9.99954585e-01 9.52821383e-03 2.04396627e-04 1.32004731e+01] [-9.52821368e-03 9.99954606e-01 -1.71595122e-06 3.82706429e-01] [-2.04403699e-04 -2.31661456e-07 9.99999979e-01 -3.50701846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134203822000003 meters 0.01993702867657855 Centerline is valid? [True, True] Translation: X:13.23, Y:0.38, Z:-0.35 [[ 9.99967964e-01 7.81889205e-03 -1.71348169e-03 1.32296184e+01] [-7.81889562e-03 9.99969432e-01 4.61525222e-06 3.77758207e-01] [ 1.71346540e-03 8.78243010e-06 9.99998532e-01 -3.53197007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164203822 meters 0.019918638284935706 Centerline is valid? [True, True] Translation: X:13.26, Y:0.38, Z:-0.35 [[ 9.99963439e-01 8.22594591e-03 -2.33532236e-03 1.32588008e+01] [-8.22595389e-03 9.99966166e-01 6.18511096e-06 3.77532407e-01] [ 2.33529422e-03 1.30253692e-05 9.99997273e-01 -3.54830629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194203822000002 meters 0.02152953246477749 Centerline is valid? [True, True] Translation: X:13.29, Y:0.38, Z:-0.36 [[ 9.99952659e-01 9.27860244e-03 -2.93026117e-03 1.32869621e+01] [-9.27862002e-03 9.99956953e-01 7.59609675e-06 3.79275046e-01] [ 2.93020551e-03 1.95930428e-05 9.99995707e-01 -3.58270844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224203822000003 meters 0.023154329218538827 Centerline is valid? [True, True] Translation: X:13.32, Y:0.39, Z:-0.36 [[ 9.99917004e-01 1.24095573e-02 -3.46244300e-03 1.33157162e+01] [-1.24095989e-02 9.99922998e-01 9.47869847e-06 3.86985077e-01] [ 3.46229401e-03 3.34896169e-05 9.99994006e-01 -3.58011078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254203822 meters 0.025086004657484163 Centerline is valid? [True, True] Translation: X:13.34, Y:0.39, Z:-0.36 [[ 9.99901917e-01 1.37910413e-02 -2.44197633e-03 1.33439735e+01] [-1.37910673e-02 9.99904899e-01 6.18834083e-06 3.92231783e-01] [ 2.44182944e-03 2.74897260e-05 9.99997018e-01 -3.60530059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284203822000002 meters 0.025536718255036173 Centerline is valid? [True, True] Translation: X:13.37, Y:0.40, Z:-0.36 [[ 9.99866093e-01 1.59223601e-02 -3.77811911e-03 1.33731925e+01] [-1.59224347e-02 9.99873230e-01 1.03247069e-05 3.95969845e-01] [ 3.77780455e-03 4.98335306e-05 9.99992863e-01 -3.60896534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314203822000003 meters 0.02700306994790534 Centerline is valid? [True, True] Translation: X:13.40, Y:0.40, Z:-0.36 [[ 9.99839722e-01 1.71396020e-02 -5.17334238e-03 1.34029668e+01] [-1.71397543e-02 9.99853104e-01 1.49111213e-05 4.01703351e-01] [ 5.17283801e-03 7.37610858e-05 9.99986618e-01 -3.63936296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344203822 meters 0.02899955618365496 Centerline is valid? [True, True] Translation: X:13.43, Y:0.41, Z:-0.37 [[ 9.99841665e-01 1.71267214e-02 -4.82909820e-03 1.34311308e+01] [-1.71268617e-02 9.99853324e-01 1.23123834e-05 4.06833675e-01] [ 4.82860076e-03 7.03968629e-05 9.99988340e-01 -3.67839929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374203822000002 meters 0.03178534745354804 Centerline is valid? [True, True] Translation: X:13.46, Y:0.41, Z:-0.36 [[ 9.99855501e-01 1.63692936e-02 -4.58519722e-03 1.34603867e+01] [-1.63694109e-02 9.99866012e-01 1.19597739e-05 4.09655504e-01] [ 4.58477863e-03 6.30989314e-05 9.99989488e-01 -3.64373561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404203822000003 meters 0.024820143463812117 Centerline is valid? [True, True] Translation: X:13.49, Y:0.41, Z:-0.36 [[ 9.99889982e-01 1.44640432e-02 -3.28864574e-03 1.34897673e+01] [-1.44640972e-02 9.99895389e-01 7.36882765e-06 4.10784313e-01] [ 3.28840829e-03 4.01992747e-05 9.99994592e-01 -3.64034705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434203822 meters 0.024059857415102796 Centerline is valid? [True, True] Translation: X:13.52, Y:0.41, Z:-0.36 [[ 9.99912342e-01 1.30230071e-02 -2.38939254e-03 1.35173743e+01] [-1.30230326e-02 9.99915197e-01 4.91708974e-06 4.11237247e-01] [ 2.38925394e-03 2.62004781e-05 9.99997145e-01 -3.64733618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464203822 meters 0.02154112281873425 Centerline is valid? [True, True] Translation: X:13.55, Y:0.41, Z:-0.36 [[ 9.99965111e-01 8.26092997e-03 -1.23870315e-03 1.35457958e+01] [-8.26093273e-03 9.99965878e-01 2.88648644e-06 4.08901915e-01] [ 1.23868473e-03 7.34645766e-06 9.99999233e-01 -3.64947927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494203822000003 meters 0.017989461144447435 Centerline is valid? [True, True] Translation: X:13.58, Y:0.40, Z:-0.36 [[ 9.99994685e-01 3.22829827e-03 -4.56133870e-04 1.35753410e+01] [-3.22829834e-03 9.99994789e-01 5.70954835e-07 4.03451624e-01] [ 4.56133337e-04 9.01584415e-07 9.99999896e-01 -3.58414129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524203822000004 meters 0.01830219047606246 Centerline is valid? [True, True] Translation: X:13.60, Y:0.40, Z:-0.36 [[ 9.99998984e-01 1.03193643e-03 -9.83823430e-04 1.36046682e+01] [-1.03193497e-03 9.99999468e-01 1.98941279e-06 4.02070113e-01] [ 9.83824959e-04 -9.74168962e-07 9.99999516e-01 -3.59366530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554203822 meters 0.019694882178318714 Centerline is valid? [True, True] Translation: X:13.63, Y:0.40, Z:-0.36 [[ 9.99993626e-01 -3.48255292e-03 -7.87817588e-04 1.36342677e+01] [ 3.48255541e-03 9.99993936e-01 1.78743552e-06 3.99058420e-01] [ 7.87806586e-04 -4.53104253e-06 9.99999690e-01 -3.61475669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584203822000003 meters 0.018315725121352846 Centerline is valid? [True, True] Translation: X:13.67, Y:0.40, Z:-0.36 [[ 9.99982645e-01 -5.89117277e-03 -6.47895318e-05 1.36651997e+01] [ 5.89117279e-03 9.99982647e-01 1.74420528e-07 3.97448149e-01] [ 6.47873800e-05 -5.56103829e-07 9.99999998e-01 -3.56374585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614203822000004 meters 0.020576644851571266 Centerline is valid? [True, True] Translation: X:13.70, Y:0.39, Z:-0.36 [[ 9.99956549e-01 -9.19290219e-03 1.54643756e-03 1.36963984e+01] [ 9.19291305e-03 9.99957744e-01 8.38667741e-08 3.91676733e-01] [-1.54637298e-03 1.41324029e-05 9.99998804e-01 -3.57082359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644203822 meters 0.022538834485085063 Centerline is valid? [True, True] Translation: X:13.73, Y:0.39, Z:-0.36 [[ 9.99933895e-01 -1.12993125e-02 2.12857011e-03 1.37270649e+01] [ 1.12993490e-02 9.99936160e-01 -5.14343880e-06 3.85207429e-01] [-2.12837611e-03 2.91945554e-05 9.99997735e-01 -3.58765298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674203822000003 meters 0.025123075988586034 Centerline is valid? [True, True] Translation: X:13.76, Y:0.38, Z:-0.36 [[ 9.99926622e-01 -1.20253476e-02 1.46354553e-03 1.37575892e+01] [ 1.20253658e-02 9.99927693e-01 -3.60360533e-06 3.80818055e-01] [-1.46339637e-03 2.12030112e-05 9.99998929e-01 -3.64017402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704203822000004 meters 0.022934861318232018 Centerline is valid? [True, True] Translation: X:13.79, Y:0.38, Z:-0.36 [[ 9.99929628e-01 -1.17679970e-02 1.50081555e-03 1.37899067e+01] [ 1.17680149e-02 9.99930755e-01 -3.11301052e-06 3.82774896e-01] [-1.50067499e-03 2.07744111e-05 9.99998874e-01 -3.60072676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734203822 meters 0.02162359678390983 Centerline is valid? [True, True] Translation: X:13.82, Y:0.38, Z:-0.36 [[ 9.99944312e-01 -1.02049265e-02 2.68915938e-03 1.38202687e+01] [ 1.02049839e-02 9.99947928e-01 -7.64985477e-06 3.84644415e-01] [-2.68894128e-03 3.50922570e-05 9.99996384e-01 -3.58599662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764203822000002 meters 0.01765119253848845 Centerline is valid? [True, True] Translation: X:13.85, Y:0.39, Z:-0.36 [[ 9.99983738e-01 -5.26930598e-03 2.18143482e-03 1.38518238e+01] [ 5.26933125e-03 9.99986117e-01 -5.83996152e-06 3.93115046e-01] [-2.18137377e-03 1.73345692e-05 9.99997621e-01 -3.56798546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794203822000004 meters 0.017489747660282176 Centerline is valid? [True, True] Translation: X:13.88, Y:0.40, Z:-0.36 [[ 9.99999280e-01 1.70872240e-06 1.19972671e-03 1.38831071e+01] [-1.70560236e-06 1.00000000e+00 -2.60164256e-06 4.00012482e-01] [-1.19972671e-03 2.59959443e-06 9.99999280e-01 -3.62651138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824203822 meters 0.01662006146781064 Centerline is valid? [True, True] Translation: X:13.91, Y:0.40, Z:-0.36 [[ 9.99991014e-01 3.87839551e-03 1.71195359e-03 1.39141957e+01] [-3.87839286e-03 9.99992479e-01 -4.86627486e-06 4.03493499e-01] [-1.71195959e-03 -1.77339745e-06 9.99998535e-01 -3.61908080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854203822000002 meters 0.017590560000150045 Centerline is valid? [True, True] Translation: X:13.94, Y:0.40, Z:-0.37 [[ 9.99986471e-01 5.10503145e-03 9.98410942e-04 1.39445727e+01] [-5.10503129e-03 9.99986969e-01 -2.71037354e-06 4.04841090e-01] [-9.98411768e-04 -2.38658222e-06 9.99999502e-01 -3.65184587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884203822000003 meters 0.017405566073975382 Centerline is valid? [True, True] Translation: X:13.98, Y:0.41, Z:-0.36 [[ 9.99982631e-01 5.84190390e-03 7.81525321e-04 1.39752322e+01] [-5.84190382e-03 9.99982936e-01 -2.38441289e-06 4.06541638e-01] [-7.81525915e-04 -2.18122429e-06 9.99999695e-01 -3.64657273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914203822 meters 0.017405566073975382 Centerline is valid? [True, True] Translation: X:14.00, Y:0.41, Z:-0.37 [[ 9.99982770e-01 5.81804576e-03 7.81523319e-04 1.40043909e+01] [-5.81804516e-03 9.99983075e-01 -3.04321822e-06 4.06496099e-01] [-7.81527797e-04 -1.50377218e-06 9.99999695e-01 -3.65485226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944203822000002 meters 0.01836934889333883 Centerline is valid? [True, True] Translation: X:14.03, Y:0.41, Z:-0.37 [[ 9.99983918e-01 5.45158066e-03 1.56307842e-03 1.40334968e+01] [-5.45157943e-03 9.99985140e-01 -5.05003576e-06 4.07391235e-01] [-1.56308272e-03 -3.47129161e-06 9.99998778e-01 -3.68589537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974203822000003 meters 0.01735016326151733 Centerline is valid? [True, True] Translation: X:14.06, Y:0.41, Z:-0.37 [[ 9.99990716e-01 4.18318961e-03 1.03343173e-03 1.40641211e+01] [-4.18318863e-03 9.99991250e-01 -3.11602114e-06 4.07492130e-01] [-1.03343572e-03 -1.20704763e-06 9.99999466e-01 -3.67212184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004203822 meters 0.016679062918984175 Centerline is valid? [True, True] Translation: X:14.09, Y:0.40, Z:-0.37 [[ 9.99996639e-01 2.57656557e-03 2.87970995e-04 1.40945669e+01] [-2.57656543e-03 9.99996681e-01 -8.68295104e-07 4.00967946e-01] [-2.87972276e-04 1.26316075e-07 9.99999959e-01 -3.68393127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034203822000002 meters 0.01768031832237229 Centerline is valid? [True, True] Translation: X:14.12, Y:0.40, Z:-0.37 [[ 9.99998352e-01 1.80368534e-03 2.07398720e-04 1.41238697e+01] [-1.80368518e-03 9.99998373e-01 -9.64409394e-07 3.97360403e-01] [-2.07400122e-04 5.90325806e-07 9.99999978e-01 -3.72576039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064203822000003 meters 0.018773023996000508 Centerline is valid? [True, True] Translation: X:14.15, Y:0.40, Z:-0.38 [[ 9.99999680e-01 6.96360168e-04 3.94801586e-04 1.41534591e+01] [-6.96359906e-04 9.99999758e-01 -8.01016208e-07 3.96066928e-01] [-3.94802048e-04 5.26091955e-07 9.99999922e-01 -3.75554619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094203822 meters 0.017539973563401118 Centerline is valid? [True, True] Translation: X:14.18, Y:0.40, Z:-0.37 [[ 9.99999715e-01 1.67501078e-04 7.36059399e-04 1.41843008e+01] [-1.67499489e-04 9.99999986e-01 -2.22063763e-06 3.96157403e-01] [-7.36059761e-04 2.09734742e-06 9.99999729e-01 -3.72355960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124203822000002 meters 0.017665341388318555 Centerline is valid? [True, True] Translation: X:14.21, Y:0.39, Z:-0.37 [[ 9.99998473e-01 -1.35330045e-03 1.10556084e-03 1.42148429e+01] [ 1.35330496e-03 9.99999084e-01 -3.33539657e-06 3.93447740e-01] [-1.10555531e-03 4.83155244e-06 9.99999389e-01 -3.72218901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154203822000003 meters 0.018909060310477618 Centerline is valid? [True, True] Translation: X:14.25, Y:0.39, Z:-0.37 [[ 9.99993657e-01 -2.97922966e-03 1.95195393e-03 1.42451300e+01] [ 2.97924623e-03 9.99995562e-01 -5.58059309e-06 3.92055685e-01] [-1.95192864e-03 1.13959091e-05 9.99998095e-01 -3.73953581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184203822 meters 0.017670558881229887 Centerline is valid? [True, True] Translation: X:14.28, Y:0.39, Z:-0.37 [[ 9.99991738e-01 -3.45153054e-03 2.14713608e-03 1.42777462e+01] [ 3.45154980e-03 9.99994043e-01 -5.26634417e-06 3.90293181e-01] [-2.14710512e-03 1.26772478e-05 9.99997695e-01 -3.71189021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214203822 meters 0.01771068877126742 Centerline is valid? [True, True] Translation: X:14.31, Y:0.38, Z:-0.37 [[ 9.99993361e-01 -3.63035924e-03 3.13651141e-04 1.43097556e+01] [ 3.63035929e-03 9.99993410e-01 4.02528732e-07 3.84573232e-01] [-3.13650536e-04 7.36140274e-07 9.99999951e-01 -3.73272048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244203822000003 meters 0.018319552001465293 Centerline is valid? [True, True] Translation: X:14.34, Y:0.39, Z:-0.37 [[ 9.99994417e-01 -3.30163972e-03 5.14534177e-04 1.43400691e+01] [ 3.30164036e-03 9.99994550e-01 -3.93770196e-07 3.85801385e-01] [-5.14530073e-04 2.09257480e-06 9.99999868e-01 -3.74442704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274203822000004 meters 0.020072607504512185 Centerline is valid? [True, True] Translation: X:14.37, Y:0.39, Z:-0.38 [[ 9.99995154e-01 -3.08200438e-03 4.40393272e-04 1.43709947e+01] [ 3.08200486e-03 9.99995251e-01 -4.09259694e-07 3.85733395e-01] [-4.40389919e-04 1.76655191e-06 9.99999903e-01 -3.79507313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304203822 meters 0.018893773791766152 Centerline is valid? [True, True] Translation: X:14.40, Y:0.38, Z:-0.38 [[ 9.99994477e-01 -3.29743167e-03 4.16455547e-04 1.44024093e+01] [ 3.29743224e-03 9.99994563e-01 -6.85956657e-07 3.80973456e-01] [-4.16451021e-04 2.05918681e-06 9.99999913e-01 -3.78245665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334203822000003 meters 0.01762470793669643 Centerline is valid? [True, True] Translation: X:14.43, Y:0.38, Z:-0.38 [[ 9.99994376e-01 -2.60947072e-03 2.10702352e-03 1.44341441e+01] [ 2.60948953e-03 9.99996595e-01 -6.17947839e-06 3.76986413e-01] [-2.10700022e-03 1.16776995e-05 9.99997780e-01 -3.75818843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364203822000004 meters 0.018602824720018795 Centerline is valid? [True, True] Translation: X:14.47, Y:0.38, Z:-0.38 [[ 9.99996470e-01 -1.73604391e-03 2.01164675e-03 1.44652654e+01] [ 1.73605659e-03 9.99998493e-01 -4.55747041e-06 3.75923138e-01] [-2.01163581e-03 8.04978692e-06 9.99997977e-01 -3.80119423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394203822 meters 0.01732762000428169 Centerline is valid? [True, True] Translation: X:14.50, Y:0.37, Z:-0.38 [[ 9.99998654e-01 2.26550881e-04 1.62522700e-03 1.44970303e+01] [-2.26544432e-04 9.99999974e-01 -4.15219948e-06 3.73982029e-01] [-1.62522790e-03 3.78400776e-06 9.99998679e-01 -3.78223309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424203822000003 meters 0.015549928144265163 Centerline is valid? [True, True] Translation: X:14.53, Y:0.37, Z:-0.37 [[ 9.99995785e-01 1.57950677e-03 2.43620051e-03 1.45284012e+01] [-1.57949299e-03 9.99998753e-01 -7.57971985e-06 3.74096531e-01] [-2.43620944e-03 3.73172627e-06 9.99997032e-01 -3.74063682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454203822000004 meters 0.016992540611114788 Centerline is valid? [True, True] Translation: X:14.56, Y:0.37, Z:-0.38 [[ 9.99987300e-01 4.42811217e-03 2.40677937e-03 1.45592960e+01] [-4.42810761e-03 9.99990196e-01 -7.22119493e-06 3.74543780e-01] [-2.40678774e-03 -3.43637482e-06 9.99997104e-01 -3.78735439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484203822 meters 0.018309401244198893 Centerline is valid? [True, True] Translation: X:14.59, Y:0.38, Z:-0.38 [[ 9.99969641e-01 7.71428391e-03 1.09866201e-03 1.45905769e+01] [-7.71428513e-03 9.99970244e-01 -3.13174356e-06 3.75917499e-01] [-1.09865348e-03 -5.34374351e-06 9.99999396e-01 -3.80651243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514203822000002 meters 0.01750330201098669 Centerline is valid? [True, True] Translation: X:14.62, Y:0.38, Z:-0.38 [[ 9.99952113e-01 9.64270739e-03 1.67059841e-03 1.46200629e+01] [-9.64271010e-03 9.99953508e-01 -6.43115898e-06 3.77392417e-01] [-1.67058276e-03 -9.67824520e-06 9.99998605e-01 -3.77118076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544203822000004 meters 0.01917430021242976 Centerline is valid? [True, True] Translation: X:14.65, Y:0.38, Z:-0.38 [[ 9.99909069e-01 1.32885081e-02 2.29540958e-03 1.46500598e+01] [-1.32885243e-02 9.99911704e-01 -8.19847506e-06 3.78074850e-01] [-2.29531585e-03 -2.23048763e-05 9.99997366e-01 -3.77682848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574203822 meters 0.022383324007667234 Centerline is valid? [True, True] Translation: X:14.68, Y:0.37, Z:-0.38 [[ 9.99884108e-01 1.51957922e-02 9.26714036e-04 1.46790304e+01] [-1.51957952e-02 9.99884537e-01 -3.83989391e-06 3.74902598e-01] [-9.26665386e-04 -1.02427078e-05 9.99999571e-01 -3.84195582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604203822000002 meters 0.020609147934139375 Centerline is valid? [True, True] Translation: X:14.71, Y:0.37, Z:-0.38 [[ 9.99873522e-01 1.58243347e-02 1.59090897e-03 1.47089196e+01] [-1.58243450e-02 9.99874787e-01 -6.07505269e-06 3.72435686e-01] [-1.59080590e-03 -1.91008081e-05 9.99998734e-01 -3.79889296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634203822000003 meters 0.027903572144243615 Centerline is valid? [True, True] Translation: X:14.74, Y:0.38, Z:-0.38 [[ 9.99866083e-01 1.60625948e-02 3.13207573e-03 1.47374219e+01] [-1.60626376e-02 9.99870987e-01 -1.15020318e-05 3.75794409e-01] [-3.13185640e-03 -3.88089058e-05 9.99995095e-01 -3.82770243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664203822 meters 0.022327883387187136 Centerline is valid? [True, True] Translation: X:14.77, Y:0.37, Z:-0.38 [[ 9.99866560e-01 1.62546498e-02 1.62767740e-03 1.47668754e+01] [-1.62546615e-02 9.99867884e-01 -6.06943620e-06 3.72328774e-01] [-1.62756101e-03 -2.03887188e-05 9.99998675e-01 -3.83130375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694203822000002 meters 0.02337345009500698 Centerline is valid? [True, True] Translation: X:14.80, Y:0.37, Z:-0.39 [[ 9.99852654e-01 1.71282358e-02 1.13750203e-03 1.47967908e+01] [-1.71282418e-02 9.99853301e-01 -4.41831775e-06 3.71806104e-01] [-1.13741084e-03 -1.50657431e-05 9.99999353e-01 -3.85462352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724203822000003 meters 0.02526944536786858 Centerline is valid? [True, True] Translation: X:14.83, Y:0.37, Z:-0.39 [[ 9.99816769e-01 1.91130105e-02 1.05908420e-03 1.48251892e+01] [-1.91130165e-02 9.99817330e-01 -4.45946512e-06 3.71673082e-01] [-1.05897598e-03 -1.57836459e-05 9.99999439e-01 -3.87412645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754203822 meters 0.02858171181182408 Centerline is valid? [True, True] Translation: X:14.85, Y:0.37, Z:-0.39 [[ 9.99779830e-01 2.09778387e-02 4.70591287e-04 1.48534143e+01] [-2.09778398e-02 9.99779941e-01 -2.52606528e-06 3.73535677e-01] [-4.70540721e-04 -7.34647954e-06 9.99999889e-01 -3.91492800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784203822000002 meters 0.02824067086460849 Centerline is valid? [True, True] Translation: X:14.88, Y:0.37, Z:-0.39 [[ 9.99767887e-01 2.15409395e-02 4.00781353e-04 1.48826091e+01] [-2.15409402e-02 9.99767967e-01 -2.61229698e-06 3.74171799e-01] [-4.00744630e-04 -6.02151653e-06 9.99999920e-01 -3.90812969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814203822000003 meters 0.030859776193822942 Centerline is valid? [True, True] Translation: X:14.91, Y:0.38, Z:-0.39 [[ 9.99735045e-01 2.30090975e-02 -6.49440441e-04 1.49110315e+01] [-2.30091017e-02 9.99735256e-01 1.00435203e-06 3.81955057e-01] [ 6.49291614e-04 1.39389552e-05 9.99999789e-01 -3.94432621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844203822 meters 0.028866661630864196 Centerline is valid? [True, True] Translation: X:14.94, Y:0.38, Z:-0.39 [[ 9.99745088e-01 2.25762935e-02 -2.63306929e-04 1.49400527e+01] [-2.25762944e-02 9.99745123e-01 -5.46501019e-07 3.79557052e-01] [ 2.63227480e-04 6.49085645e-06 9.99999965e-01 -3.93078790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874203822000002 meters 0.02756181586810217 Centerline is valid? [True, True] Translation: X:14.97, Y:0.38, Z:-0.39 [[ 9.99764321e-01 2.16928688e-02 8.49860028e-04 1.49694904e+01] [-2.16928729e-02 9.99764682e-01 -4.47801615e-06 3.76555932e-01] [-8.49757182e-04 -1.39589448e-05 9.99999639e-01 -3.91871359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904203822000003 meters 0.02818518741788918 Centerline is valid? [True, True] Translation: X:15.00, Y:0.38, Z:-0.40 [[ 9.99805223e-01 1.97329629e-02 3.54256819e-04 1.49977064e+01] [-1.97329634e-02 9.99805286e-01 -2.07738727e-06 3.75222368e-01] [-3.54228834e-04 -4.91355423e-06 9.99999937e-01 -3.97243578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934203822 meters 0.02249142901914257 Centerline is valid? [True, True] Translation: X:15.03, Y:0.37, Z:-0.39 [[ 9.99868598e-01 1.61453025e-02 1.45482958e-03 1.50277597e+01] [-1.61453122e-02 9.99869656e-01 -5.05405653e-06 3.69265136e-01] [-1.45472155e-03 -1.84352854e-05 9.99998942e-01 -3.92708413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964203822 meters 0.021047330383475435 Centerline is valid? [True, True] Translation: X:15.06, Y:0.37, Z:-0.39 [[ 9.99893500e-01 1.44737872e-02 1.87013975e-03 1.50579348e+01] [-1.44738016e-02 9.99895249e-01 -5.84031785e-06 3.67870695e-01] [-1.87002839e-03 -2.12283358e-05 9.99998251e-01 -3.92624498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994203822000003 meters 0.021371956202977837 Centerline is valid? [True, True] Translation: X:15.09, Y:0.37, Z:-0.40 [[ 9.99936859e-01 1.12111388e-02 -7.67280055e-04 1.50870691e+01] [-1.12111406e-02 9.99937153e-01 1.90330870e-06 3.65089836e-01] [ 7.67253172e-04 6.69889605e-06 9.99999706e-01 -4.00912594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024203822000004 meters 0.02485082505956296 Centerline is valid? [True, True] Translation: X:15.12, Y:0.36, Z:-0.40 [[ 9.99964115e-01 8.46153545e-03 -4.14127073e-04 1.51157822e+01] [-8.46153624e-03 9.99964201e-01 -1.48551490e-07 3.64412474e-01] [ 4.14110990e-04 3.65269739e-06 9.99999914e-01 -3.99582070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054203822 meters 0.018318064443177923 Centerline is valid? [True, True] Translation: X:15.15, Y:0.36, Z:-0.40 [[ 9.99978066e-01 6.62095691e-03 1.71936701e-04 1.51450659e+01] [-6.62095681e-03 9.99978081e-01 -1.16970973e-06 3.63876148e-01] [-1.71940677e-04 3.12985961e-08 9.99999985e-01 -3.98688021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084203822000003 meters 0.01866324052693393 Centerline is valid? [True, True] Translation: X:15.17, Y:0.36, Z:-0.40 [[ 9.99994375e-01 3.25340903e-03 -8.15953215e-04 1.51736712e+01] [-3.25340906e-03 9.99994708e-01 1.28917879e-06 3.60115490e-01] [ 8.15953091e-04 1.36545804e-06 9.99999667e-01 -4.01675313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114203822000004 meters 0.017669228533407653 Centerline is valid? [True, True] Translation: X:15.20, Y:0.36, Z:-0.40 [[ 9.99998322e-01 1.10735869e-03 -1.45947779e-03 1.52029983e+01] [-1.10735493e-03 9.99999387e-01 3.38493722e-06 3.59324746e-01] [ 1.45948065e-03 -1.76877162e-06 9.99998935e-01 -3.99799154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144203822 meters 0.01889187732757078 Centerline is valid? [True, True] Translation: X:15.23, Y:0.36, Z:-0.40 [[ 9.99997103e-01 3.40283671e-04 -2.38298649e-03 1.52318749e+01] [-3.40270542e-04 9.99999942e-01 5.91483924e-06 3.59944791e-01] [ 2.38298837e-03 -5.10396199e-06 9.99997161e-01 -4.04750566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174203822000003 meters 0.021943536228405325 Centerline is valid? [True, True] Translation: X:15.26, Y:0.36, Z:-0.41 [[ 9.99986314e-01 -1.42976179e-03 -5.03274884e-03 1.52603907e+01] [ 1.42984414e-03 9.99998978e-01 1.27646205e-05 3.61177622e-01] [ 5.03272545e-03 -1.99604922e-05 9.99987336e-01 -4.12754821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204203822000004 meters 0.02010449459067218 Centerline is valid? [True, True] Translation: X:15.29, Y:0.36, Z:-0.41 [[ 9.99987922e-01 -2.30819973e-03 -4.33920574e-03 1.52895810e+01] [ 2.30826616e-03 9.99997336e-01 1.03004755e-05 3.63423356e-01] [ 4.33917040e-03 -2.03163929e-05 9.99990586e-01 -4.07731573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234203822 meters 0.028590130717481923 Centerline is valid? [True, True] Translation: X:15.32, Y:0.37, Z:-0.40 [[ 9.99994660e-01 -3.16144683e-03 -8.28246780e-04 1.53199744e+01] [ 3.16144947e-03 9.99995003e-01 1.87786120e-06 3.65940625e-01] [ 8.28236704e-04 -4.49631151e-06 9.99999657e-01 -4.02379964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264203822000002 meters 0.019460067814096794 Centerline is valid? [True, True] Translation: X:15.35, Y:0.37, Z:-0.41 [[ 9.99992119e-01 -3.87775467e-03 -8.51376338e-04 1.53497666e+01] [ 3.87775831e-03 9.99992481e-01 2.62424834e-06 3.66760175e-01] [ 8.51359760e-04 -5.92565933e-06 9.99999638e-01 -4.05678355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294203822000004 meters 0.021623240612209216 Centerline is valid? [True, True] Translation: X:15.38, Y:0.37, Z:-0.41 [[ 9.99990454e-01 -3.79833097e-03 -2.15975181e-03 1.53804733e+01] [ 3.79835236e-03 9.99992786e-01 5.80491880e-06 3.68968738e-01] [ 2.15971418e-03 -1.40083618e-05 9.99997668e-01 -4.07951458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324203822 meters 0.020350863282929076 Centerline is valid? [True, True] Translation: X:15.41, Y:0.37, Z:-0.41 [[ 9.99988532e-01 -3.84053276e-03 -2.86110050e-03 1.54097898e+01] [ 3.84056838e-03 9.99992625e-01 6.95655970e-06 3.71736878e-01] [ 2.86105269e-03 -1.79447321e-05 9.99995907e-01 -4.11716030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354203822000002 meters 0.018164065523829712 Centerline is valid? [True, True] Translation: X:15.44, Y:0.38, Z:-0.41 [[ 9.99994054e-01 -3.08741414e-03 -1.53645426e-03 1.54396307e+01] [ 3.08742295e-03 9.99995234e-01 3.36257302e-06 3.78563637e-01] [ 1.53643656e-03 -8.10623718e-06 9.99998820e-01 -4.06273545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384203822000003 meters 0.01909629720459509 Centerline is valid? [True, True] Translation: X:15.47, Y:0.38, Z:-0.41 [[ 9.99995830e-01 -2.49109292e-03 -1.46081893e-03 1.54686141e+01] [ 2.49110068e-03 9.99996897e-01 3.49297266e-06 3.84123375e-01] [ 1.46080569e-03 -7.13200513e-06 9.99998933e-01 -4.08883629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414203822 meters 0.018870284688390127 Centerline is valid? [True, True] Translation: X:15.50, Y:0.39, Z:-0.41 [[ 9.99995802e-01 -2.43614187e-03 -1.56897915e-03 1.54986872e+01] [ 2.43615134e-03 9.99997033e-01 4.12275053e-06 3.85689689e-01] [ 1.56896445e-03 -7.94500388e-06 9.99998769e-01 -4.09104074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444203822000002 meters 0.01798227079367981 Centerline is valid? [True, True] Translation: X:15.53, Y:0.39, Z:-0.41 [[ 9.99996764e-01 -2.49061618e-03 -5.17518546e-04 1.55289025e+01] [ 2.49061704e-03 9.99996898e-01 1.01429731e-06 3.88052976e-01] [ 5.17514414e-04 -2.30323453e-06 9.99999866e-01 -4.08055519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474203822000003 meters 0.018473131487180702 Centerline is valid? [True, True] Translation: X:15.56, Y:0.38, Z:-0.41 [[ 9.99992332e-01 -3.91482617e-03 9.87422933e-05 1.55592701e+01] [ 3.91482618e-03 9.99992337e-01 7.76016996e-08 3.84720139e-01] [-9.87418405e-05 3.08957810e-07 9.99999995e-01 -4.09024505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504203822 meters 0.018741735486123758 Centerline is valid? [True, True] Translation: X:15.59, Y:0.38, Z:-0.41 [[ 9.99987821e-01 -4.77214886e-03 1.25880832e-03 1.55893198e+01] [ 4.77215640e-03 9.99988613e-01 -2.98685472e-06 3.83293304e-01] [-1.25877973e-03 8.99404853e-06 9.99999208e-01 -4.09244288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534203822000002 meters 0.019911087617385154 Centerline is valid? [True, True] Translation: X:15.62, Y:0.38, Z:-0.41 [[ 9.99978597e-01 -6.50435520e-03 7.06246341e-04 1.56212367e+01] [ 6.50435722e-03 9.99978846e-01 -5.70924234e-07 3.84058506e-01] [-7.06227688e-04 5.16459051e-06 9.99999751e-01 -4.10590681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564203822000003 meters 0.01930053342742666 Centerline is valid? [True, True] Translation: X:15.65, Y:0.38, Z:-0.41 [[ 9.99973429e-01 -7.28863333e-03 -1.27582607e-04 1.56535863e+01] [ 7.28863361e-03 9.99973438e-01 1.72706785e-06 3.84789927e-01] [ 1.27566630e-04 -2.65692484e-06 9.99999992e-01 -4.09264504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594203822 meters 0.019587639715735624 Centerline is valid? [True, True] Translation: X:15.69, Y:0.38, Z:-0.41 [[ 9.99968156e-01 -7.97567565e-03 -2.75861921e-04 1.56853168e+01] [ 7.97567635e-03 9.99968194e-01 1.45078329e-06 3.82585392e-01] [ 2.75841576e-04 -3.65092250e-06 9.99999962e-01 -4.10116175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624203822000002 meters 0.021673228461901173 Centerline is valid? [True, True] Translation: X:15.72, Y:0.38, Z:-0.42 [[ 9.99969049e-01 -7.86125192e-03 3.17841582e-04 1.57159434e+01] [ 7.86125227e-03 9.99969100e-01 1.44590247e-07 3.79118941e-01] [-3.17832898e-04 2.35404709e-06 9.99999949e-01 -4.15042748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654203822000003 meters 0.020419060516507173 Centerline is valid? [True, True] Translation: X:15.75, Y:0.38, Z:-0.41 [[ 9.99967260e-01 -8.08221988e-03 3.96208528e-04 1.57486836e+01] [ 8.08222042e-03 9.99967338e-01 2.27826237e-07 3.78942471e-01] [-3.96197428e-04 2.97442587e-06 9.99999922e-01 -4.11789141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684203822000004 meters 0.02135685217988595 Centerline is valid? [True, True] Translation: X:15.78, Y:0.38, Z:-0.41 [[ 9.99965952e-01 -8.19406384e-03 9.76244972e-04 1.57803414e+01] [ 8.19406919e-03 9.99966428e-01 -1.47456182e-06 3.78689986e-01] [-9.76200115e-04 9.47393046e-06 9.99999523e-01 -4.13557902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714203822 meters 0.02088736878389431 Centerline is valid? [True, True] Translation: X:15.81, Y:0.38, Z:-0.41 [[ 9.99968130e-01 -7.90021582e-03 1.15171067e-03 1.58121697e+01] [ 7.90022344e-03 9.99968793e-01 -2.06735818e-06 3.78917584e-01] [-1.15165840e-03 1.11660640e-05 9.99999337e-01 -4.13107180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744203822000003 meters 0.01901931963356832 Centerline is valid? [True, True] Translation: X:15.84, Y:0.38, Z:-0.41 [[ 9.99974319e-01 -6.64510140e-03 2.68388925e-03 1.58434060e+01] [ 6.64514486e-03 9.99977921e-01 -7.27429473e-06 3.78975608e-01] [-2.68378165e-03 2.51089407e-05 9.99996398e-01 -4.09939871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774203822000004 meters 0.017930208534020702 Centerline is valid? [True, True] Translation: X:15.87, Y:0.38, Z:-0.41 [[ 9.99979912e-01 -4.91759184e-03 3.99910931e-03 1.58748805e+01] [ 4.91767507e-03 9.99987908e-01 -1.09800584e-05 3.77352878e-01] [-3.99900696e-03 3.06461580e-05 9.99992003e-01 -4.10349485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804203822 meters 0.017930208534020702 Centerline is valid? [True, True] Translation: X:15.91, Y:0.38, Z:-0.41 [[ 9.99980140e-01 -4.87108373e-03 3.99910974e-03 1.59065579e+01] [ 4.87116606e-03 9.99988136e-01 -1.08474437e-05 3.77171313e-01] [-3.99900945e-03 3.03275558e-05 9.99992003e-01 -4.11248765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834203822000003 meters 0.02113664342628182 Centerline is valid? [True, True] Translation: X:15.94, Y:0.38, Z:-0.41 [[ 9.99985609e-01 -3.79108912e-03 3.79603070e-03 1.59386395e+01] [ 3.79115588e-03 9.99992813e-01 -1.03920871e-05 3.78523952e-01] [-3.79596402e-03 2.47832817e-05 9.99992795e-01 -4.10376663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864203822000004 meters 0.017105832261731693 Centerline is valid? [True, True] Translation: X:15.97, Y:0.38, Z:-0.41 [[ 9.99987800e-01 -2.52301316e-03 4.24658780e-03 1.59700462e+01] [ 2.52308801e-03 9.99996817e-01 -1.22685762e-05 3.84755077e-01] [-4.24654333e-03 2.29829413e-05 9.99990983e-01 -4.11603111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894203822 meters 0.01574854778293184 Centerline is valid? [True, True] Translation: X:16.00, Y:0.39, Z:-0.41 [[ 9.99987762e-01 -9.93048080e-04 4.84655253e-03 1.60019033e+01] [ 9.93127761e-04 9.99999507e-01 -1.40340752e-05 3.89416760e-01] [-4.84653620e-03 1.88471493e-05 9.99988255e-01 -4.10081811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924203822000003 meters 0.015938094679591334 Centerline is valid? [True, True] Translation: X:16.03, Y:0.39, Z:-0.41 [[ 9.99984969e-01 -1.40469366e-04 5.48114552e-03 1.60329608e+01] [ 1.40562334e-04 9.99999990e-01 -1.65760952e-05 3.88633537e-01] [-5.48114314e-03 1.73462886e-05 9.99984978e-01 -4.12358097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954203822000004 meters 0.019666535281416903 Centerline is valid? [True, True] Translation: X:16.07, Y:0.39, Z:-0.41 [[ 9.99987817e-01 1.53169829e-03 4.69241790e-03 1.60652916e+01] [-1.53164976e-03 9.99998827e-01 -1.39369139e-05 3.89160776e-01] [-4.69243374e-03 6.74960338e-06 9.99988990e-01 -4.12170686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984203822 meters 0.01707519245844308 Centerline is valid? [True, True] Translation: X:16.10, Y:0.39, Z:-0.42 [[ 9.99988869e-01 1.63364817e-03 4.42642318e-03 1.60959383e+01] [-1.63361001e-03 9.99998666e-01 -1.22374585e-05 3.90482211e-01] [-4.42643727e-03 5.00627308e-06 9.99990203e-01 -4.18568145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014203822000002 meters 0.016645452179358235 Centerline is valid? [True, True] Translation: X:16.13, Y:0.39, Z:-0.42 [[ 9.99988839e-01 1.50158039e-03 4.47972016e-03 1.61285709e+01] [-1.50154772e-03 9.99998873e-01 -1.06569903e-05 3.90648896e-01] [-4.47973111e-03 3.93035773e-06 9.99989966e-01 -4.18249136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044203822000004 meters 0.015682407154709078 Centerline is valid? [True, True] Translation: X:16.16, Y:0.39, Z:-0.42 [[ 9.99991215e-01 1.31693393e-03 3.97943398e-03 1.61612780e+01] [-1.31690470e-03 9.99999133e-01 -9.96558374e-06 3.92979622e-01] [-3.97944365e-03 4.72496089e-06 9.99992082e-01 -4.15469477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074203822 meters 0.017168051966251402 Centerline is valid? [True, True] Translation: X:16.19, Y:0.39, Z:-0.42 [[ 9.99993980e-01 1.82394374e-03 2.95177494e-03 1.61922623e+01] [-1.82393106e-03 9.99998337e-01 -6.98544480e-06 3.91840545e-01] [-2.95178277e-03 1.60156874e-06 9.99995643e-01 -4.20962450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104203822000002 meters 0.016491800933316647 Centerline is valid? [True, True] Translation: X:16.22, Y:0.39, Z:-0.42 [[ 9.99994765e-01 1.46014397e-03 2.88759233e-03 1.62249770e+01] [-1.46013011e-03 9.99998934e-01 -6.90742960e-06 3.87581998e-01] [-2.88759934e-03 2.69113293e-06 9.99995831e-01 -4.20204456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134203822000003 meters 0.016146168842302525 Centerline is valid? [True, True] Translation: X:16.26, Y:0.38, Z:-0.42 [[ 9.99994158e-01 3.96417273e-04 3.39513004e-03 1.62573696e+01] [-3.96387445e-04 9.99999921e-01 -9.45829360e-06 3.84968830e-01] [-3.39513352e-03 8.11245142e-06 9.99994236e-01 -4.17964856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164203822 meters 0.023047904065628202 Centerline is valid? [True, True] Translation: X:16.29, Y:0.39, Z:-0.42 [[ 9.99994909e-01 -1.12488869e-05 3.19097330e-03 1.62889974e+01] [ 1.12841379e-05 1.00000000e+00 -1.10290818e-05 3.86912286e-01] [-3.19097318e-03 1.10650330e-05 9.99994909e-01 -4.18652812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194203822000002 meters 0.01676207192016852 Centerline is valid? [True, True] Translation: X:16.32, Y:0.38, Z:-0.42 [[ 9.99993599e-01 1.02761886e-05 3.57790331e-03 1.63216086e+01] [-1.02267753e-05 1.00000000e+00 -1.38289679e-05 3.84592358e-01] [-3.57790345e-03 1.37922890e-05 9.99993599e-01 -4.21120996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224203822000003 meters 0.015819695457889298 Centerline is valid? [True, True] Translation: X:16.35, Y:0.38, Z:-0.42 [[ 9.99990052e-01 1.62672918e-03 4.15320429e-03 1.63536453e+01] [-1.62667332e-03 9.99998677e-01 -1.68273368e-05 3.84142408e-01] [-4.15322617e-03 1.00712628e-05 9.99991375e-01 -4.20694230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254203822 meters 0.015448672117013295 Centerline is valid? [True, True] Translation: X:16.38, Y:0.39, Z:-0.42 [[ 9.99979154e-01 3.47573822e-03 5.44164071e-03 1.63848900e+01] [-3.47566451e-03 9.99993960e-01 -2.30025606e-05 3.87954734e-01] [-5.44168779e-03 4.08876361e-06 9.99985194e-01 -4.20049426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284203822000002 meters 0.014893333964586064 Centerline is valid? [True, True] Translation: X:16.42, Y:0.39, Z:-0.42 [[ 9.99967335e-01 4.42076586e-03 6.76652450e-03 1.64172452e+01] [-4.42068875e-03 9.99990228e-01 -2.63513327e-05 3.89701432e-01] [-6.76657487e-03 -3.56222682e-06 9.99977106e-01 -4.18301580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314203822000003 meters 0.014873629953416656 Centerline is valid? [True, True] Translation: X:16.45, Y:0.39, Z:-0.42 [[ 9.99968120e-01 5.19063884e-03 6.06762099e-03 1.64490622e+01] [-5.19058837e-03 9.99986529e-01 -2.40657379e-05 3.90908462e-01] [-6.06766417e-03 -7.42955226e-06 9.99981592e-01 -4.19059096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344203822 meters 0.015858430453685547 Centerline is valid? [True, True] Translation: X:16.48, Y:0.39, Z:-0.42 [[ 9.99978466e-01 5.17741351e-03 4.03260009e-03 1.64805924e+01] [-5.17739355e-03 9.99986597e-01 -1.53884724e-05 3.87086164e-01] [-4.03262572e-03 -5.49021669e-06 9.99991869e-01 -4.24687428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374203822000002 meters 0.015793453197680614 Centerline is valid? [True, True] Translation: X:16.51, Y:0.39, Z:-0.43 [[ 9.99974460e-01 5.56688854e-03 4.48211793e-03 1.65126364e+01] [-5.56686377e-03 9.99984505e-01 -1.80021662e-05 3.86482261e-01] [-4.48214870e-03 -6.94963346e-06 9.99989955e-01 -4.25485281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404203822000003 meters 0.015084147175298783 Centerline is valid? [True, True] Translation: X:16.54, Y:0.39, Z:-0.42 [[ 9.99960105e-01 6.35809866e-03 6.27402832e-03 1.65447760e+01] [-6.35804752e-03 9.99979787e-01 -2.80965621e-05 3.86815656e-01] [-6.27408015e-03 -1.17951290e-05 9.99980318e-01 -4.22766170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434203822000004 meters 0.014909567538018777 Centerline is valid? [True, True] Translation: X:16.58, Y:0.39, Z:-0.42 [[ 9.99959253e-01 6.76299399e-03 5.97954917e-03 1.65778143e+01] [-6.76295370e-03 9.99977131e-01 -2.69568424e-05 3.88214458e-01] [-5.97959473e-03 -1.34836703e-05 9.99982122e-01 -4.22153175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464203822 meters 0.015312221739877589 Centerline is valid? [True, True] Translation: X:16.61, Y:0.39, Z:-0.42 [[ 9.99961882e-01 6.58637993e-03 5.73186409e-03 1.66098377e+01] [-6.58633338e-03 9.99978310e-01 -2.69971724e-05 3.87543862e-01] [-5.73191757e-03 -1.07558244e-05 9.99983572e-01 -4.24764632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494203822000003 meters 0.015480750439105616 Centerline is valid? [True, True] Translation: X:16.64, Y:0.38, Z:-0.43 [[ 9.99971351e-01 5.46412034e-03 5.23833690e-03 1.66414351e+01] [-5.46406048e-03 9.99985072e-01 -2.57375184e-05 3.82160210e-01] [-5.23839933e-03 -2.88580860e-06 9.99986279e-01 -4.27840182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524203822000004 meters 0.015919069436592208 Centerline is valid? [True, True] Translation: X:16.67, Y:0.38, Z:-0.43 [[ 9.99983283e-01 3.95908773e-03 4.21414010e-03 1.66733232e+01] [-3.95903767e-03 9.99992163e-01 -2.02224873e-05 3.75196909e-01] [-4.21418714e-03 3.53820981e-06 9.99991120e-01 -4.30929674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554203822 meters 0.015643550491833764 Centerline is valid? [True, True] Translation: X:16.71, Y:0.37, Z:-0.43 [[ 9.99985102e-01 3.36126769e-03 4.30080311e-03 1.67059345e+01] [-3.36120680e-03 9.99994351e-01 -2.13860916e-05 3.71857544e-01] [-4.30085070e-03 6.92988433e-06 9.99990751e-01 -4.30515742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584203822000003 meters 0.015703872915541463 Centerline is valid? [True, True] Translation: X:16.74, Y:0.37, Z:-0.43 [[ 9.99988396e-01 2.74758920e-03 3.95697483e-03 1.67384180e+01] [-2.74753196e-03 9.99996225e-01 -1.99007194e-05 3.69015493e-01] [-3.95701457e-03 9.02857365e-06 9.99992171e-01 -4.30343799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614203822000004 meters 0.016300821498642953 Centerline is valid? [True, True] Translation: X:16.77, Y:0.37, Z:-0.43 [[ 9.99985351e-01 3.33604334e-03 4.26243763e-03 1.67694443e+01] [-3.33597636e-03 9.99994435e-01 -2.28246958e-05 3.66118030e-01] [-4.26249005e-03 8.60497035e-06 9.99990916e-01 -4.32833904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644203822 meters 0.01581085069934478 Centerline is valid? [True, True] Translation: X:16.80, Y:0.36, Z:-0.43 [[ 9.99972292e-01 5.00643006e-03 5.50912526e-03 1.68008281e+01] [-5.00633101e-03 9.99987468e-01 -3.17698179e-05 3.64154241e-01] [-5.50921527e-03 4.18843303e-06 9.99984824e-01 -4.31839921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674203822000003 meters 0.014911016165435057 Centerline is valid? [True, True] Translation: X:16.83, Y:0.36, Z:-0.43 [[ 9.99963005e-01 6.42957814e-03 5.71386460e-03 1.68339302e+01] [-6.42949404e-03 9.99979330e-01 -3.30882472e-05 3.64554636e-01] [-5.71395923e-03 -3.65023524e-06 9.99983675e-01 -4.30281989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704203822000004 meters 0.01507827030649343 Centerline is valid? [True, True] Translation: X:16.87, Y:0.36, Z:-0.43 [[ 9.99934764e-01 9.34034365e-03 6.57455866e-03 1.68665193e+01] [-9.34027820e-03 9.99956378e-01 -4.06603958e-05 3.64386532e-01] [-6.57465165e-03 -2.07504636e-05 9.99978387e-01 -4.30607001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734203822 meters 0.016369285277296055 Centerline is valid? [True, True] Translation: X:16.90, Y:0.36, Z:-0.43 [[ 9.99902504e-01 1.24789844e-02 6.26556487e-03 1.68985086e+01] [-1.24789816e-02 9.99922134e-01 -3.95434491e-05 3.62213286e-01] [-6.26557046e-03 -3.86482749e-05 9.99980370e-01 -4.33612207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764203822000002 meters 0.01771005068608535 Centerline is valid? [True, True] Translation: X:16.93, Y:0.36, Z:-0.44 [[ 9.99887849e-01 1.39549364e-02 5.43598726e-03 1.69290652e+01] [-1.39549370e-02 9.99902624e-01 -3.78279538e-05 3.61917549e-01] [-5.43598582e-03 -3.80351485e-05 9.99985224e-01 -4.36870925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794203822000004 meters 0.017445261950297154 Centerline is valid? [True, True] Translation: X:16.96, Y:0.36, Z:-0.43 [[ 9.99860257e-01 1.58412659e-02 5.34046561e-03 1.69599879e+01] [-1.58412913e-02 9.99874518e-01 -3.75404292e-05 3.63429369e-01] [-5.34039017e-03 -4.70646882e-05 9.99985739e-01 -4.34068094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824203822 meters 0.02315906872658706 Centerline is valid? [True, True] Translation: X:16.99, Y:0.37, Z:-0.44 [[ 9.99848912e-01 1.66026547e-02 5.14831293e-03 1.69905428e+01] [-1.66026882e-02 9.99862165e-01 -3.62421453e-05 3.66243474e-01] [-5.14820503e-03 -4.92391647e-05 9.99986747e-01 -4.37014911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854203822000002 meters 0.0206154041402493 Centerline is valid? [True, True] Translation: X:17.02, Y:0.36, Z:-0.44 [[ 9.99857392e-01 1.64963410e-02 3.61486254e-03 1.70207373e+01] [-1.64963569e-02 9.99863926e-01 -2.54050765e-05 3.64766352e-01] [-3.61478974e-03 -3.42306092e-05 9.99993466e-01 -4.42098850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884203822000003 meters 0.020864236021646432 Centerline is valid? [True, True] Translation: X:17.05, Y:0.36, Z:-0.45 [[ 9.99870973e-01 1.58072334e-02 2.85794628e-03 1.70499888e+01] [-1.58072390e-02 9.99875058e-01 -2.06349421e-05 3.59807365e-01] [-2.85791538e-03 -2.45439603e-05 9.99995916e-01 -4.45870862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914203822 meters 0.019906146047633244 Centerline is valid? [True, True] Translation: X:17.08, Y:0.36, Z:-0.45 [[ 9.99881891e-01 1.50261781e-02 3.22766680e-03 1.70800095e+01] [-1.50261805e-02 9.99887100e-01 -2.35178653e-05 3.55277246e-01] [-3.22765578e-03 -2.49844162e-05 9.99994791e-01 -4.45767767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944203822000002 meters 0.017850398966126883 Centerline is valid? [True, True] Translation: X:17.11, Y:0.35, Z:-0.44 [[ 9.99893542e-01 1.31853113e-02 6.24918797e-03 1.71093352e+01] [-1.31852906e-02 9.99913069e-01 -4.45220754e-05 3.48402264e-01] [-6.24923176e-03 -3.78800236e-05 9.99980473e-01 -4.42460658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974203822000003 meters 0.01700447261621413 Centerline is valid? [True, True] Translation: X:17.14, Y:0.35, Z:-0.44 [[ 9.99890795e-01 1.28657110e-02 7.27134993e-03 1.71416034e+01] [-1.28657016e-02 9.99917232e-01 -4.80759661e-05 3.46122216e-01] [-7.27136663e-03 -4.54803022e-05 9.99973562e-01 -4.41494639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004203822 meters 0.015610218044236263 Centerline is valid? [True, True] Translation: X:17.17, Y:0.34, Z:-0.44 [[ 9.99904090e-01 1.21040166e-02 6.73079572e-03 1.71739954e+01] [-1.21039875e-02 9.99926743e-01 -4.50600231e-05 3.42771016e-01] [-6.73084805e-03 -3.64137660e-05 9.99977347e-01 -4.39796720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034203822000002 meters 0.015303724721138197 Centerline is valid? [True, True] Translation: X:17.21, Y:0.34, Z:-0.44 [[ 9.99919380e-01 1.10610077e-02 6.23604689e-03 1.72059418e+01] [-1.10609581e-02 9.99938825e-01 -4.24332023e-05 3.39460728e-01] [-6.23613475e-03 -2.65468722e-05 9.99980555e-01 -4.41501083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064203822000003 meters 0.01576500473486677 Centerline is valid? [True, True] Translation: X:17.24, Y:0.34, Z:-0.44 [[ 9.99930914e-01 1.06099768e-02 5.05918402e-03 1.72373629e+01] [-1.06099372e-02 9.99943712e-01 -3.46602851e-05 3.36930403e-01] [-5.05926700e-03 -1.90197343e-05 9.99987202e-01 -4.44658979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094203822000004 meters 0.016046053350632476 Centerline is valid? [True, True] Translation: X:17.27, Y:0.34, Z:-0.45 [[ 9.99931926e-01 1.08352888e-02 4.32897605e-03 1.72684131e+01] [-1.08352481e-02 9.99941296e-01 -3.28465699e-05 3.36741886e-01] [-4.32907783e-03 -1.40611958e-05 9.99990629e-01 -4.46190486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124203822000002 meters 0.019449524264145358 Centerline is valid? [True, True] Translation: X:17.30, Y:0.34, Z:-0.45 [[ 9.99907288e-01 1.29879436e-02 4.09010724e-03 1.72984045e+01] [-1.29879239e-02 9.99915653e-01 -3.13862170e-05 3.39703384e-01] [-4.09016990e-03 -2.17386946e-05 9.99991635e-01 -4.47455747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154203822000003 meters 0.01733162259221219 Centerline is valid? [True, True] Translation: X:17.33, Y:0.34, Z:-0.45 [[ 9.99868143e-01 1.51216586e-02 5.91872302e-03 1.73286908e+01] [-1.51216518e-02 9.99885660e-01 -4.59062592e-05 3.44545199e-01] [-5.91874046e-03 -4.36006624e-05 9.99982483e-01 -4.46329474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184203822000004 meters 0.01796449701350382 Centerline is valid? [True, True] Translation: X:17.36, Y:0.35, Z:-0.45 [[ 9.99857753e-01 1.57005875e-02 6.16158181e-03 1.73585529e+01] [-1.57005928e-02 9.99876737e-01 -4.75268492e-05 3.47016592e-01] [-6.16156852e-03 -4.92203981e-05 9.99981016e-01 -4.47907080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214203822 meters 0.01766541466428697 Centerline is valid? [True, True] Translation: X:17.39, Y:0.35, Z:-0.45 [[ 9.99855913e-01 1.61821560e-02 5.12743689e-03 1.73902813e+01] [-1.61821833e-02 9.99869059e-01 -3.61676889e-05 3.46569815e-01] [-5.12735077e-03 -4.68106458e-05 9.99986854e-01 -4.48727378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244203822000003 meters 0.018876464623318594 Centerline is valid? [True, True] Translation: X:17.42, Y:0.35, Z:-0.45 [[ 9.99860512e-01 1.60923589e-02 4.47125895e-03 1.74206266e+01] [-1.60923626e-02 9.99870509e-01 -3.51478648e-05 3.46104660e-01] [-4.47124557e-03 -3.68101581e-05 9.99990003e-01 -4.53139467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274203822000004 meters 0.01726337548063613 Centerline is valid? [True, True] Translation: X:17.45, Y:0.35, Z:-0.45 [[ 9.99876678e-01 1.52737302e-02 3.65277360e-03 1.74514843e+01] [-1.52737262e-02 9.99883349e-01 -2.89941241e-05 3.45382204e-01] [-3.65279035e-03 -2.68009154e-05 9.99993328e-01 -4.52444949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304203822 meters 0.018487560781029238 Centerline is valid? [True, True] Translation: X:17.48, Y:0.35, Z:-0.46 [[ 9.99887221e-01 1.46126270e-02 3.46641535e-03 1.74812363e+01] [-1.46126184e-02 9.99893230e-01 -2.78209437e-05 3.47707378e-01] [-3.46645178e-03 -2.28355986e-05 9.99993992e-01 -4.56814604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334203822000003 meters 0.01660826805024761 Centerline is valid? [True, True] Translation: X:17.51, Y:0.35, Z:-0.45 [[ 9.99900864e-01 1.32352408e-02 4.80517279e-03 1.75116901e+01] [-1.32352106e-02 9.99912410e-01 -3.80823220e-05 3.47330302e-01] [-4.80525593e-03 -2.55189270e-05 9.99988454e-01 -4.54273385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364203822000004 meters 0.015086219888058415 Centerline is valid? [True, True] Translation: X:17.54, Y:0.34, Z:-0.45 [[ 9.99924884e-01 1.02433630e-02 6.73053394e-03 1.75422601e+01] [-1.02432377e-02 9.99947535e-01 -5.30835543e-05 3.42723646e-01] [-6.73072458e-03 -1.58628924e-05 9.99977348e-01 -4.52880428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394203822 meters 0.014533360229127785 Centerline is valid? [True, True] Translation: X:17.57, Y:0.34, Z:-0.45 [[ 9.99944866e-01 7.88126653e-03 6.93906291e-03 1.75749099e+01] [-7.88108292e-03 9.99968942e-01 -5.38040120e-05 3.38356834e-01] [-6.93927145e-03 -8.86284665e-07 9.99975923e-01 -4.53080110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424203822000003 meters 0.017314778877917054 Centerline is valid? [True, True] Translation: X:17.61, Y:0.33, Z:-0.46 [[ 9.99982933e-01 2.57696884e-03 5.24329767e-03 1.76057055e+01] [-2.57679471e-03 9.99996679e-01 -3.99640355e-05 3.27918377e-01] [-5.24338324e-03 2.64524517e-05 9.99986253e-01 -4.60021760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454203822000004 meters 0.019959043114965193 Centerline is valid? [True, True] Translation: X:17.64, Y:0.32, Z:-0.46 [[ 9.99988739e-01 -2.46569048e-03 4.05482741e-03 1.76380073e+01] [ 2.46583905e-03 9.99996959e-01 -3.16419398e-05 3.20054892e-01] [-4.05473706e-03 4.16401352e-05 9.99991779e-01 -4.62122038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484203822 meters 0.020804083537937043 Centerline is valid? [True, True] Translation: X:17.67, Y:0.31, Z:-0.46 [[ 9.99974773e-01 -5.75634350e-03 4.16138369e-03 1.76699529e+01] [ 5.75651711e-03 9.99983431e-01 -2.97428087e-05 3.11442142e-01] [-4.16114353e-03 5.36971348e-05 9.99991341e-01 -4.59674953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514203822000002 meters 0.02153270128444534 Centerline is valid? [True, True] Translation: X:17.70, Y:0.31, Z:-0.46 [[ 9.99970104e-01 -6.66966969e-03 3.91229910e-03 1.77023364e+01] [ 6.66984309e-03 9.99977756e-01 -3.12763261e-05 3.07467929e-01] [-3.91200347e-03 5.73698121e-05 9.99992346e-01 -4.60513670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544203822000004 meters 0.02388874759279292 Centerline is valid? [True, True] Translation: X:17.73, Y:0.30, Z:-0.46 [[ 9.99967073e-01 -6.65033225e-03 4.65047108e-03 1.77335744e+01] [ 6.65058065e-03 9.99977884e-01 -3.79504640e-05 3.01588001e-01] [-4.65011585e-03 6.88775474e-05 9.99989186e-01 -4.63889635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574203822 meters 0.021717258025587275 Centerline is valid? [True, True] Translation: X:17.77, Y:0.30, Z:-0.46 [[ 9.99963688e-01 -5.67536325e-03 6.35718440e-03 1.77655298e+01] [ 5.67581175e-03 9.99983891e-01 -5.25106931e-05 3.01314189e-01] [-6.35678398e-03 8.85909682e-05 9.99979792e-01 -4.60340464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604203822000002 meters 0.02058340977984116 Centerline is valid? [True, True] Translation: X:17.80, Y:0.30, Z:-0.46 [[ 9.99967620e-01 -5.19166714e-03 6.14862668e-03 1.77977506e+01] [ 5.19207693e-03 9.99986520e-01 -5.06874860e-05 3.00250136e-01] [-6.14828064e-03 8.26099874e-05 9.99981096e-01 -4.60669236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634203822000003 meters 0.0192257165582946 Centerline is valid? [True, True] Translation: X:17.83, Y:0.30, Z:-0.46 [[ 9.99975832e-01 -3.93397515e-03 5.73225919e-03 1.78303205e+01] [ 3.93431161e-03 9.99992259e-01 -4.74206022e-05 2.97799028e-01] [-5.73202827e-03 6.99719501e-05 9.99983569e-01 -4.61307803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664203822 meters 0.017094962814401565 Centerline is valid? [True, True] Translation: X:17.86, Y:0.30, Z:-0.46 [[ 9.99978049e-01 -1.57707478e-03 6.43535831e-03 1.78625527e+01] [ 1.57745302e-03 9.99998754e-01 -5.36997750e-05 2.97860501e-01] [-6.43526560e-03 6.38500716e-05 9.99979291e-01 -4.60752727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694203822000002 meters 0.01785608139818012 Centerline is valid? [True, True] Translation: X:17.89, Y:0.29, Z:-0.46 [[ 9.99977512e-01 -5.18495902e-04 6.68630827e-03 1.78941148e+01] [ 5.18883148e-04 9.99999864e-01 -5.61816185e-05 2.94857466e-01] [-6.68627823e-03 5.96497677e-05 9.99977645e-01 -4.64812858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724203822000003 meters 0.01785608139818012 Centerline is valid? [True, True] Translation: X:17.93, Y:0.29, Z:-0.47 [[ 9.99977546e-01 -4.48204424e-04 6.68630957e-03 1.79266246e+01] [ 4.48589127e-04 9.99999898e-01 -5.60363988e-05 2.94446632e-01] [-6.68628377e-03 5.90345464e-05 9.99977645e-01 -4.65735842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754203822 meters 0.017310662238036765 Centerline is valid? [True, True] Translation: X:17.96, Y:0.29, Z:-0.47 [[ 9.99981672e-01 8.42054437e-04 5.99557477e-03 1.79583396e+01] [-8.41763880e-04 9.99999644e-01 -5.09851308e-05 2.92468919e-01] [-5.99561557e-03 4.59373381e-05 9.99982025e-01 -4.67642174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784203822000002 meters 0.016864759043417055 Centerline is valid? [True, True] Translation: X:17.99, Y:0.29, Z:-0.47 [[ 9.99977382e-01 1.63269263e-03 6.52449423e-03 1.79894927e+01] [-1.63236093e-03 9.99998666e-01 -5.61641849e-05 2.92023420e-01] [-6.52457722e-03 4.55125851e-05 9.99978714e-01 -4.67993659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814203822000003 meters 0.015311129710175746 Centerline is valid? [True, True] Translation: X:18.02, Y:0.29, Z:-0.47 [[ 9.99967228e-01 3.10986414e-03 7.47467964e-03 1.80217853e+01] [-3.10946895e-03 9.99995164e-01 -6.44918277e-05 2.90169724e-01] [-7.47484405e-03 4.12474300e-05 9.99972062e-01 -4.65394500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844203822000004 meters 0.015276912837508512 Centerline is valid? [True, True] Translation: X:18.05, Y:0.29, Z:-0.47 [[ 9.99970651e-01 4.74961971e-03 6.01147805e-03 1.80540672e+01] [-4.74939364e-03 9.99988720e-01 -5.18819488e-05 2.89323839e-01] [-6.01165666e-03 2.33295505e-05 9.99981930e-01 -4.67676086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874203822000002 meters 0.015521610491282355 Centerline is valid? [True, True] Translation: X:18.09, Y:0.29, Z:-0.47 [[ 9.99964044e-01 6.17064853e-03 5.81662391e-03 1.80859708e+01] [-6.17047672e-03 9.99980961e-01 -4.74824055e-05 2.88492086e-01] [-5.81680617e-03 1.15893557e-05 9.99983082e-01 -4.71099499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904203822000003 meters 0.015245828831070096 Centerline is valid? [True, True] Translation: X:18.12, Y:0.29, Z:-0.47 [[ 9.99949703e-01 8.50408505e-03 5.31709158e-03 1.81186434e+01] [-8.50397318e-03 9.99963840e-01 -4.36475692e-05 2.85825617e-01] [-5.31727049e-03 -1.57103033e-06 9.99985863e-01 -4.72060486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934203822000004 meters 0.01535226219135298 Centerline is valid? [True, True] Translation: X:18.15, Y:0.29, Z:-0.47 [[ 9.99928075e-01 1.04468167e-02 5.89145185e-03 1.81495314e+01] [-1.04466981e-02 9.99945430e-01 -5.08989581e-05 2.87051436e-01] [-5.89166209e-03 -1.06509217e-05 9.99982644e-01 -4.73049326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964203822 meters 0.015444764253756736 Centerline is valid? [True, True] Translation: X:18.18, Y:0.29, Z:-0.47 [[ 9.99917248e-01 1.11366648e-02 6.43989604e-03 1.81807495e+01] [-1.11365282e-02 9.99937985e-01 -5.70652056e-05 2.87284034e-01] [-6.44013219e-03 -1.46576008e-05 9.99979262e-01 -4.74337233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994203822000003 meters 0.01569032007460021 Centerline is valid? [True, True] Translation: X:18.21, Y:0.29, Z:-0.48 [[ 9.99909520e-01 1.20068602e-02 6.06529469e-03 1.82125879e+01] [-1.20067525e-02 9.99927915e-01 -5.41612942e-05 2.86273947e-01] [-6.06550778e-03 -1.86680986e-05 9.99981604e-01 -4.75191743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024203822000004 meters 0.01610321933524891 Centerline is valid? [True, True] Translation: X:18.24, Y:0.29, Z:-0.48 [[ 9.99904611e-01 1.18183842e-02 7.14809212e-03 1.82433614e+01] [-1.18182138e-02 9.99930160e-01 -6.60840180e-05 2.86233598e-01] [-7.14837391e-03 -1.83999665e-05 9.99974450e-01 -4.76721526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054203822 meters 0.014674204629950855 Centerline is valid? [True, True] Translation: X:18.28, Y:0.28, Z:-0.47 [[ 9.99920640e-01 1.01900809e-02 7.40786895e-03 1.82758192e+01] [-1.01898455e-02 9.99948080e-01 -6.95135443e-05 2.82511953e-01] [-7.40819268e-03 -5.97701242e-06 9.99972559e-01 -4.73902198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084203822000003 meters 0.015039581735015557 Centerline is valid? [True, True] Translation: X:18.31, Y:0.28, Z:-0.48 [[ 9.99936218e-01 9.33090990e-03 6.36352885e-03 1.83079506e+01] [-9.33071652e-03 9.99956466e-01 -6.00774127e-05 2.79632362e-01] [-6.36381240e-03 6.97297027e-07 9.99979751e-01 -4.76670433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114203822000004 meters 0.015831597417861144 Centerline is valid? [True, True] Translation: X:18.34, Y:0.27, Z:-0.48 [[ 9.99952690e-01 7.18079848e-03 6.56149361e-03 1.83398367e+01] [-7.18054015e-03 9.99974218e-01 -6.29288505e-05 2.74071116e-01] [-6.56177632e-03 1.58108051e-05 9.99978471e-01 -4.79587430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144203822 meters 0.015964662129960814 Centerline is valid? [True, True] Translation: X:18.37, Y:0.27, Z:-0.48 [[ 9.99957430e-01 6.30864147e-03 6.73337165e-03 1.83733108e+01] [-6.30834172e-03 9.99980100e-01 -6.57550412e-05 2.73815577e-01] [-6.73365248e-03 2.32758328e-05 9.99977328e-01 -4.79814048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174203822000003 meters 0.01584981974095704 Centerline is valid? [True, True] Translation: X:18.41, Y:0.27, Z:-0.48 [[ 9.99957327e-01 6.54470448e-03 6.52004312e-03 1.84062235e+01] [-6.54442196e-03 9.99978583e-01 -6.46646402e-05 2.74904900e-01] [-6.52032669e-03 2.19919673e-05 9.99978742e-01 -4.80177179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204203822000004 meters 0.015841559376179457 Centerline is valid? [True, True] Translation: X:18.44, Y:0.27, Z:-0.48 [[ 9.99951784e-01 6.37505003e-03 7.46911929e-03 1.84375924e+01] [-6.37465290e-03 9.99979679e-01 -7.69750807e-05 2.74923646e-01] [-7.46945823e-03 2.93583263e-05 9.99972103e-01 -4.80339106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234203822 meters 0.014884950594931503 Centerline is valid? [True, True] Translation: X:18.47, Y:0.27, Z:-0.48 [[ 9.99952806e-01 6.35020289e-03 7.35256884e-03 1.84708363e+01] [-6.34981651e-03 9.99979837e-01 -7.58940072e-05 2.74818850e-01] [-7.35290253e-03 2.92029625e-05 9.99972967e-01 -4.78425493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264203822000002 meters 0.015558197340318132 Centerline is valid? [True, True] Translation: X:18.50, Y:0.27, Z:-0.48 [[ 9.99957082e-01 6.31016722e-03 6.78348686e-03 1.85024006e+01] [-6.30982594e-03 9.99980090e-01 -7.17108643e-05 2.74013751e-01] [-6.78380431e-03 2.89051653e-05 9.99976989e-01 -4.81425623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294203822000004 meters 0.015189773432594476 Centerline is valid? [True, True] Translation: X:18.53, Y:0.27, Z:-0.48 [[ 9.99951026e-01 6.20547196e-03 7.70963931e-03 1.85344702e+01] [-6.20501570e-03 9.99980745e-01 -8.30996577e-05 2.73411537e-01] [-7.71000654e-03 3.52571550e-05 9.99970277e-01 -4.80334535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324203822 meters 0.017222534226774236 Centerline is valid? [True, True] Translation: X:18.57, Y:0.27, Z:-0.48 [[ 9.99948484e-01 6.34037938e-03 7.92647676e-03 1.85675683e+01] [-6.33989410e-03 9.99979899e-01 -8.63477596e-05 2.74281663e-01] [-7.92686491e-03 3.60902880e-05 9.99968581e-01 -4.79038788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354203822000002 meters 0.015458300678686804 Centerline is valid? [True, True] Translation: X:18.60, Y:0.27, Z:-0.48 [[ 9.99953572e-01 5.40183943e-03 7.97958462e-03 1.86000109e+01] [-5.40130297e-03 9.99985409e-01 -8.87783307e-05 2.74724585e-01] [-7.97994776e-03 4.56740549e-05 9.99968159e-01 -4.81279381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384203822000003 meters 0.016745392665613992 Centerline is valid? [True, True] Translation: X:18.63, Y:0.27, Z:-0.48 [[ 9.99964620e-01 4.65632122e-03 7.00552209e-03 1.86314105e+01] [-4.65587128e-03 9.99989158e-01 -8.05340689e-05 2.73086694e-01] [-7.00582113e-03 4.79144105e-05 9.99975458e-01 -4.84306905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414203822 meters 0.01645572656470766 Centerline is valid? [True, True] Translation: X:18.66, Y:0.27, Z:-0.48 [[ 9.99961559e-01 4.40488274e-03 7.58138531e-03 1.86638117e+01] [-4.40435389e-03 9.99990297e-01 -8.64506499e-05 2.71210346e-01] [-7.58169255e-03 5.30562228e-05 9.99971257e-01 -4.84575335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444203822000002 meters 0.016528912116441776 Centerline is valid? [True, True] Translation: X:18.69, Y:0.27, Z:-0.49 [[ 9.99954155e-01 4.53361412e-03 8.43413928e-03 1.86945357e+01] [-4.53293600e-03 9.99989721e-01 -9.95162455e-05 2.68459363e-01] [-8.43450376e-03 6.12802696e-05 9.99964427e-01 -4.85207107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474203822000003 meters 0.01628745843555021 Centerline is valid? [True, True] Translation: X:18.73, Y:0.27, Z:-0.48 [[ 9.99954308e-01 4.16702620e-03 8.60332966e-03 1.87280246e+01] [-4.16629786e-03 9.99991316e-01 -1.02578798e-04 2.65575840e-01] [-8.60368239e-03 6.67300769e-05 9.99962985e-01 -4.83811995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504203822 meters 0.01616755671412836 Centerline is valid? [True, True] Translation: X:18.76, Y:0.26, Z:-0.48 [[ 9.99956420e-01 3.96416093e-03 8.45242940e-03 1.87610724e+01] [-3.96346348e-03 9.99992141e-01 -9.92647014e-05 2.64197109e-01] [-8.45275647e-03 6.57594802e-05 9.99964273e-01 -4.84760529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534203822000002 meters 0.021001022769211664 Centerline is valid? [True, True] Translation: X:18.79, Y:0.26, Z:-0.49 [[ 9.99962446e-01 3.88425765e-03 7.74720607e-03 1.87923958e+01] [-3.88364487e-03 9.99992454e-01 -9.41390568e-05 2.62220637e-01] [-7.74751327e-03 6.40481244e-05 9.99969986e-01 -4.86139302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564203822000003 meters 0.027843629568744154 Centerline is valid? [True, True] Translation: X:18.82, Y:0.26, Z:-0.49 [[ 9.99962377e-01 5.50270797e-03 6.70555145e-03 1.88239201e+01] [-5.50228359e-03 9.99984859e-01 -8.17341566e-05 2.63567652e-01] [-6.70589968e-03 4.48352358e-05 9.99977514e-01 -4.89845712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594203822000004 meters 0.01632313891811432 Centerline is valid? [True, True] Translation: X:18.86, Y:0.26, Z:-0.49 [[ 9.99952291e-01 6.98015320e-03 6.83328397e-03 1.88564084e+01] [-6.97975293e-03 9.99975638e-01 -8.24231489e-05 2.64210136e-01] [-6.83369282e-03 3.47245827e-05 9.99976649e-01 -4.92061009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624203822000002 meters 0.015316761007421437 Centerline is valid? [True, True] Translation: X:18.89, Y:0.27, Z:-0.49 [[ 9.99919734e-01 9.93198476e-03 7.86649904e-03 1.88873352e+01] [-9.93152800e-03 9.99950676e-01 -9.71258377e-05 2.65557129e-01] [-7.86707569e-03 1.89916863e-05 9.99969054e-01 -4.92469887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654203822000003 meters 0.014524179853012395 Centerline is valid? [True, True] Translation: X:18.92, Y:0.27, Z:-0.49 [[ 9.99912053e-01 1.10484626e-02 7.33611688e-03 1.89191368e+01] [-1.10480919e-02 9.99938964e-01 -9.10490917e-05 2.66957378e-01] [-7.33667506e-03 9.99099069e-06 9.99973086e-01 -4.92152692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684203822000004 meters 0.015596340140486237 Centerline is valid? [True, True] Translation: X:18.95, Y:0.27, Z:-0.50 [[ 9.99924048e-01 1.10116557e-02 5.53555695e-03 1.89495662e+01] [-1.10114348e-02 9.99939370e-01 -7.03744146e-05 2.65716227e-01] [-5.53599627e-03 9.41464494e-06 9.99984676e-01 -4.98389338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714203822 meters 0.016005690688607965 Centerline is valid? [True, True] Translation: X:18.98, Y:0.26, Z:-0.50 [[ 9.99945687e-01 9.31448165e-03 4.67593310e-03 1.89815191e+01] [-9.31431485e-03 9.99956619e-01 -5.74491551e-05 2.60788053e-01] [-4.67626536e-03 1.38929218e-05 9.99989066e-01 -5.00274094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744203822000003 meters 0.023217687706552092 Centerline is valid? [True, True] Translation: X:19.01, Y:0.26, Z:-0.50 [[ 9.99963416e-01 7.51403541e-03 4.08726707e-03 1.90124766e+01] [-7.51389138e-03 9.99971769e-01 -5.05947535e-05 2.55727337e-01] [-4.08753185e-03 1.98816218e-05 9.99991646e-01 -5.00764679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774203822000004 meters 0.01813408886341249 Centerline is valid? [True, True] Translation: X:19.04, Y:0.25, Z:-0.50 [[ 9.99972558e-01 6.23517082e-03 4.00072805e-03 1.90443966e+01] [-6.23502123e-03 9.99980561e-01 -4.98614243e-05 2.50875008e-01] [-4.00096118e-03 2.49154317e-05 9.99991996e-01 -5.04013402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804203822 meters 0.020928259312872222 Centerline is valid? [True, True] Translation: X:19.08, Y:0.24, Z:-0.51 [[ 9.99988950e-01 3.25765928e-03 3.38928316e-03 1.90756580e+01] [-3.25753430e-03 9.99994693e-01 -4.23945076e-05 2.40791102e-01] [-3.38940328e-03 3.13533330e-05 9.99994255e-01 -5.07393194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834203822000003 meters 0.021093277871547293 Centerline is valid? [True, True] Translation: X:19.11, Y:0.24, Z:-0.51 [[ 9.99989556e-01 2.16309650e-03 4.02611605e-03 1.91080795e+01] [-2.16290664e-03 9.99997660e-01 -5.15107076e-05 2.36496898e-01] [-4.02621805e-03 4.28020564e-05 9.99991894e-01 -5.06346444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864203822000004 meters 0.022195143079620797 Centerline is valid? [True, True] Translation: X:19.14, Y:0.23, Z:-0.50 [[ 9.99981298e-01 5.73753028e-05 6.11566127e-03 1.91398761e+01] [-5.68769792e-05 9.99999995e-01 -8.16570960e-05 2.26561329e-01] [-6.11566593e-03 8.13077285e-05 9.99981296e-01 -5.03739126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894203822 meters 0.032929817407276914 Centerline is valid? [True, True] Translation: X:19.17, Y:0.22, Z:-0.50 [[ 9.99978661e-01 -7.81052243e-04 6.48599170e-03 1.91733544e+01] [ 7.81634692e-04 9.99999691e-01 -8.72666783e-05 2.21181848e-01] [-6.48592153e-03 9.23344922e-05 9.99978962e-01 -5.00775855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924203822000003 meters 0.022356015948180326 Centerline is valid? [True, True] Translation: X:19.20, Y:0.22, Z:-0.50 [[ 9.99981255e-01 -9.13983851e-04 6.05431482e-03 1.92046096e+01] [ 9.14519702e-04 9.99999578e-01 -8.57396201e-05 2.17742250e-01] [-6.05423390e-03 9.12748031e-05 9.99981669e-01 -5.04310964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954203822000004 meters 0.025058129576309242 Centerline is valid? [True, True] Translation: X:19.24, Y:0.22, Z:-0.50 [[ 9.99982827e-01 6.20152197e-04 5.82766808e-03 1.92368926e+01] [-6.19682676e-04 9.99999805e-01 -8.23730191e-05 2.15580598e-01] [-5.82771802e-03 7.87602996e-05 9.99983016e-01 -5.00533939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984203822 meters 0.02117756305873652 Centerline is valid? [True, True] Translation: X:19.27, Y:0.21, Z:-0.51 [[ 9.99979632e-01 1.33797461e-03 6.24069354e-03 1.92675766e+01] [-1.33744751e-03 9.99999102e-01 -8.86344642e-05 2.09163888e-01] [-6.24080653e-03 8.02860588e-05 9.99980523e-01 -5.07305251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014203822000002 meters 0.019351975025471594 Centerline is valid? [True, True] Translation: X:19.30, Y:0.20, Z:-0.51 [[ 9.99974554e-01 3.87787202e-03 5.98785742e-03 1.93000738e+01] [-3.87743044e-03 9.99992479e-01 -8.53540299e-05 2.04905911e-01] [-5.98814338e-03 6.21343573e-05 9.99982069e-01 -5.08246928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044203822000004 meters 0.018477733391122582 Centerline is valid? [True, True] Translation: X:19.33, Y:0.20, Z:-0.51 [[ 9.99955929e-01 7.95956524e-03 4.97858706e-03 1.93328066e+01] [-7.95931364e-03 9.99968322e-01 -7.03489054e-05 2.04696332e-01] [-4.97898930e-03 3.07196691e-05 9.99987604e-01 -5.06241827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074203822 meters 0.016017438299065018 Centerline is valid? [True, True] Translation: X:19.36, Y:0.21, Z:-0.51 [[ 9.99932413e-01 1.02172856e-02 5.54768724e-03 1.93638252e+01] [-1.02170152e-02 9.99947802e-01 -7.70734459e-05 2.05411105e-01] [-5.54818514e-03 2.03874318e-05 9.99984608e-01 -5.08608168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104203822000002 meters 0.014131024872568686 Centerline is valid? [True, True] Translation: X:19.40, Y:0.21, Z:-0.51 [[ 9.99861082e-01 1.49453976e-02 7.37911249e-03 1.93962904e+01] [-1.49450298e-02 9.99888311e-01 -1.04980769e-04 2.09195352e-01] [-7.37985730e-03 -5.31487057e-06 9.99972768e-01 -5.05951193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134203822000003 meters 0.015222598885269743 Centerline is valid? [True, True] Translation: X:19.43, Y:0.21, Z:-0.51 [[ 9.99813823e-01 1.82427703e-02 6.28651196e-03 1.94283579e+01] [-1.82425663e-02 9.99833587e-01 -8.97922077e-05 2.05781676e-01] [-6.28710386e-03 -2.49066209e-05 9.99980236e-01 -5.09095219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164203822 meters 0.01677371713504171 Centerline is valid? [True, True] Translation: X:19.46, Y:0.21, Z:-0.51 [[ 9.99791636e-01 1.99874174e-02 4.14575834e-03 1.94604625e+01] [-1.99873353e-02 9.99800231e-01 -6.12234693e-05 2.05288770e-01] [-4.14615385e-03 -2.16519497e-05 9.99991404e-01 -5.13921102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194203822000002 meters 0.017658939888730452 Centerline is valid? [True, True] Translation: X:19.49, Y:0.20, Z:-0.52 [[ 9.99777458e-01 2.05973082e-02 4.55920029e-03 1.94911813e+01] [-2.05972255e-02 9.99787853e-01 -6.51024302e-05 2.04046017e-01] [-4.55957400e-03 -2.88189342e-05 9.99989605e-01 -5.17199273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224203822000003 meters 0.018242003366787912 Centerline is valid? [True, True] Translation: X:19.52, Y:0.20, Z:-0.52 [[ 9.99751386e-01 2.17687801e-02 4.82553815e-03 1.95227261e+01] [-2.17686956e-02 9.99763031e-01 -7.00421400e-05 1.96597234e-01] [-4.82591938e-03 -3.50209444e-05 9.99988355e-01 -5.18418858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254203822000004 meters 0.02392278623949246 Centerline is valid? [True, True] Translation: X:19.55, Y:0.20, Z:-0.51 [[ 9.99701740e-01 2.38504836e-02 5.25227618e-03 1.95543947e+01] [-2.38503905e-02 9.99715536e-01 -8.03799579e-05 1.96081393e-01] [-5.25269920e-03 -4.49128539e-05 9.99986203e-01 -5.12626995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284203822000002 meters 0.01934207005478416 Centerline is valid? [True, True] Translation: X:19.59, Y:0.20, Z:-0.52 [[ 9.99673528e-01 2.47015116e-02 6.53243493e-03 1.95853803e+01] [-2.47014026e-02 9.99694869e-01 -9.73794137e-05 1.97458744e-01] [-6.53284710e-03 -6.40126832e-05 9.99978659e-01 -5.15706655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314203822000003 meters 0.019871366629050383 Centerline is valid? [True, True] Translation: X:19.62, Y:0.20, Z:-0.51 [[ 9.99619621e-01 2.66662373e-02 7.03737220e-03 1.96174900e+01] [-2.66661503e-02 9.99644389e-01 -1.06209077e-04 1.97852248e-01] [-7.03770183e-03 -8.14909471e-05 9.99975232e-01 -5.14627068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344203822000004 meters 0.019567168252291302 Centerline is valid? [True, True] Translation: X:19.65, Y:0.20, Z:-0.52 [[ 9.99598779e-01 2.76462402e-02 6.16175756e-03 1.96498055e+01] [-2.76461904e-02 9.99617767e-01 -9.32669158e-05 1.95726044e-01] [-6.16198081e-03 -7.71196277e-05 9.99981012e-01 -5.15431044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374203822000002 meters 0.022398117368186674 Centerline is valid? [True, True] Translation: X:19.68, Y:0.20, Z:-0.52 [[ 9.99601923e-01 2.75679876e-02 6.00018276e-03 1.96811847e+01] [-2.75679318e-02 9.99619928e-01 -9.20170389e-05 1.97113619e-01] [-6.00043899e-03 -7.34322201e-05 9.99981995e-01 -5.22133248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404203822000003 meters 0.017401722175167403 Centerline is valid? [True, True] Translation: X:19.71, Y:0.19, Z:-0.52 [[ 9.99669412e-01 2.50140566e-02 5.94671725e-03 1.97130093e+01] [-2.50139530e-02 9.99687098e-01 -9.17949399e-05 1.88358470e-01] [-5.94715267e-03 -5.69863125e-05 9.99982314e-01 -5.17809195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434203822000004 meters 0.016681619915115742 Centerline is valid? [True, True] Translation: X:19.75, Y:0.18, Z:-0.52 [[ 9.99754315e-01 2.16728738e-02 4.64712959e-03 1.97450109e+01] [-2.16727770e-02 9.99765115e-01 -7.11979700e-05 1.82374294e-01] [-4.64758111e-03 -2.95357254e-05 9.99989200e-01 -5.21017808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464203822 meters 0.016865638377936663 Centerline is valid? [True, True] Translation: X:19.78, Y:0.18, Z:-0.52 [[ 9.99780974e-01 2.03934913e-02 4.70197875e-03 1.97762242e+01] [-2.03933707e-02 9.99792031e-01 -7.35969286e-05 1.79982204e-01] [-4.70250179e-03 -2.23083868e-05 9.99988943e-01 -5.23763428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494203822000003 meters 0.016268525042742187 Centerline is valid? [True, True] Translation: X:19.81, Y:0.18, Z:-0.52 [[ 9.99813162e-01 1.85339011e-02 5.48966265e-03 1.98074286e+01] [-1.85336917e-02 9.99828232e-01 -8.90195637e-05 1.75671939e-01] [-5.49036958e-03 -1.27407834e-05 9.99984928e-01 -5.23666267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524203822000004 meters 0.014595753768547033 Centerline is valid? [True, True] Translation: X:19.84, Y:0.17, Z:-0.52 [[ 9.99824754e-01 1.76925385e-02 6.11842470e-03 1.98396461e+01] [-1.76922679e-02 9.99843475e-01 -9.83412679e-05 1.71822850e-01] [-6.11920692e-03 -9.92477512e-06 9.99981277e-01 -5.20102254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554203822 meters 0.014759828158330752 Centerline is valid? [True, True] Translation: X:19.87, Y:0.16, Z:-0.52 [[ 9.99866672e-01 1.50446440e-02 6.34801881e-03 1.98715193e+01] [-1.50442929e-02 9.99886823e-01 -1.03052425e-04 1.64394310e-01] [-6.34885075e-03 7.53723096e-06 9.99979846e-01 -5.20202826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584203822000003 meters 0.017228457728129438 Centerline is valid? [True, True] Translation: X:19.90, Y:0.16, Z:-0.53 [[ 9.99919161e-01 1.19505407e-02 4.34229791e-03 1.99023948e+01] [-1.19503407e-02 9.99928590e-01 -7.20041017e-05 1.56049192e-01] [-4.34284831e-03 2.01063414e-05 9.99990570e-01 -5.26890511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614203822000004 meters 0.017228457728129438 Centerline is valid? [True, True] Translation: X:19.93, Y:0.16, Z:-0.53 [[ 9.99917163e-01 1.21165502e-02 4.34232430e-03 1.99340715e+01] [-1.21163583e-02 9.99926592e-01 -7.04845361e-05 1.55358162e-01] [-4.34285957e-03 1.78655401e-05 9.99990570e-01 -5.27790090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644203822 meters 0.018290152584823492 Centerline is valid? [True, True] Translation: X:19.97, Y:0.15, Z:-0.53 [[ 9.99944872e-01 9.82345937e-03 3.70855663e-03 1.99659469e+01] [-9.82330413e-03 9.99951748e-01 -6.00728545e-05 1.47004525e-01] [-3.70896781e-03 2.36392631e-05 9.99993121e-01 -5.30128329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674203822000003 meters 0.02943492122541183 Centerline is valid? [True, True] Translation: X:20.00, Y:0.14, Z:-0.53 [[ 9.99950382e-01 9.44973759e-03 3.15213464e-03 1.99980069e+01] [-9.44962455e-03 9.99955350e-01 -5.07503310e-05 1.43522065e-01] [-3.15247347e-03 2.09613240e-05 9.99995031e-01 -5.28760622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704203822000004 meters 0.01874793208656157 Centerline is valid? [True, True] Translation: X:20.03, Y:0.14, Z:-0.53 [[ 9.99948866e-01 9.53602986e-03 3.36595944e-03 2.00293379e+01] [-9.53589727e-03 9.99954531e-01 -5.54389719e-05 1.38651195e-01] [-3.36633506e-03 2.33386937e-05 9.99994334e-01 -5.31340292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734203822 meters 0.016705009567081736 Centerline is valid? [True, True] Translation: X:20.06, Y:0.14, Z:-0.53 [[ 9.99889077e-01 1.43223179e-02 4.08711109e-03 2.00604100e+01] [-1.43221553e-02 9.99897430e-01 -6.90567387e-05 1.44289884e-01] [-4.08768093e-03 1.05128389e-05 9.99991645e-01 -5.30769018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764203822000002 meters 0.017214810798935228 Centerline is valid? [True, True] Translation: X:20.09, Y:0.15, Z:-0.53 [[ 9.99845292e-01 1.73294858e-02 3.01362412e-03 2.00913663e+01] [-1.73294130e-02 9.99849833e-01 -5.02654073e-05 1.47728221e-01] [-3.01404265e-03 -1.96670619e-06 9.99995458e-01 -5.34719314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794203822000004 meters 0.01799322480192265 Centerline is valid? [True, True] Translation: X:20.12, Y:0.15, Z:-0.54 [[ 9.99766605e-01 2.15612869e-02 1.35915923e-03 2.01229897e+01] [-2.15612742e-02 9.99767528e-01 -2.39921264e-05 1.53159632e-01] [-1.35936057e-03 -5.31867815e-06 9.99999076e-01 -5.37666000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824203822 meters 0.01905754344709417 Centerline is valid? [True, True] Translation: X:20.15, Y:0.15, Z:-0.54 [[ 9.99738098e-01 2.28447094e-02 1.36193712e-03 2.01523344e+01] [-2.28446964e-02 9.99739026e-01 -2.50447724e-05 1.54032178e-01] [-1.36215383e-03 -6.07482699e-06 9.99999072e-01 -5.40383996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854203822000002 meters 0.01877089415197085 Centerline is valid? [True, True] Translation: X:20.18, Y:0.15, Z:-0.54 [[ 9.99742960e-01 2.26200410e-02 1.53195095e-03 2.01829758e+01] [-2.26200250e-02 9.99744134e-01 -2.77896044e-05 1.53547174e-01] [-1.53218758e-03 -6.87030741e-06 9.99998826e-01 -5.40364286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884203822000003 meters 0.017147584764866483 Centerline is valid? [True, True] Translation: X:20.21, Y:0.15, Z:-0.54 [[ 9.99766962e-01 2.13037018e-02 3.48922754e-03 2.02138961e+01] [-2.13036106e-02 9.99773050e-01 -6.32946197e-05 1.53221177e-01] [-3.48978407e-03 -1.10532751e-05 9.99993911e-01 -5.37076792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914203822 meters 0.01541293803390976 Centerline is valid? [True, True] Translation: X:20.25, Y:0.15, Z:-0.53 [[ 9.99808620e-01 1.89788320e-02 4.74638020e-03 2.02463067e+01] [-1.89786564e-02 9.99819886e-01 -8.20414931e-05 1.46096200e-01] [-4.74708236e-03 -8.05412700e-06 9.99988733e-01 -5.33654207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944203822000002 meters 0.016256532737059477 Centerline is valid? [True, True] Translation: X:20.28, Y:0.14, Z:-0.54 [[ 9.99828596e-01 1.78385398e-02 4.95625563e-03 2.02781507e+01] [-1.78383303e-02 9.99840881e-01 -8.64716585e-05 1.42468317e-01] [-4.95700952e-03 -1.95448804e-06 9.99987714e-01 -5.37276022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974203822000003 meters 0.015894446038241652 Centerline is valid? [True, True] Translation: X:20.31, Y:0.14, Z:-0.54 [[ 9.99873421e-01 1.52763446e-02 4.44703834e-03 2.03098039e+01] [-1.52761468e-02 9.99883310e-01 -7.84496030e-05 1.38241307e-01] [-4.44771784e-03 1.05060625e-05 9.99990109e-01 -5.36140466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004203822000004 meters 0.028089986811181907 Centerline is valid? [True, True] Translation: X:20.34, Y:0.13, Z:-0.54 [[ 9.99907244e-01 1.33101840e-02 2.88848076e-03 2.03410936e+01] [-1.33100954e-02 9.99911416e-01 -4.98692703e-05 1.34522733e-01] [-2.88888865e-03 1.14186900e-05 9.99995827e-01 -5.42305356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034203822000002 meters 0.019474354884201073 Centerline is valid? [True, True] Translation: X:20.37, Y:0.13, Z:-0.55 [[ 9.99921292e-01 1.23605120e-02 2.15133478e-03 2.03735331e+01] [-1.23604627e-02 9.99923606e-01 -3.61911042e-05 1.32564926e-01] [-2.15161777e-03 9.59676230e-06 9.99997685e-01 -5.45416359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064203822000003 meters 0.018825635214429443 Centerline is valid? [True, True] Translation: X:20.40, Y:0.13, Z:-0.54 [[ 9.99926195e-01 1.19707388e-02 2.07489473e-03 2.04044483e+01] [-1.19706841e-02 9.99928348e-01 -3.87390188e-05 1.30776479e-01] [-2.07520979e-03 1.38982502e-05 9.99997847e-01 -5.43873556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094203822000004 meters 0.018060956572735265 Centerline is valid? [True, True] Translation: X:20.44, Y:0.13, Z:-0.54 [[ 9.99908282e-01 1.33492809e-02 2.28569488e-03 2.04355352e+01] [-1.33492179e-02 9.99910894e-01 -4.27984061e-05 1.32306867e-01] [-2.28606254e-03 1.22822416e-05 9.99997387e-01 -5.44665384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124203822000002 meters 0.017197343658835865 Centerline is valid? [True, True] Translation: X:20.47, Y:0.13, Z:-0.54 [[ 9.99896023e-01 1.42352123e-02 2.30246603e-03 2.04670374e+01] [-1.42351507e-02 9.99898674e-01 -4.31584207e-05 1.31494468e-01] [-2.30284710e-03 1.03779822e-05 9.99997348e-01 -5.44187630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154203822000003 meters 0.0168111404285387 Centerline is valid? [True, True] Translation: X:20.50, Y:0.13, Z:-0.54 [[ 9.99872830e-01 1.55909277e-02 3.35372917e-03 2.04985551e+01] [-1.55908144e-02 9.99878454e-01 -5.99099044e-05 1.29697860e-01] [-3.35425559e-03 7.61491658e-06 9.99994374e-01 -5.43864419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184203822000004 meters 0.017278497857776604 Centerline is valid? [True, True] Translation: X:20.53, Y:0.13, Z:-0.55 [[ 9.99868818e-01 1.56014299e-02 4.35232214e-03 2.05302439e+01] [-1.56012314e-02 9.99878290e-01 -7.95525556e-05 1.32230623e-01] [-4.35303356e-03 1.16405347e-05 9.99990525e-01 -5.45393569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214203822 meters 0.020710441467418916 Centerline is valid? [True, True] Translation: X:20.56, Y:0.13, Z:-0.54 [[ 9.99873799e-01 1.52703104e-02 4.38226833e-03 2.05625888e+01] [-1.52701032e-02 9.99883402e-01 -8.07426362e-05 1.33328784e-01] [-4.38299033e-03 1.38147569e-05 9.99990395e-01 -5.41566745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244203822000003 meters 0.017823486908054853 Centerline is valid? [True, True] Translation: X:20.59, Y:0.13, Z:-0.55 [[ 9.99907031e-01 1.28178020e-02 4.65116423e-03 2.05938250e+01] [-1.28175281e-02 9.99917848e-01 -8.86944822e-05 1.27067600e-01] [-4.65191900e-03 2.90698081e-05 9.99989179e-01 -5.46148479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274203822000004 meters 0.017245973616095544 Centerline is valid? [True, True] Translation: X:20.63, Y:0.12, Z:-0.54 [[ 9.99916222e-01 1.14425180e-02 6.05118943e-03 2.06256436e+01] [-1.14420314e-02 9.99934531e-01 -1.15023279e-04 1.22829065e-01] [-6.05210942e-03 4.57757433e-05 9.99981685e-01 -5.42886703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304203822 meters 0.019716318233375274 Centerline is valid? [True, True] Translation: X:20.66, Y:0.11, Z:-0.54 [[ 9.99936878e-01 8.41663629e-03 7.44315485e-03 2.06577396e+01] [-8.41579081e-03 9.99964576e-01 -1.44905739e-04 1.11529464e-01] [-7.44411080e-03 8.22565579e-05 9.99972289e-01 -5.42754003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334203822000003 meters 0.02095773454612445 Centerline is valid? [True, True] Translation: X:20.69, Y:0.11, Z:-0.55 [[ 9.99951116e-01 7.36257588e-03 6.59990302e-03 2.06897918e+01] [-7.36189172e-03 9.99972893e-01 -1.27950835e-04 1.08065908e-01] [-6.60066616e-03 7.93568089e-05 9.99978212e-01 -5.45084185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364203822000004 meters 0.02345380115025144 Centerline is valid? [True, True] Translation: X:20.72, Y:0.10, Z:-0.55 [[ 9.99975339e-01 5.54346298e-03 4.31188811e-03 2.07194327e+01] [-5.54314081e-03 9.99984633e-01 -8.66649394e-05 1.04066879e-01] [-4.31230227e-03 6.27613991e-05 9.99990700e-01 -5.49722198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394203822 meters 0.02158917176571649 Centerline is valid? [True, True] Translation: X:20.75, Y:0.11, Z:-0.55 [[ 9.99970360e-01 6.28514597e-03 4.44705661e-03 2.07519088e+01] [-6.28482872e-03 9.99980247e-01 -8.53110686e-05 1.05530631e-01] [-4.44750496e-03 5.73595509e-05 9.99990108e-01 -5.49273224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424203822000003 meters 0.028131709121015654 Centerline is valid? [True, True] Translation: X:20.78, Y:0.10, Z:-0.55 [[ 9.99962209e-01 8.23871144e-03 2.77565667e-03 2.07836706e+01] [-8.23859918e-03 9.99966061e-01 -5.18771037e-05 1.03858386e-01] [-2.77598987e-03 2.90076204e-05 9.99996147e-01 -5.51549361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454203822000004 meters 0.02262588231155086 Centerline is valid? [True, True] Translation: X:20.81, Y:0.10, Z:-0.56 [[ 9.99956257e-01 9.18094456e-03 1.78714282e-03 2.08145905e+01] [-9.18090147e-03 9.99957854e-01 -3.23130863e-05 1.00192528e-01] [-1.78736416e-03 1.59040907e-05 9.99998403e-01 -5.59139524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484203822 meters 0.02089586429235232 Centerline is valid? [True, True] Translation: X:20.85, Y:0.10, Z:-0.56 [[ 9.99928550e-01 1.17254819e-02 2.32534325e-03 2.08460827e+01] [-1.17254037e-02 9.99931254e-01 -4.72997232e-05 1.01951326e-01] [-2.32573800e-03 2.00307555e-05 9.99997295e-01 -5.58963793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514203822000002 meters 0.021476264907665223 Centerline is valid? [True, True] Translation: X:20.88, Y:0.11, Z:-0.55 [[ 9.99882094e-01 1.51016711e-02 2.78151778e-03 2.08779071e+01] [-1.51015717e-02 9.99885963e-01 -5.67298565e-05 1.09252658e-01] [-2.78205730e-03 1.47178775e-05 9.99996130e-01 -5.53097250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544203822000004 meters 0.01775278079669492 Centerline is valid? [True, True] Translation: X:20.91, Y:0.11, Z:-0.56 [[ 9.99846434e-01 1.73120225e-02 2.72072711e-03 2.09088011e+01] [-1.73119448e-02 9.99850136e-01 -5.20876506e-05 1.11536143e-01] [-2.72122111e-03 4.97857414e-06 9.99996297e-01 -5.58825040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574203822 meters 0.016240170759524827 Centerline is valid? [True, True] Translation: X:20.94, Y:0.12, Z:-0.56 [[ 9.99768800e-01 2.12621130e-02 3.20444242e-03 2.09399357e+01] [-2.12620105e-02 9.99773936e-01 -6.60588936e-05 1.16256316e-01] [-3.20512256e-03 -2.08926748e-06 9.99994864e-01 -5.57255696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604203822000002 meters 0.01600933860595634 Centerline is valid? [True, True] Translation: X:20.97, Y:0.12, Z:-0.56 [[ 9.99736660e-01 2.27056956e-02 3.32603123e-03 2.09714406e+01] [-2.27055928e-02 9.99742192e-01 -6.86641496e-05 1.16908972e-01] [-3.32673282e-03 -6.87344302e-06 9.99994466e-01 -5.57415900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634203822000003 meters 0.016464842967864844 Centerline is valid? [True, True] Translation: X:21.00, Y:0.12, Z:-0.56 [[ 9.99720836e-01 2.34865360e-02 2.57523193e-03 2.10031914e+01] [-2.34864772e-02 9.99724153e-01 -5.30694283e-05 1.18988491e-01] [-2.57576797e-03 -7.42851259e-06 9.99996683e-01 -5.59606064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664203822000005 meters 0.021599007439644605 Centerline is valid? [True, True] Translation: X:21.03, Y:0.12, Z:-0.56 [[ 9.99763118e-01 2.17257035e-02 1.30459898e-03 2.10331554e+01] [-2.17256868e-02 9.99763969e-01 -2.69072888e-05 1.20605946e-01] [-1.30487564e-03 -1.44239402e-06 9.99999149e-01 -5.62445585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694203822000002 meters 0.017075868449899636 Centerline is valid? [True, True] Translation: X:21.06, Y:0.12, Z:-0.56 [[ 9.99802170e-01 1.98333680e-02 1.50294899e-03 2.10634892e+01] [-1.98333432e-02 9.99803299e-01 -3.14001631e-05 1.16805900e-01] [-1.50327613e-03 1.58544805e-06 9.99998870e-01 -5.64217370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724203822000003 meters 0.019438765660216357 Centerline is valid? [True, True] Translation: X:21.09, Y:0.10, Z:-0.57 [[ 9.99899251e-01 1.41308688e-02 1.34384809e-03 2.10934045e+01] [-1.41308443e-02 9.99900154e-01 -2.77477361e-05 1.03062587e-01] [-1.34410601e-03 8.75523237e-06 9.99999097e-01 -5.67737579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754203822000004 meters 0.021674580899271594 Centerline is valid? [True, True] Translation: X:21.12, Y:0.09, Z:-0.57 [[ 9.99954524e-01 9.18366199e-03 2.57117644e-03 2.11246801e+01] [-9.18355572e-03 9.99957829e-01 -5.31346397e-05 9.15065286e-02] [-2.57155598e-03 2.95196812e-05 9.99996693e-01 -5.66679299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784203822000002 meters 0.022898839817695305 Centerline is valid? [True, True] Translation: X:21.16, Y:0.09, Z:-0.57 [[ 9.99962513e-01 7.74022628e-03 3.88094796e-03 2.11559216e+01] [-7.73998393e-03 9.99970043e-01 -7.74604527e-05 8.64442801e-02] [-3.88143126e-03 4.74190741e-05 9.99992466e-01 -5.66119809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814203822000003 meters 0.023291061326631026 Centerline is valid? [True, True] Translation: X:21.19, Y:0.08, Z:-0.56 [[ 9.99967883e-01 6.34513353e-03 4.89623090e-03 2.11884412e+01] [-6.34472599e-03 9.99979867e-01 -9.87641101e-05 8.05277542e-02] [-4.89675900e-03 6.76956946e-05 9.99988009e-01 -5.63401851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844203822000004 meters 0.021365859574240535 Centerline is valid? [True, True] Translation: X:21.22, Y:0.08, Z:-0.56 [[ 9.99961839e-01 8.11160343e-03 3.24382150e-03 2.12206594e+01] [-8.11143627e-03 9.99967100e-01 -6.46867885e-05 8.04570167e-02] [-3.24423949e-03 3.83722686e-05 9.99994737e-01 -5.64883615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874203822000002 meters 0.0217980037030678 Centerline is valid? [True, True] Translation: X:21.25, Y:0.08, Z:-0.58 [[ 9.99924462e-01 1.22907299e-02 9.02397644e-05 2.12511202e+01] [-1.22907298e-02 9.99924466e-01 -1.23920399e-06 8.30827981e-02] [-9.02481789e-05 1.29997818e-07 9.99999996e-01 -5.75257476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904203822000003 meters 0.01813347626383311 Centerline is valid? [True, True] Translation: X:21.28, Y:0.09, Z:-0.57 [[ 9.99884239e-01 1.52151177e-02 9.09410360e-05 2.12818747e+01] [-1.52151175e-02 9.99884243e-01 -1.95234439e-06 8.76425738e-02] [-9.09602142e-05 5.68439831e-07 9.99999996e-01 -5.70952079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934203822000004 meters 0.02486138388603809 Centerline is valid? [True, True] Translation: X:21.31, Y:0.09, Z:-0.57 [[ 9.99778435e-01 2.08695712e-02 2.74621770e-03 2.13114844e+01] [-2.08694911e-02 9.99782207e-01 -5.78206645e-05 9.30047964e-02] [-2.74682628e-03 4.95687700e-07 9.99996227e-01 -5.67954368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964203822 meters 0.01835541454783244 Centerline is valid? [True, True] Translation: X:21.34, Y:0.09, Z:-0.57 [[ 9.99724618e-01 2.32380377e-02 3.26822100e-03 2.13423683e+01] [-2.32379449e-02 9.99729960e-01 -6.63634481e-05 9.37987442e-02] [-3.26888061e-03 -9.60156671e-06 9.99994657e-01 -5.74238345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994203822000003 meters 0.01587279986669897 Centerline is valid? [True, True] Translation: X:21.37, Y:0.09, Z:-0.57 [[ 9.99710546e-01 2.38115481e-02 3.43997041e-03 2.13745305e+01] [-2.38114475e-02 9.99716465e-01 -7.01970400e-05 9.31083095e-02] [-3.44066656e-03 -1.17339537e-05 9.99994081e-01 -5.68139248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024203822000004 meters 0.016620365729630677 Centerline is valid? [True, True] Translation: X:21.41, Y:0.09, Z:-0.57 [[ 9.99717717e-01 2.32960278e-02 4.66706101e-03 2.14055392e+01] [-2.32958235e-02 9.99728611e-01 -9.81277258e-05 8.91582602e-02] [-4.66808041e-03 -1.06230038e-05 9.99989104e-01 -5.72362470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054203822 meters 0.01522065266021073 Centerline is valid? [True, True] Translation: X:21.44, Y:0.08, Z:-0.57 [[ 9.99734781e-01 2.23913671e-02 5.38464159e-03 2.14374857e+01] [-2.23910749e-02 9.99749282e-01 -1.14552870e-04 8.25221575e-02] [-5.38585656e-03 -6.04542505e-06 9.99985496e-01 -5.68924717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084203822000003 meters 0.01591263942420449 Centerline is valid? [True, True] Translation: X:21.47, Y:0.08, Z:-0.57 [[ 9.99742072e-01 2.18713416e-02 6.11836267e-03 2.14688808e+01] [-2.18709424e-02 9.99760794e-01 -1.32150014e-04 7.91049565e-02] [-6.11978942e-03 -1.69842847e-06 9.99981274e-01 -5.71354352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114203822000004 meters 0.016641277986159723 Centerline is valid? [True, True] Translation: X:21.50, Y:0.07, Z:-0.57 [[ 9.99776022e-01 2.04690189e-02 5.37826272e-03 2.15001707e+01] [-2.04686800e-02 9.99790488e-01 -1.18053396e-04 7.40067791e-02] [-5.37955234e-03 7.94101590e-06 9.99985530e-01 -5.73935833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144203822 meters 0.0287519742110276 Centerline is valid? [True, True] Translation: X:21.53, Y:0.07, Z:-0.57 [[ 9.99786301e-01 2.01417046e-02 4.65445599e-03 2.15326515e+01] [-2.01414552e-02 9.99797135e-01 -1.00471221e-04 7.28505975e-02] [-4.65553543e-03 6.70223394e-06 9.99989163e-01 -5.73528072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174203822000003 meters 0.025277260975057902 Centerline is valid? [True, True] Translation: X:21.56, Y:0.07, Z:-0.57 [[ 9.99813457e-01 1.90423810e-02 3.23100776e-03 2.15648797e+01] [-1.90422586e-02 9.99818677e-01 -6.86630132e-05 6.88397006e-02] [-3.23172941e-03 7.12451948e-06 9.99994778e-01 -5.74466465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204203822000004 meters 0.017207349162229768 Centerline is valid? [True, True] Translation: X:21.60, Y:0.06, Z:-0.58 [[ 9.99828936e-01 1.83287004e-02 2.48125097e-03 2.15969249e+01] [-1.83286278e-02 9.99832015e-01 -5.20106061e-05 6.35278845e-02] [-2.48178745e-03 6.52378343e-06 9.99996920e-01 -5.77875243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234203822 meters 0.0176356715867783 Centerline is valid? [True, True] Translation: X:21.63, Y:0.05, Z:-0.58 [[ 9.99858993e-01 1.64036750e-02 3.59351163e-03 2.16290999e+01] [-1.64035001e-02 9.99865450e-01 -7.81352096e-05 5.41738464e-02] [-3.59430983e-03 1.91780234e-05 9.99993540e-01 -5.76684974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264203822000002 meters 0.01857190121642377 Centerline is valid? [True, True] Translation: X:21.66, Y:0.05, Z:-0.58 [[ 9.99875680e-01 1.55129919e-02 2.82331382e-03 2.16611985e+01] [-1.55128819e-02 9.99879666e-01 -6.08380903e-05 4.82384605e-02] [-2.82391786e-03 1.70327930e-05 9.99996013e-01 -5.78887145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294203822000004 meters 0.019202782383380537 Centerline is valid? [True, True] Translation: X:21.69, Y:0.05, Z:-0.58 [[ 9.99858850e-01 1.65788507e-02 2.72425011e-03 2.16933651e+01] [-1.65787522e-02 9.99862561e-01 -5.87124752e-05 4.63663688e-02] [-2.72484908e-03 1.35395203e-05 9.99996288e-01 -5.82083076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324203822 meters 0.017502100397972717 Centerline is valid? [True, True] Translation: X:21.73, Y:0.05, Z:-0.58 [[ 9.99837365e-01 1.76550059e-02 3.68039583e-03 2.17256995e+01] [-1.76548230e-02 9.99844138e-01 -8.21695423e-05 4.90102630e-02] [-3.68127290e-03 1.71794415e-05 9.99993224e-01 -5.79056088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354203822000002 meters 0.017716600949593594 Centerline is valid? [True, True] Translation: X:21.76, Y:0.05, Z:-0.58 [[ 9.99796683e-01 1.97116091e-02 4.24800391e-03 2.17568288e+01] [-1.97113704e-02 9.99805707e-01 -9.80585691e-05 5.00078301e-02] [-4.24911145e-03 1.43046535e-05 9.99990972e-01 -5.82811884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384203822000003 meters 0.016563255400151432 Centerline is valid? [True, True] Translation: X:21.79, Y:0.05, Z:-0.58 [[ 9.99774899e-01 2.09823452e-02 3.14522325e-03 2.17885644e+01] [-2.09822216e-02 9.99779846e-01 -7.22935464e-05 4.95144915e-02] [-3.14604771e-03 6.28350193e-06 9.99995051e-01 -5.81877707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414203822000005 meters 0.018817452292005505 Centerline is valid? [True, True] Translation: X:21.82, Y:0.05, Z:-0.59 [[ 9.99715228e-01 2.38375719e-02 1.11034185e-03 2.18193536e+01] [-2.38375620e-02 9.99715845e-01 -2.21268298e-05 5.44533072e-02] [-1.11055379e-03 -4.34731414e-06 9.99999383e-01 -5.90928457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444203822000002 meters 0.01847659655597006 Centerline is valid? [True, True] Translation: X:21.85, Y:0.06, Z:-0.59 [[ 9.99684582e-01 2.50963344e-02 9.54080865e-04 2.18506017e+01] [-2.50963246e-02 9.99685037e-01 -2.22335551e-05 5.85456249e-02] [-9.54338346e-04 -1.71738086e-06 9.99999545e-01 -5.91130678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474203822000003 meters 0.018176330410460715 Centerline is valid? [True, True] Translation: X:21.88, Y:0.06, Z:-0.59 [[ 9.99628114e-01 2.72573014e-02 8.20498667e-04 2.18824907e+01] [-2.72572950e-02 9.99628451e-01 -1.90281741e-05 6.42113469e-02] [-8.20712468e-04 -3.34347642e-06 9.99999663e-01 -5.91533297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504203822000004 meters 0.020447694415870663 Centerline is valid? [True, True] Translation: X:21.91, Y:0.06, Z:-0.60 [[ 9.99606569e-01 2.80132690e-02 -1.40121930e-03 2.19121963e+01] [-2.80132494e-02 9.99607551e-01 3.36712233e-05 6.36474348e-02] [ 1.40161264e-03 5.59472983e-06 9.99999018e-01 -5.98650839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534203822000002 meters 0.020447694415870663 Centerline is valid? [True, True] Translation: X:21.94, Y:0.06, Z:-0.60 [[ 9.99606569e-01 2.80132690e-02 -1.40121930e-03 2.19421891e+01] [-2.80132494e-02 9.99607551e-01 3.36712233e-05 6.29267094e-02] [ 1.40161264e-03 5.59472983e-06 9.99999018e-01 -5.99502718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564203822000003 meters 0.019639954459499915 Centerline is valid? [True, True] Translation: X:21.97, Y:0.06, Z:-0.60 [[ 9.99630781e-01 2.70570448e-02 -2.49346980e-03 2.19724343e+01] [-2.70569795e-02 9.99633891e-01 5.99179429e-05 6.06790376e-02] [ 2.49417812e-03 7.56994115e-06 9.99996890e-01 -5.98674349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594203822000004 meters 0.019224563936255722 Centerline is valid? [True, True] Translation: X:22.00, Y:0.06, Z:-0.60 [[ 9.99723245e-01 2.33950107e-02 -2.47112600e-03 2.20019182e+01] [-2.33949372e-02 9.99726299e-01 5.86232300e-05 6.12216893e-02] [ 2.47182114e-03 -7.95168131e-07 9.99996945e-01 -5.98977267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624203822000002 meters 0.01926875106328451 Centerline is valid? [True, True] Translation: X:22.03, Y:0.06, Z:-0.60 [[ 9.99761724e-01 2.17630451e-02 -1.69239775e-03 2.20312799e+01] [-2.17630081e-02 9.99763157e-01 4.02589717e-05 6.21547169e-02] [ 1.69287308e-03 -3.41771289e-06 9.99998567e-01 -5.99172385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654203822000003 meters 0.020549493956306848 Centerline is valid? [True, True] Translation: X:22.06, Y:0.06, Z:-0.60 [[ 9.99806748e-01 1.96278645e-02 -1.10205563e-03 2.20605347e+01] [-1.96278476e-02 9.99807355e-01 2.60885811e-05 6.12406292e-02] [ 1.10235539e-03 -4.45255941e-06 9.99999392e-01 -6.01960566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684203822000004 meters 0.0199998491287157 Centerline is valid? [True, True] Translation: X:22.09, Y:0.06, Z:-0.60 [[ 9.99818577e-01 1.90288930e-02 -8.44638542e-04 2.20901074e+01] [-1.90288833e-02 9.99818934e-01 1.95653808e-05 5.89240956e-02] [ 8.44857914e-04 -3.48930301e-06 9.99999643e-01 -6.01165380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714203822 meters 0.021153447882596616 Centerline is valid? [True, True] Translation: X:22.12, Y:0.05, Z:-0.60 [[ 9.99838966e-01 1.79312491e-02 -7.15472937e-04 2.21191989e+01] [-1.79312414e-02 9.99839222e-01 1.71409594e-05 5.41141156e-02] [ 7.15665264e-04 -4.30888111e-06 9.99999744e-01 -6.04515090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744203822000003 meters 0.019686295092116897 Centerline is valid? [True, True] Translation: X:22.15, Y:0.06, Z:-0.60 [[ 9.99840852e-01 1.78314348e-02 -5.57785370e-04 2.21500305e+01] [-1.78314301e-02 9.99841007e-01 1.33631558e-05 5.58166744e-02] [ 5.57934971e-04 -3.41491827e-06 9.99999844e-01 -6.00851897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774203822000004 meters 0.021158574353596856 Centerline is valid? [True, True] Translation: X:22.18, Y:0.06, Z:-0.61 [[ 9.99824207e-01 1.85824251e-02 -2.49965644e-03 2.21794670e+01] [-1.85823334e-02 9.99827332e-01 5.98997301e-05 6.46235764e-02] [ 2.50033791e-03 -1.34397508e-05 9.99996874e-01 -6.06247620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804203822 meters 0.023060410141982467 Centerline is valid? [True, True] Translation: X:22.21, Y:0.07, Z:-0.61 [[ 9.99787312e-01 1.98660320e-02 -5.53811106e-03 2.22090094e+01] [-1.98656040e-02 9.99802651e-01 1.32284625e-04 6.94976381e-02] [ 5.53964609e-03 -2.22385686e-05 9.99984656e-01 -6.14928545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834203822000003 meters 0.021255171668060818 Centerline is valid? [True, True] Translation: X:22.24, Y:0.07, Z:-0.61 [[ 9.99761978e-01 2.07365729e-02 -6.78101400e-03 2.22381261e+01] [-2.07359602e-02 9.99784974e-01 1.60646514e-04 7.09389008e-02] [ 6.78288717e-03 -1.99974403e-05 9.99976996e-01 -6.12632754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864203822000004 meters 0.02128905183739977 Centerline is valid? [True, True] Translation: X:22.27, Y:0.07, Z:-0.61 [[ 9.99724305e-01 2.23329815e-02 -7.24927099e-03 2.22669940e+01] [-2.23323252e-02 9.99750588e-01 1.71475641e-04 7.09482676e-02] [ 7.25129250e-03 -9.53528920e-06 9.99973709e-01 -6.13501923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894203822 meters 0.020180825654242007 Centerline is valid? [True, True] Translation: X:22.30, Y:0.08, Z:-0.61 [[ 9.99697953e-01 2.42103218e-02 -4.22653839e-03 2.22961884e+01] [-2.42101154e-02 9.99706887e-01 9.99932476e-05 7.96697418e-02] [ 4.22772041e-03 2.36193734e-06 9.99991063e-01 -6.09488626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924203822000003 meters 0.019976100425973666 Centerline is valid? [True, True] Translation: X:22.33, Y:0.09, Z:-0.61 [[ 9.99680386e-01 2.50551225e-02 -3.37156327e-03 2.23256375e+01] [-2.50549979e-02 9.99686071e-01 7.91674795e-05 8.60475737e-02] [ 3.37248839e-03 5.33233444e-06 9.99994313e-01 -6.09327832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954203822000004 meters 0.020726638554455147 Centerline is valid? [True, True] Translation: X:22.35, Y:0.09, Z:-0.61 [[ 9.99649188e-01 2.61497632e-02 -4.20613063e-03 2.23539379e+01] [-2.61495804e-02 9.99658036e-01 9.84714672e-05 9.30875119e-02] [ 4.20726729e-03 1.15516286e-05 9.99991149e-01 -6.13347495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984203822 meters 0.021606446081908464 Centerline is valid? [True, True] Translation: X:22.38, Y:0.09, Z:-0.62 [[ 9.99656345e-01 2.58515455e-02 -4.34611125e-03 2.23813784e+01] [-2.58513498e-02 9.99665793e-01 1.01211574e-04 9.24347455e-02] [ 4.34727523e-03 1.11760498e-05 9.99990550e-01 -6.17339316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014203822000002 meters 0.020246195220565113 Centerline is valid? [True, True] Translation: X:22.41, Y:0.09, Z:-0.61 [[ 9.99704327e-01 2.38083520e-02 -4.94173249e-03 2.24103437e+01] [-2.38080725e-02 9.99716541e-01 1.15382118e-04 8.94820298e-02] [ 4.94307877e-03 2.30512235e-06 9.99987783e-01 -6.14437235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044203822000004 meters 0.021488644312036453 Centerline is valid? [True, True] Translation: X:22.44, Y:0.09, Z:-0.62 [[ 9.99727469e-01 2.26789167e-02 -5.53669710e-03 2.24383810e+01] [-2.26785513e-02 9.99742800e-01 1.28765925e-04 9.01725264e-02] [ 5.53819333e-03 -3.16656310e-06 9.99984664e-01 -6.18295536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074203822 meters 0.020907312715143022 Centerline is valid? [True, True] Translation: X:22.47, Y:0.10, Z:-0.62 [[ 9.99761632e-01 2.09786408e-02 -6.04785450e-03 2.24678573e+01] [-2.09781726e-02 9.99779924e-01 1.40850966e-04 9.61277737e-02] [ 6.04947837e-03 -1.39444559e-05 9.99981702e-01 -6.16517353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104203822000002 meters 0.027506991097604443 Centerline is valid? [True, True] Translation: X:22.50, Y:0.10, Z:-0.61 [[ 9.99770685e-01 2.10363465e-02 -4.00623065e-03 2.24958179e+01] [-2.10361457e-02 9.99778712e-01 9.22546156e-05 1.01342250e-01] [ 4.00728481e-03 -7.95780848e-06 9.99991971e-01 -6.13671705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134203822000003 meters 0.020077362882790755 Centerline is valid? [True, True] Translation: X:22.52, Y:0.10, Z:-0.61 [[ 9.99786622e-01 2.05125958e-02 -2.43804820e-03 2.25242195e+01] [-2.05125200e-02 9.99789595e-01 5.60947956e-05 1.00730217e-01] [ 2.43868587e-03 -6.07231379e-06 9.99997026e-01 -6.14047202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164203822000005 meters 0.01944111635516651 Centerline is valid? [True, True] Translation: X:22.55, Y:0.10, Z:-0.61 [[ 9.99804297e-01 1.97508133e-02 -1.12870673e-03 2.25536491e+01] [-1.97507968e-02 9.99804934e-01 2.57375244e-05 9.85369860e-02] [ 1.12899490e-03 -3.43963013e-06 9.99999363e-01 -6.12525406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194203822000002 meters 0.03177306729828161 Centerline is valid? [True, True] Translation: X:22.58, Y:0.09, Z:-0.61 [[ 9.99854130e-01 1.70797844e-02 1.62618807e-05 2.25827027e+01] [-1.70797844e-02 9.99854130e-01 -7.15100397e-07 9.31141039e-02] [-1.62717224e-05 4.37246668e-07 1.00000000e+00 -6.10403906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224203822000003 meters 0.021026790866965003 Centerline is valid? [True, True] Translation: X:22.61, Y:0.09, Z:-0.61 [[ 9.99877300e-01 1.56590187e-02 -4.23867283e-04 2.26132742e+01] [-1.56590159e-02 9.99877390e-01 9.91315599e-06 9.12038156e-02] [ 4.23970543e-04 -3.27459511e-06 9.99999910e-01 -6.13283280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254203822000004 meters 0.02263637765147826 Centerline is valid? [True, True] Translation: X:22.64, Y:0.09, Z:-0.62 [[ 9.99898943e-01 1.41904593e-02 -8.56707379e-04 2.26425393e+01] [-1.41904472e-02 9.99899310e-01 2.01840079e-05 9.16217040e-02] [ 8.56907538e-04 -8.02490734e-06 9.99999633e-01 -6.16871677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284203822000002 meters 0.022724843320307286 Centerline is valid? [True, True] Translation: X:22.67, Y:0.09, Z:-0.62 [[ 9.99910419e-01 1.33451382e-02 -1.03051766e-03 2.26718361e+01] [-1.33451212e-02 9.99910950e-01 2.34237867e-05 9.25178741e-02] [ 1.03073848e-03 -9.66930543e-06 9.99999469e-01 -6.17527616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314203822000003 meters 0.02232807069657871 Centerline is valid? [True, True] Translation: X:22.70, Y:0.09, Z:-0.62 [[ 9.99911454e-01 1.31680116e-02 -1.92033590e-03 2.27011872e+01] [-1.31679510e-02 9.99913298e-01 4.41575051e-05 9.15830242e-02] [ 1.92075087e-03 -1.88667060e-05 9.99998155e-01 -6.18068326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344203822000004 meters 0.02348403671873491 Centerline is valid? [True, True] Translation: X:22.73, Y:0.09, Z:-0.62 [[ 9.99913206e-01 1.30983197e-02 -1.41898363e-03 2.27301765e+01] [-1.30982868e-02 9.99914213e-01 3.24251538e-05 8.74911248e-02] [ 1.41928662e-03 -1.38360849e-05 9.99998993e-01 -6.20327150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374203822000002 meters 0.02209493112460608 Centerline is valid? [True, True] Translation: X:22.76, Y:0.09, Z:-0.62 [[ 9.99909140e-01 1.34714223e-02 -4.81656382e-04 2.27597621e+01] [-1.34714188e-02 9.99909256e-01 1.05573412e-05 8.88459828e-02] [ 4.81754897e-04 -4.06778711e-06 9.99999884e-01 -6.17534786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404203822000003 meters 0.02032021669422659 Centerline is valid? [True, True] Translation: X:22.79, Y:0.09, Z:-0.61 [[ 9.99891554e-01 1.46948765e-02 9.69685420e-04 2.27895659e+01] [-1.46948609e-02 9.99892024e-01 -2.32406106e-05 9.22627313e-02] [-9.69922236e-04 8.98869785e-06 9.99999530e-01 -6.12957698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434203822000004 meters 0.018523045332625096 Centerline is valid? [True, True] Translation: X:22.82, Y:0.10, Z:-0.61 [[ 9.99844438e-01 1.74591570e-02 2.50543067e-03 2.28194425e+01] [-1.74590649e-02 9.99847577e-01 -5.86162306e-05 9.74787366e-02] [-2.50607217e-03 1.48646354e-05 9.99996860e-01 -6.11908226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464203822 meters 0.0195353903632392 Centerline is valid? [True, True] Translation: X:22.85, Y:0.10, Z:-0.62 [[ 9.99823961e-01 1.86348059e-02 2.18906520e-03 2.28496198e+01] [-1.86347422e-02 9.99826357e-01 -4.95139516e-05 9.74264791e-02] [-2.18960777e-03 8.71256962e-06 9.99997603e-01 -6.17105244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494203822000003 meters 0.0204413332344337 Centerline is valid? [True, True] Translation: X:22.88, Y:0.09, Z:-0.62 [[ 9.99816907e-01 1.91284260e-02 5.05837151e-04 2.28805173e+01] [-1.91284228e-02 9.99817035e-01 -1.11721139e-05 9.45255810e-02] [-5.05958305e-04 1.49420148e-06 9.99999872e-01 -6.22606504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524203822000004 meters 0.019880162929846214 Centerline is valid? [True, True] Translation: X:22.91, Y:0.09, Z:-0.62 [[ 9.99844503e-01 1.76160662e-02 8.03010072e-04 2.29106125e+01] [-1.76160568e-02 9.99844825e-01 -1.87417374e-05 9.00212975e-02] [-8.03215621e-04 4.59295206e-06 9.99999677e-01 -6.20065133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554203822 meters 0.029754306324785172 Centerline is valid? [True, True] Translation: X:22.94, Y:0.09, Z:-0.62 [[ 9.99861214e-01 1.65555796e-02 1.86168823e-03 2.29411042e+01] [-1.65555274e-02 9.99862947e-01 -4.34506032e-05 8.78625081e-02] [-1.86215243e-03 1.26233422e-05 9.99998266e-01 -6.15655657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584203822000003 meters 0.018796615762920726 Centerline is valid? [True, True] Translation: X:22.97, Y:0.09, Z:-0.61 [[ 9.99880338e-01 1.50031950e-02 3.77002849e-03 2.29725063e+01] [-1.50029720e-02 9.99887445e-01 -8.74049999e-05 8.51083678e-02] [-3.77091551e-03 3.08329088e-05 9.99992890e-01 -6.13970100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614203822000004 meters 0.018130745856358318 Centerline is valid? [True, True] Translation: X:23.01, Y:0.08, Z:-0.61 [[ 9.99883487e-01 1.47029717e-02 4.10299629e-03 2.30051202e+01] [-1.47027191e-02 9.99891905e-01 -9.17173310e-05 8.36726493e-02] [-4.10390130e-03 3.13814427e-05 9.99991578e-01 -6.13268353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644203822 meters 0.023460310823475147 Centerline is valid? [True, True] Translation: X:23.04, Y:0.08, Z:-0.62 [[ 9.99885756e-01 1.46669738e-02 3.65453294e-03 2.30362700e+01] [-1.46667716e-02 9.99892434e-01 -8.21176714e-05 7.58608895e-02] [-3.65534426e-03 2.85080898e-05 9.99993319e-01 -6.16173025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674203822000003 meters 0.017269182770892 Centerline is valid? [True, True] Translation: X:23.07, Y:0.08, Z:-0.62 [[ 9.99838956e-01 1.77296849e-02 2.77849073e-03 2.30683162e+01] [-1.77295826e-02 9.99842817e-01 -6.14417960e-05 7.89078649e-02] [-2.77914335e-03 1.21704200e-05 9.99996138e-01 -6.15718012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704203822000004 meters 0.017511702304504446 Centerline is valid? [True, True] Translation: X:23.10, Y:0.08, Z:-0.62 [[ 9.99798310e-01 2.00385805e-02 1.33976633e-03 2.30990353e+01] [-2.00385587e-02 9.99799207e-01 -2.96621004e-05 8.18044652e-02] [-1.34009170e-03 2.80913148e-06 9.99999102e-01 -6.19611153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734203822 meters 0.01766701926615232 Centerline is valid? [True, True] Translation: X:23.13, Y:0.09, Z:-0.62 [[ 9.99716117e-01 2.38256563e-02 1.52519206e-04 2.31292703e+01] [-2.38256561e-02 9.99716129e-01 -3.65250984e-06 8.66027844e-02] [-1.52562933e-04 1.76028207e-08 9.99999988e-01 -6.22495522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764203822000002 meters 0.023471315941044724 Centerline is valid? [True, True] Translation: X:23.16, Y:0.09, Z:-0.62 [[ 9.99658969e-01 2.60810724e-02 1.31281613e-03 2.31589610e+01] [-2.60810528e-02 9.99659831e-01 -3.20984947e-05 9.09648222e-02] [-1.31320671e-03 -2.15207854e-06 9.99999138e-01 -6.20568095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794203822000004 meters 0.019047647533231793 Centerline is valid? [True, True] Translation: X:23.19, Y:0.09, Z:-0.63 [[ 9.99644390e-01 2.65920506e-02 1.98906488e-03 2.31881805e+01] [-2.65920079e-02 9.99646369e-01 -4.79053312e-05 9.05384221e-02] [-1.98963539e-03 -5.00493354e-06 9.99998021e-01 -6.27637112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824203822000005 meters 0.02928083009032861 Centerline is valid? [True, True] Translation: X:23.22, Y:0.09, Z:-0.63 [[ 9.99654277e-01 2.61621967e-02 2.62016410e-03 2.32187774e+01] [-2.61621223e-02 9.99657711e-01 -6.26516990e-05 8.90927369e-02] [-2.62090636e-03 -5.91901503e-06 9.99996565e-01 -6.25967722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854203822000002 meters 0.01672233611896228 Centerline is valid? [True, True] Translation: X:23.25, Y:0.09, Z:-0.62 [[ 9.99683963e-01 2.50601591e-02 1.99045133e-03 2.32496407e+01] [-2.50601140e-02 9.99685945e-01 -4.75944073e-05 8.93023101e-02] [-1.99101894e-03 -2.30157164e-06 9.99998018e-01 -6.24395432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884203822000003 meters 0.016918281173316247 Centerline is valid? [True, True] Translation: X:23.28, Y:0.09, Z:-0.63 [[ 9.99697136e-01 2.45303503e-02 1.97437035e-03 2.32788939e+01] [-2.45303043e-02 9.99699086e-01 -4.75303336e-05 8.89345318e-02] [-1.97494217e-03 -9.15967042e-07 9.99998050e-01 -6.26457567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914203822000005 meters 0.017965664490707797 Centerline is valid? [True, True] Translation: X:23.31, Y:0.09, Z:-0.63 [[ 9.99706032e-01 2.42339284e-02 7.53049126e-04 2.33083987e+01] [-2.42339214e-02 9.99706315e-01 -1.83306744e-05 8.93376519e-02] [-7.53272191e-04 7.59524385e-08 9.99999716e-01 -6.31002308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944203822000002 meters 0.018609411702209068 Centerline is valid? [True, True] Translation: X:23.34, Y:0.09, Z:-0.63 [[ 9.99707531e-01 2.41836609e-02 -5.75867455e-05 2.33383430e+01] [-2.41836609e-02 9.99707533e-01 1.03862770e-06 9.04422283e-02] [ 5.75950211e-05 3.54334394e-07 9.99999998e-01 -6.33910700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974203822000003 meters 0.017829759579687677 Centerline is valid? [True, True] Translation: X:23.37, Y:0.09, Z:-0.63 [[ 9.99712169e-01 2.39852451e-02 -5.36249451e-04 2.33684052e+01] [-2.39852421e-02 9.99712313e-01 1.20923759e-05 9.43997079e-02] [ 5.36385217e-04 7.73177552e-07 9.99999856e-01 -6.33841902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004203822000004 meters 0.018748009383479675 Centerline is valid? [True, True] Translation: X:23.40, Y:0.10, Z:-0.64 [[ 9.99696323e-01 2.45660790e-02 -1.94146105e-03 2.33971373e+01] [-2.45660376e-02 9.99698208e-01 4.51962843e-05 9.92032684e-02] [ 1.94198543e-03 2.51144582e-06 9.99998114e-01 -6.38110291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034203822000002 meters 0.029446349358138727 Centerline is valid? [True, True] Translation: X:23.43, Y:0.10, Z:-0.64 [[ 9.99690303e-01 2.46970037e-02 -3.05868602e-03 2.34272530e+01] [-2.46968988e-02 9.99694982e-01 7.20700425e-05 1.01073709e-01] [ 3.05953298e-03 3.49233628e-06 9.99995320e-01 -6.38221689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064203822000003 meters 0.019413743990918886 Centerline is valid? [True, True] Translation: X:23.45, Y:0.11, Z:-0.64 [[ 9.99698653e-01 2.43724300e-02 -2.93061119e-03 2.34549004e+01] [-2.43723360e-02 9.99702948e-01 6.78131142e-05 1.05585573e-01] [ 2.93139342e-03 3.63316156e-06 9.99995703e-01 -6.40197587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094203822000004 meters 0.01886687084590805 Centerline is valid? [True, True] Translation: X:23.48, Y:0.11, Z:-0.64 [[ 9.99741441e-01 2.25891520e-02 -2.60408218e-03 2.34836074e+01] [-2.25890716e-02 9.99744833e-01 6.02765116e-05 1.08219990e-01] [ 2.60477930e-03 -1.43712782e-06 9.99996608e-01 -6.39597383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124203822000002 meters 0.024758900958017818 Centerline is valid? [True, True] Translation: X:23.51, Y:0.11, Z:-0.64 [[ 9.99774964e-01 2.10790053e-02 -2.38664327e-03 2.35120745e+01] [-2.10789331e-02 9.99777813e-01 5.53945399e-05 1.06493507e-01] [ 2.38728065e-03 -5.07418036e-06 9.99997150e-01 -6.40002044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154203822000003 meters 0.020918248933659043 Centerline is valid? [True, True] Translation: X:23.54, Y:0.10, Z:-0.64 [[ 9.99855258e-01 1.70100346e-02 -3.49728680e-04 2.35408902e+01] [-1.70100330e-02 9.99855319e-01 7.57938413e-06 9.85593481e-02] [ 3.49807006e-04 -1.62939068e-06 9.99999939e-01 -6.44077213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184203822000004 meters 0.019625626066674264 Centerline is valid? [True, True] Translation: X:23.57, Y:0.10, Z:-0.64 [[ 9.99894037e-01 1.45505742e-02 4.41517152e-04 2.35711541e+01] [-1.45505705e-02 9.99894135e-01 -1.15821640e-05 9.53111567e-02] [-4.41638938e-04 5.15661030e-06 9.99999902e-01 -6.38680321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214203822 meters 0.0251810570104408 Centerline is valid? [True, True] Translation: X:23.60, Y:0.09, Z:-0.65 [[ 9.99945863e-01 1.04011146e-02 2.95897789e-04 2.36007376e+01] [-1.04011130e-02 9.99945907e-01 -6.97668440e-06 8.60384148e-02] [-2.95954348e-04 3.89864035e-06 9.99999956e-01 -6.45465516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244203822000003 meters 0.031221398684463796 Centerline is valid? [True, True] Translation: X:23.63, Y:0.08, Z:-0.64 [[ 9.99959597e-01 8.98790734e-03 -1.50747914e-04 2.36315582e+01] [-8.98790691e-03 9.99959608e-01 3.55433753e-06 8.41786644e-02] [ 1.50773771e-04 -2.19928571e-06 9.99999989e-01 -6.43594205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274203822000004 meters 0.025501642425338734 Centerline is valid? [True, True] Translation: X:23.66, Y:0.08, Z:-0.64 [[ 9.99970998e-01 7.57953096e-03 -7.43749843e-04 2.36616625e+01] [-7.57952001e-03 9.99971275e-01 1.75361497e-05 8.21750282e-02] [ 7.43861395e-04 -1.18983743e-05 9.99999723e-01 -6.44410105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304203822 meters 0.024290139517244284 Centerline is valid? [True, True] Translation: X:23.69, Y:0.08, Z:-0.64 [[ 9.99968111e-01 7.95819617e-03 -6.65897560e-04 2.36914524e+01] [-7.95818795e-03 9.99968333e-01 1.49956873e-05 8.33260255e-02] [ 6.65995811e-04 -9.69587119e-06 9.99999778e-01 -6.43210648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334203822000003 meters 0.0224342473489232 Centerline is valid? [True, True] Translation: X:23.72, Y:0.08, Z:-0.64 [[ 9.99953307e-01 9.60638683e-03 1.04893812e-03 2.37215990e+01] [-9.60636585e-03 9.99953857e-01 -2.50381956e-05 8.40313454e-02] [-1.04913025e-03 1.49605432e-05 9.99999450e-01 -6.41232116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364203822000004 meters 0.02261709868335778 Centerline is valid? [True, True] Translation: X:23.75, Y:0.08, Z:-0.64 [[ 9.99937196e-01 1.12000090e-02 4.05548767e-04 2.37520708e+01] [-1.12000062e-02 9.99937278e-01 -9.20867386e-06 8.35475072e-02] [-4.05626467e-04 4.66594681e-06 9.99999918e-01 -6.44432499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394203822 meters 0.021869761126431356 Centerline is valid? [True, True] Translation: X:23.78, Y:0.09, Z:-0.64 [[ 9.99934187e-01 1.14463958e-02 -7.75301441e-04 2.37822322e+01] [-1.14463851e-02 9.99934488e-01 1.82612212e-05 8.52105432e-02] [ 7.75459675e-04 -9.38562046e-06 9.99999699e-01 -6.44897624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424203822000003 meters 0.021869761126431356 Centerline is valid? [True, True] Translation: X:23.81, Y:0.08, Z:-0.65 [[ 9.99934466e-01 1.14220348e-02 -7.75318167e-04 2.38113913e+01] [-1.14220247e-02 9.99934766e-01 1.75507591e-05 8.45677763e-02] [ 7.75468055e-04 -8.69390568e-06 9.99999699e-01 -6.45725784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454203822000004 meters 0.022107228465508992 Centerline is valid? [True, True] Translation: X:23.84, Y:0.08, Z:-0.65 [[ 9.99934475e-01 1.13712274e-02 -1.31966396e-03 2.38398165e+01] [-1.13711978e-02 9.99935345e-01 2.99702570e-05 8.38565858e-02] [ 1.31991944e-03 -1.49621333e-05 9.99999129e-01 -6.47247954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484203822 meters 0.02335757843095254 Centerline is valid? [True, True] Translation: X:23.87, Y:0.08, Z:-0.65 [[ 9.99938457e-01 1.10871682e-02 3.96186590e-04 2.38688678e+01] [-1.10871652e-02 9.99938535e-01 -9.64344295e-06 7.76714579e-02] [-3.96269157e-04 5.25026328e-06 9.99999921e-01 -6.48980536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514203822000002 meters 0.02303389262179597 Centerline is valid? [True, True] Translation: X:23.90, Y:0.07, Z:-0.65 [[ 9.99937237e-01 1.10419858e-02 1.89642665e-03 2.38983461e+01] [-1.10419223e-02 9.99939035e-01 -4.39622560e-05 7.48036797e-02] [-1.89679647e-03 2.30193010e-05 9.99998201e-01 -6.47695393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544203822000004 meters 0.021386455981613827 Centerline is valid? [True, True] Translation: X:23.93, Y:0.08, Z:-0.64 [[ 9.99940733e-01 1.05224900e-02 2.79433574e-03 2.39298320e+01] [-1.05223493e-02 9.99944636e-01 -6.50577609e-05 7.63955639e-02] [-2.79486561e-03 3.56509284e-05 9.99996094e-01 -6.43375980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574203822000005 meters 0.023297319407145505 Centerline is valid? [True, True] Translation: X:23.96, Y:0.07, Z:-0.65 [[ 9.99946647e-01 1.00123959e-02 2.54070714e-03 2.39605203e+01] [-1.00122866e-02 9.99949874e-01 -5.57477745e-05 7.42232548e-02] [-2.54113796e-03 3.03065120e-05 9.99996771e-01 -6.47394073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604203822000002 meters 0.02437365353391935 Centerline is valid? [True, True] Translation: X:23.99, Y:0.07, Z:-0.65 [[ 9.99960383e-01 8.53789984e-03 2.51716980e-03 2.39919965e+01] [-8.53777833e-03 9.99963551e-01 -5.90114202e-05 6.75587727e-02] [-2.51758188e-03 3.75180446e-05 9.99996830e-01 -6.48846064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634203822000003 meters 0.0273891112387271 Centerline is valid? [True, True] Translation: X:24.02, Y:0.06, Z:-0.65 [[ 9.99973786e-01 7.00238096e-03 1.84209200e-03 2.40236597e+01] [-7.00231358e-03 9.99975483e-01 -4.30251077e-05 6.27198905e-02] [-1.84234812e-03 3.01250740e-05 9.99998302e-01 -6.46644772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664203822000005 meters 0.026529651165841203 Centerline is valid? [True, True] Translation: X:24.05, Y:0.06, Z:-0.65 [[ 9.99978171e-01 6.42148239e-03 1.55650317e-03 2.40540128e+01] [-6.42143318e-03 9.99979382e-01 -3.66115423e-05 5.93755649e-02] [-1.55670618e-03 2.66157620e-05 9.99998788e-01 -6.51447528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694203822000002 meters 0.0260049833612774 Centerline is valid? [True, True] Translation: X:24.09, Y:0.06, Z:-0.65 [[ 9.99978437e-01 6.48145722e-03 1.05673655e-03 2.40856639e+01] [-6.48143501e-03 9.99978995e-01 -2.44446406e-05 6.05289158e-02] [-1.05687279e-03 1.75949442e-05 9.99999441e-01 -6.51856430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724203822000003 meters 0.02467225055984983 Centerline is valid? [True, True] Translation: X:24.12, Y:0.06, Z:-0.65 [[ 9.99968860e-01 7.85817553e-03 7.26506897e-04 2.41163207e+01] [-7.85816506e-03 9.99969124e-01 -1.72657753e-05 6.12033780e-02] [-7.26620143e-04 1.15562265e-05 9.99999736e-01 -6.52754608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754203822000004 meters 0.023615568938343663 Centerline is valid? [True, True] Translation: X:24.15, Y:0.06, Z:-0.65 [[ 9.99961510e-01 8.72327717e-03 9.40124739e-04 2.41470898e+01] [-8.72326002e-03 9.99961951e-01 -2.23425030e-05 6.04874959e-02] [-9.40283868e-04 1.41406904e-05 9.99999558e-01 -6.52690557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784203822000002 meters 0.03189179510626675 Centerline is valid? [True, True] Translation: X:24.18, Y:0.06, Z:-0.65 [[ 9.99943702e-01 1.06058736e-02 3.27857242e-04 2.41775706e+01] [-1.06058716e-02 9.99943756e-01 -7.79168030e-06 5.90120193e-02] [-3.27921440e-04 4.31402982e-06 9.99999946e-01 -6.53107271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814203822000003 meters 0.0250459911735593 Centerline is valid? [True, True] Translation: X:24.21, Y:0.06, Z:-0.66 [[ 9.99926840e-01 1.20196492e-02 -1.35724046e-03 2.42070466e+01] [-1.20196169e-02 9.99927761e-01 3.18980275e-05 5.82462264e-02] [ 1.35752582e-03 -1.55821834e-05 9.99999078e-01 -6.64502532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844203822000004 meters 0.02421902241465515 Centerline is valid? [True, True] Translation: X:24.24, Y:0.06, Z:-0.66 [[ 9.99926320e-01 1.20081531e-02 -1.77710914e-03 2.42366753e+01] [-1.20080983e-02 9.99927899e-01 4.15167361e-05 5.97866836e-02] [ 1.77747954e-03 -2.01739760e-05 9.99998420e-01 -6.64397981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874203822000002 meters 0.023980265096420032 Centerline is valid? [True, True] Translation: X:24.27, Y:0.06, Z:-0.66 [[ 9.99939709e-01 1.09545560e-02 -7.59054913e-04 2.42661114e+01] [-1.09545460e-02 9.99939997e-01 1.73067813e-05 5.93811127e-02] [ 7.59198956e-04 -8.99063594e-06 9.99999712e-01 -6.59091575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904203822000003 meters 0.02479277603274367 Centerline is valid? [True, True] Translation: X:24.30, Y:0.06, Z:-0.65 [[ 9.99961397e-01 8.75345646e-03 7.62720220e-04 2.42959287e+01] [-8.75344467e-03 9.99961688e-01 -1.87873795e-05 5.70649192e-02] [-7.62855453e-04 1.21102250e-05 9.99999709e-01 -6.53189283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934203822000004 meters 0.02526437795590954 Centerline is valid? [True, True] Translation: X:24.33, Y:0.05, Z:-0.66 [[ 9.99970459e-01 7.68325097e-03 -2.19002805e-04 2.43258263e+01] [-7.68324994e-03 9.99970483e-01 5.54959525e-06 5.07059159e-02] [ 2.19038980e-04 -3.86677803e-06 9.99999976e-01 -6.61512860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964203822 meters 0.02673869961230029 Centerline is valid? [True, True] Translation: X:24.36, Y:0.04, Z:-0.66 [[ 9.99974178e-01 7.07437904e-03 -1.26333142e-03 2.43554237e+01] [-7.07434731e-03 9.99974976e-01 2.95830855e-05 4.49935848e-02] [ 1.26350909e-03 -2.06450764e-05 9.99999202e-01 -6.64186630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994203822000003 meters 0.023999877239019418 Centerline is valid? [True, True] Translation: X:24.39, Y:0.05, Z:-0.66 [[ 9.99970414e-01 7.51804114e-03 -1.62794361e-03 2.43854735e+01] [-7.51798955e-03 9.99971739e-01 3.78067718e-05 4.86560246e-02] [ 1.62818183e-03 -2.55667902e-05 9.99998674e-01 -6.60705757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024203822000004 meters 0.022556952250381786 Centerline is valid? [True, True] Translation: X:24.42, Y:0.05, Z:-0.66 [[ 9.99951204e-01 9.74800110e-03 -1.60218895e-03 2.44156053e+01] [-9.74795407e-03 9.99952487e-01 3.71605531e-05 5.43845770e-02] [ 1.60247506e-03 -2.15406755e-05 9.99998716e-01 -6.61064822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054203822 meters 0.024186923803393743 Centerline is valid? [True, True] Translation: X:24.45, Y:0.06, Z:-0.66 [[ 9.99910685e-01 1.33237791e-02 -1.04835023e-03 2.44457590e+01] [-1.33237612e-02 9.99911234e-01 2.40481518e-05 6.01708749e-02] [ 1.04857758e-03 -1.00780359e-05 9.99999450e-01 -6.60093059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084203822000003 meters 0.01926326905220673 Centerline is valid? [True, True] Translation: X:24.47, Y:0.06, Z:-0.66 [[ 9.99877213e-01 1.56702500e-02 -3.58015467e-05 2.44749101e+01] [-1.56702500e-02 9.99877214e-01 1.46738490e-07 6.38977118e-02] [ 3.57994502e-05 4.14298714e-07 9.99999999e-01 -6.61438140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114203822000004 meters 0.017017628207540388 Centerline is valid? [True, True] Translation: X:24.51, Y:0.07, Z:-0.66 [[ 9.99769474e-01 2.14404202e-02 1.14302204e-03 2.45050377e+01] [-2.14404027e-02 9.99770128e-01 -2.76200559e-05 7.09403655e-02] [-1.14335148e-03 3.10683591e-06 9.99999346e-01 -6.61093764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144203822 meters 0.017456461145006538 Centerline is valid? [True, True] Translation: X:24.53, Y:0.08, Z:-0.66 [[ 9.99655334e-01 2.62052030e-02 1.58138712e-03 2.45349968e+01] [-2.62051774e-02 9.99656585e-01 -3.68683025e-05 8.00959165e-02] [-1.58181019e-03 -4.58493468e-06 9.99998749e-01 -6.62265912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174203822000003 meters 0.017700313395791673 Centerline is valid? [True, True] Translation: X:24.57, Y:0.09, Z:-0.66 [[ 9.99566637e-01 2.93061771e-02 2.77246455e-03 2.45654844e+01] [-2.93061077e-02 9.99570482e-01 -6.56642126e-05 9.14916720e-02] [-2.77319810e-03 -1.56143887e-05 9.99996155e-01 -6.61063368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204203822000004 meters 0.027415679515579904 Centerline is valid? [True, True] Translation: X:24.60, Y:0.09, Z:-0.66 [[ 9.99542047e-01 3.01903951e-02 2.05847350e-03 2.45962846e+01] [-3.01903592e-02 9.99544166e-01 -4.84985606e-05 9.26645090e-02] [-2.05899936e-03 -1.36697038e-05 9.99997880e-01 -6.61951299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234203822000005 meters 0.030586490214725155 Centerline is valid? [True, True] Translation: X:24.63, Y:0.09, Z:-0.66 [[ 9.99522680e-01 3.08200650e-02 2.12959651e-03 2.46264057e+01] [-3.08200267e-02 9.99524949e-01 -5.08214816e-05 9.19943279e-02] [-2.13015116e-03 -1.48369978e-05 9.99997731e-01 -6.62059958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264203822000002 meters 0.01843660802628275 Centerline is valid? [True, True] Translation: X:24.66, Y:0.09, Z:-0.66 [[ 9.99513198e-01 3.10904598e-02 2.59811703e-03 2.46562337e+01] [-3.10904051e-02 9.99516575e-01 -6.14647844e-05 9.32283508e-02] [-2.59877200e-03 -1.93416475e-05 9.99996623e-01 -6.63264827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294203822000004 meters 0.029864258984145856 Centerline is valid? [True, True] Translation: X:24.69, Y:0.10, Z:-0.66 [[ 9.99477602e-01 3.22483113e-02 2.13778496e-03 2.46859907e+01] [-3.22482768e-02 9.99479888e-01 -5.06064684e-05 1.00070203e-01] [-2.13830505e-03 -1.83598496e-05 9.99997714e-01 -6.64415310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324203822000005 meters 0.020045432612018594 Centerline is valid? [True, True] Translation: X:24.71, Y:0.10, Z:-0.67 [[ 9.99500869e-01 3.15638909e-02 1.31644531e-03 2.47142874e+01] [-3.15638762e-02 9.99501736e-01 -3.19181767e-05 1.02909144e-01] [-1.31679683e-03 -9.64987147e-06 9.99999133e-01 -6.68457798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354203822000002 meters 0.02089909143482692 Centerline is valid? [True, True] Translation: X:24.74, Y:0.10, Z:-0.67 [[ 9.99527624e-01 3.06614766e-02 2.09841185e-03 2.47433332e+01] [-3.06614394e-02 9.99529826e-01 -4.98824846e-05 1.04495798e-01] [-2.09895470e-03 -1.44814066e-05 9.99997797e-01 -6.72066252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384203822000003 meters 0.016777038429807073 Centerline is valid? [True, True] Translation: X:24.77, Y:0.11, Z:-0.66 [[ 9.99569601e-01 2.90362089e-02 4.18466001e-03 2.47736911e+01] [-2.90360513e-02 9.99578360e-01 -9.84319243e-05 1.05637582e-01] [-4.18575368e-03 -2.31164433e-05 9.99991239e-01 -6.61983945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414203822000005 meters 0.016550125137578413 Centerline is valid? [True, True] Translation: X:24.80, Y:0.11, Z:-0.66 [[ 9.99576893e-01 2.83384956e-02 6.55477917e-03 2.48033893e+01] [-2.83380956e-02 9.99598384e-01 -1.53905929e-04 1.07853790e-01] [-6.55650813e-03 -3.19091483e-05 9.99978505e-01 -6.61007060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444203822000002 meters 0.015613002854794633 Centerline is valid? [True, True] Translation: X:24.83, Y:0.11, Z:-0.66 [[ 9.99578662e-01 2.81770070e-02 6.96805624e-03 2.48344925e+01] [-2.81765572e-02 9.99602949e-01 -1.62736502e-04 1.06986456e-01] [-6.96987500e-03 -3.36679004e-05 9.99975710e-01 -6.59942586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474203822000003 meters 0.015830625969144137 Centerline is valid? [True, True] Translation: X:24.87, Y:0.11, Z:-0.66 [[ 9.99622696e-01 2.68321132e-02 5.87396395e-03 2.48651569e+01] [-2.68317842e-02 9.99639954e-01 -1.34818844e-04 1.10016373e-01] [-5.87546652e-03 -2.28409567e-05 9.99982739e-01 -6.63930746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504203822000004 meters 0.023526454664980073 Centerline is valid? [True, True] Translation: X:24.90, Y:0.11, Z:-0.66 [[ 9.99694969e-01 2.39571535e-02 6.00200223e-03 2.48970452e+01] [-2.39567388e-02 9.99712986e-01 -1.40991166e-04 1.14948156e-01] [-6.00365732e-03 -2.84024080e-06 9.99981978e-01 -6.61508988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534203822000002 meters 0.018152644254665284 Centerline is valid? [True, True] Translation: X:24.93, Y:0.11, Z:-0.67 [[ 9.99754930e-01 2.14117960e-02 5.62275877e-03 2.49284518e+01] [-2.14114001e-02 9.99770741e-01 -1.30600775e-04 1.14740210e-01] [-5.62426610e-03 1.01776307e-05 9.99984184e-01 -6.66464153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564203822000003 meters 0.016976316632878057 Centerline is valid? [True, True] Translation: X:24.96, Y:0.11, Z:-0.67 [[ 9.99789795e-01 2.00232281e-02 4.40868827e-03 2.49589381e+01] [-2.00229645e-02 9.99799515e-01 -1.03929428e-04 1.11857319e-01] [-4.40988540e-03 1.56325725e-05 9.99990276e-01 -6.70863159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594203822000004 meters 0.01685461292153178 Centerline is valid? [True, True] Translation: X:24.99, Y:0.11, Z:-0.67 [[ 9.99840197e-01 1.74300956e-02 3.97135224e-03 2.49898093e+01] [-1.74298638e-02 9.99848084e-01 -9.29723595e-05 1.12510776e-01] [-3.97236945e-03 2.37373737e-05 9.99992110e-01 -6.69325136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624203822000002 meters 0.025365898414704494 Centerline is valid? [True, True] Translation: X:25.02, Y:0.11, Z:-0.67 [[ 9.99859625e-01 1.62710666e-02 3.99789397e-03 2.50208815e+01] [-1.62708189e-02 9.99867617e-01 -9.44667159e-05 1.14597547e-01] [-3.99890179e-03 2.94044463e-05 9.99992004e-01 -6.70201081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654203822000003 meters 0.019299193637884494 Centerline is valid? [True, True] Translation: X:25.05, Y:0.12, Z:-0.67 [[ 9.99915227e-01 1.28179869e-02 2.28847009e-03 2.50521357e+01] [-1.28178973e-02 9.99917846e-01 -5.38252078e-05 1.15377605e-01] [-2.28897201e-03 2.44872703e-05 9.99997380e-01 -6.73241453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684203822000004 meters 0.022243402786903278 Centerline is valid? [True, True] Translation: X:25.08, Y:0.11, Z:-0.68 [[ 9.99953093e-01 9.67900911e-03 3.59565902e-04 2.50831405e+01] [-9.67900678e-03 9.99953157e-01 -8.22756035e-06 1.14660444e-01] [-3.59628694e-04 4.74693361e-06 9.99999935e-01 -6.77310889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714203822 meters 0.02347806583297613 Centerline is valid? [True, True] Translation: X:25.11, Y:0.11, Z:-0.68 [[ 9.99965856e-01 8.26313951e-03 9.10956539e-05 2.51125165e+01] [-8.26313932e-03 9.99965860e-01 -2.51193207e-06 1.13865982e-01] [-9.11133003e-05 1.75911022e-06 9.99999996e-01 -6.78699173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744203822000003 meters 0.03153027425933211 Centerline is valid? [True, True] Translation: X:25.14, Y:0.11, Z:-0.68 [[ 9.99977196e-01 6.57350304e-03 1.54831247e-03 2.51419193e+01] [-6.57345280e-03 9.99978394e-01 -3.75340828e-05 1.11663410e-01] [-1.54852575e-03 2.73554679e-05 9.99998801e-01 -6.75853275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774203822000004 meters 0.03325338649091407 Centerline is valid? [True, True] Translation: X:25.17, Y:0.11, Z:-0.68 [[ 9.99975607e-01 6.34095612e-03 2.92863451e-03 2.51718585e+01] [-6.34078410e-03 9.99979895e-01 -6.80189947e-05 1.09696775e-01] [-2.92900694e-03 4.94474964e-05 9.99995709e-01 -6.75823135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804203822 meters 0.026965487484928084 Centerline is valid? [True, True] Translation: X:25.20, Y:0.11, Z:-0.68 [[ 9.99965793e-01 7.30032229e-03 3.88817088e-03 2.52034948e+01] [-7.30003130e-03 9.99973350e-01 -8.90268943e-05 1.13941328e-01] [-3.88871719e-03 6.06400798e-05 9.99992437e-01 -6.75785552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834203822000003 meters 0.029356604707015135 Centerline is valid? [True, True] Translation: X:25.23, Y:0.12, Z:-0.68 [[ 9.99947317e-01 9.61472687e-03 3.59460873e-03 2.52343988e+01] [-9.61449324e-03 9.99953776e-01 -8.22689367e-05 1.20307585e-01] [-3.59523357e-03 4.77042612e-05 9.99993536e-01 -6.79722557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864203822000004 meters 0.020451361289878598 Centerline is valid? [True, True] Translation: X:25.27, Y:0.12, Z:-0.68 [[ 9.99933359e-01 1.07624075e-02 4.17704556e-03 2.52656797e+01] [-1.07620819e-02 9.99942082e-01 -1.00431041e-04 1.22581017e-01] [-4.17788452e-03 5.54706418e-05 9.99991271e-01 -6.77670821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894203822 meters 0.020248248456846498 Centerline is valid? [True, True] Translation: X:25.30, Y:0.12, Z:-0.68 [[ 9.99912012e-01 1.24465645e-02 4.58824597e-03 2.52968120e+01] [-1.24462028e-02 9.99922537e-01 -1.07381663e-04 1.23111190e-01] [-4.58922709e-03 5.02659752e-05 9.99989468e-01 -6.78835514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924203822000003 meters 0.021589304101329206 Centerline is valid? [True, True] Translation: X:25.33, Y:0.13, Z:-0.68 [[ 9.99913985e-01 1.28344581e-02 2.70167139e-03 2.53273784e+01] [-1.28343327e-02 9.99917635e-01 -6.37358171e-05 1.25270532e-01] [-2.70226688e-03 2.90561853e-05 9.99996348e-01 -6.83936979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954203822000004 meters 0.03213541334096827 Centerline is valid? [True, True] Translation: X:25.36, Y:0.13, Z:-0.68 [[ 9.99917519e-01 1.25980292e-02 2.49894194e-03 2.53584317e+01] [-1.25979166e-02 9.99920641e-01 -6.07647276e-05 1.27443557e-01] [-2.49950914e-03 2.92782534e-05 9.99996876e-01 -6.79639136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984203822000005 meters 0.02058195629392023 Centerline is valid? [True, True] Translation: X:25.39, Y:0.13, Z:-0.68 [[ 9.99922163e-01 1.19307718e-02 3.65042651e-03 2.53877616e+01] [-1.19305242e-02 9.99928825e-01 -8.95760502e-05 1.25423105e-01] [-3.65123541e-03 4.60175758e-05 9.99993333e-01 -6.81202558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014203822000002 meters 0.0213228176485085 Centerline is valid? [True, True] Translation: X:25.42, Y:0.12, Z:-0.68 [[ 9.99930745e-01 1.12174800e-02 3.56005379e-03 2.54194303e+01] [-1.12172434e-02 9.99937081e-01 -8.64364406e-05 1.21433740e-01] [-3.56079940e-03 4.64964645e-05 9.99993659e-01 -6.81955456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044203822000004 meters 0.03340437204182004 Centerline is valid? [True, True] Translation: X:25.45, Y:0.12, Z:-0.69 [[ 9.99936387e-01 1.08864115e-02 2.95103297e-03 2.54492727e+01] [-1.08862467e-02 9.99940740e-01 -7.19055111e-05 1.17007478e-01] [-2.95164089e-03 3.97752641e-05 9.99995643e-01 -6.85950929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074203822000005 meters 0.021755083804953848 Centerline is valid? [True, True] Translation: X:25.48, Y:0.12, Z:-0.69 [[ 9.99929652e-01 1.16826527e-02 2.05123240e-03 2.54805169e+01] [-1.16825755e-02 9.99931755e-01 -4.95970311e-05 1.16827304e-01] [-2.05167184e-03 2.56298646e-05 9.99997895e-01 -6.87456281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104203822000002 meters 0.030213520813791955 Centerline is valid? [True, True] Translation: X:25.51, Y:0.12, Z:-0.69 [[ 9.99915833e-01 1.28627129e-02 1.69619505e-03 2.55107654e+01] [-1.28626609e-02 9.99917272e-01 -4.15601627e-05 1.19355714e-01] [-1.69658930e-03 1.97390830e-05 9.99998561e-01 -6.86671980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134203822000003 meters 0.018448932287978437 Centerline is valid? [True, True] Translation: X:25.54, Y:0.12, Z:-0.69 [[ 9.99869223e-01 1.59241143e-02 2.82140169e-03 2.55399450e+01] [-1.59239809e-02 9.99873203e-01 -6.97419430e-05 1.23895039e-01] [-2.82215452e-03 2.48048759e-05 9.99996017e-01 -6.87104664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164203822000005 meters 0.018268911107828485 Centerline is valid? [True, True] Translation: X:25.57, Y:0.13, Z:-0.68 [[ 9.99806493e-01 1.92168531e-02 4.20589059e-03 2.55704846e+01] [-1.92165888e-02 9.99815339e-01 -1.03243895e-04 1.29869526e-01] [-4.20709795e-03 2.24010467e-05 9.99991150e-01 -6.83782736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194203822000002 meters 0.01822121870715547 Centerline is valid? [True, True] Translation: X:25.60, Y:0.13, Z:-0.69 [[ 9.99782316e-01 2.04268417e-02 4.25028123e-03 2.56003201e+01] [-2.04265857e-02 9.99791350e-01 -1.03628865e-04 1.30944311e-01] [-4.25151122e-03 1.67875729e-05 9.99990962e-01 -6.85520289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224203822000003 meters 0.016551314157412882 Centerline is valid? [True, True] Translation: X:25.63, Y:0.13, Z:-0.69 [[ 9.99757476e-01 2.17443620e-02 3.48892170e-03 2.56298370e+01] [-2.17441953e-02 9.99763563e-01 -8.57079203e-05 1.31273278e-01] [-3.48996046e-03 9.82333913e-06 9.99993910e-01 -6.89910200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254203822000004 meters 0.015551676817200575 Centerline is valid? [True, True] Translation: X:25.66, Y:0.13, Z:-0.69 [[ 9.99742709e-01 2.22903129e-02 4.20222107e-03 2.56592991e+01] [-2.22900752e-02 9.99751540e-01 -1.03400702e-04 1.33078251e-01] [-4.20348182e-03 9.70627431e-06 9.99991165e-01 -6.87645721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284203822000002 meters 0.01622570799967798 Centerline is valid? [True, True] Translation: X:25.69, Y:0.14, Z:-0.69 [[ 9.99738140e-01 2.25387769e-02 3.95668170e-03 2.56886000e+01] [-2.25385715e-02 9.99745969e-01 -9.64978594e-05 1.35410107e-01] [-3.95785153e-03 7.29463679e-06 9.99992168e-01 -6.89917561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314203822000003 meters 0.016867532364413636 Centerline is valid? [True, True] Translation: X:25.72, Y:0.14, Z:-0.69 [[ 9.99725358e-01 2.33061360e-02 2.45594578e-03 2.57189719e+01] [-2.33060588e-02 9.99728375e-01 -6.00581249e-05 1.39926708e-01] [-2.45667841e-03 2.80321365e-06 9.99996982e-01 -6.92989097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344203822000004 meters 0.016867532364413636 Centerline is valid? [True, True] Translation: X:25.75, Y:0.14, Z:-0.69 [[ 9.99725901e-01 2.32828491e-02 2.45593102e-03 2.57481233e+01] [-2.32827703e-02 9.99728918e-01 -6.06621205e-05 1.39258393e-01] [-2.45667765e-03 3.46461521e-06 9.99996982e-01 -6.93817057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374203822000002 meters 0.01591307024321613 Centerline is valid? [True, True] Translation: X:25.78, Y:0.14, Z:-0.69 [[ 9.99722658e-01 2.34714602e-02 1.92310641e-03 2.57780474e+01] [-2.34714120e-02 9.99724507e-01 -4.76314146e-05 1.39790220e-01] [-1.92369458e-03 2.48018158e-06 9.99998150e-01 -6.92822780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404203822000003 meters 0.01652021254081399 Centerline is valid? [True, True] Translation: X:25.81, Y:0.14, Z:-0.70 [[ 9.99728150e-01 2.32689432e-02 1.47696261e-03 2.58067625e+01] [-2.32689139e-02 9.99729241e-01 -3.70318095e-05 1.39864637e-01] [-1.47742440e-03 2.65442667e-06 9.99998909e-01 -6.95856116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434203822000004 meters 0.021508848225913736 Centerline is valid? [True, True] Translation: X:25.84, Y:0.14, Z:-0.70 [[ 9.99731356e-01 2.31740911e-02 4.22257271e-04 2.58351750e+01] [-2.31740884e-02 9.99731445e-01 -1.12968615e-05 1.41177818e-01] [-4.22405667e-04 1.50839931e-06 9.99999911e-01 -6.99386955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464203822 meters 0.01746050425956941 Centerline is valid? [True, True] Translation: X:25.86, Y:0.15, Z:-0.70 [[ 9.99732882e-01 2.30603160e-02 1.54467255e-03 2.58637882e+01] [-2.30602846e-02 9.99734076e-01 -3.81174531e-05 1.48809356e-01] [-1.54514078e-03 2.48668272e-06 9.99998806e-01 -6.99178227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494203822000003 meters 0.027763519274728327 Centerline is valid? [True, True] Translation: X:25.89, Y:0.15, Z:-0.70 [[ 9.99777234e-01 2.10644954e-02 1.32992748e-03 2.58939907e+01] [-2.10644702e-02 9.99778119e-01 -3.29766324e-05 1.53161368e-01] [-1.33032703e-03 4.95506864e-06 9.99999115e-01 -6.99317627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524203822000004 meters 0.017712688947708832 Centerline is valid? [True, True] Translation: X:25.92, Y:0.15, Z:-0.70 [[ 9.99810771e-01 1.94067271e-02 1.34175257e-03 2.59236906e+01] [-1.94067000e-02 9.99811672e-01 -3.32291325e-05 1.50291975e-01] [-1.34214475e-03 7.18385496e-06 9.99999099e-01 -7.01794495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554203822 meters 0.019200681424826404 Centerline is valid? [True, True] Translation: X:25.95, Y:0.15, Z:-0.70 [[ 9.99886189e-01 1.48643267e-02 2.58091208e-03 2.59526353e+01] [-1.48642122e-02 9.99889519e-01 -6.35408525e-05 1.47761389e-01] [-2.58157144e-03 2.51703959e-05 9.99996667e-01 -7.00985967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584203822000003 meters 0.028880945137869273 Centerline is valid? [True, True] Translation: X:25.98, Y:0.15, Z:-0.70 [[ 9.99947488e-01 9.94645249e-03 2.46757210e-03 2.59827118e+01] [-9.94633447e-03 9.99950532e-01 -6.00950647e-05 1.46308991e-01] [-2.46804777e-03 3.55486116e-05 9.99996954e-01 -7.01806182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614203822000004 meters 0.024636564687618295 Centerline is valid? [True, True] Translation: X:26.01, Y:0.14, Z:-0.71 [[ 9.99969466e-01 7.77935596e-03 7.40601866e-04 2.60128464e+01] [-7.77934481e-03 9.99969740e-01 -1.79370953e-05 1.43885645e-01] [-7.40718995e-04 1.21751503e-05 9.99999726e-01 -7.05209652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644203822 meters 0.030621183933426627 Centerline is valid? [True, True] Translation: X:26.04, Y:0.14, Z:-0.71 [[ 9.99990315e-01 4.35176751e-03 -6.57951994e-04 2.60413393e+01] [-4.35175841e-03 9.99990531e-01 1.52604117e-05 1.37951533e-01] [ 6.58012174e-04 -1.23970158e-05 9.99999783e-01 -7.13022457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674203822000003 meters 0.03147528450372151 Centerline is valid? [True, True] Translation: X:26.07, Y:0.14, Z:-0.71 [[ 9.99999339e-01 9.59049901e-04 6.33525028e-04 2.60706924e+01] [-9.59039780e-04 9.99999540e-01 -1.62795145e-05 1.37301653e-01] [-6.33540349e-04 1.56719280e-05 9.99999799e-01 -7.08978364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704203822000004 meters 0.035104108448393206 Centerline is valid? [True, True] Translation: X:26.10, Y:0.13, Z:-0.71 [[ 9.99999516e-01 -8.03220727e-04 5.68089794e-04 2.61005568e+01] [ 8.03227977e-04 9.99999677e-01 -1.25345576e-05 1.32690966e-01] [-5.68079542e-04 1.29908571e-05 9.99999839e-01 -7.12136725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734203822000005 meters 0.032664716301136314 Centerline is valid? [True, True] Translation: X:26.13, Y:0.14, Z:-0.71 [[ 9.99987192e-01 -5.06120212e-03 9.84305698e-06 2.61315243e+01] [ 5.06120211e-03 9.99987192e-01 6.00723731e-07 1.35184915e-01] [-9.84597132e-06 -5.50898337e-07 1.00000000e+00 -7.05133400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764203822000002 meters 0.04260695048481445 Centerline is valid? [True, True] Translation: X:26.16, Y:0.12, Z:-0.71 [[ 9.99954626e-01 -9.47931388e-03 9.42355980e-04 2.61615642e+01] [ 9.47933930e-03 9.99955070e-01 -2.25072088e-05 1.19784557e-01] [-9.42100286e-04 3.14390997e-05 9.99999556e-01 -7.11161660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794203822000004 meters 0.04583068460422422 Centerline is valid? [True, True] Translation: X:26.19, Y:0.11, Z:-0.71 [[ 9.99924869e-01 -1.22314441e-02 8.04466966e-04 2.61926971e+01] [ 1.22314633e-02 9.99925193e-01 -1.88923578e-05 1.11945835e-01] [-8.04175705e-04 2.87307466e-05 9.99999676e-01 -7.12505844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824203822000005 meters 0.04163421476906966 Centerline is valid? [True, True] Translation: X:26.22, Y:0.12, Z:-0.71 [[ 9.99923123e-01 -1.23993394e-02 6.07982494e-05 2.62240147e+01] [ 1.23993395e-02 9.99923125e-01 -8.12753414e-07 1.16614234e-01] [-6.07834980e-05 1.56654906e-06 9.99999998e-01 -7.10091284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854203822000002 meters 0.040305278813682635 Centerline is valid? [True, True] Translation: X:26.26, Y:0.12, Z:-0.71 [[ 9.99942298e-01 -1.07395572e-02 2.49744666e-04 2.62553687e+01] [ 1.07395589e-02 9.99942329e-01 -5.40820493e-06 1.18022040e-01] [-2.49672181e-04 8.09004042e-06 9.99999969e-01 -7.10127178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884203822000003 meters 0.039726508799123685 Centerline is valid? [True, True] Translation: X:26.28, Y:0.12, Z:-0.71 [[ 9.99975176e-01 -6.72220615e-03 2.11177887e-03 2.62848081e+01] [ 6.72233015e-03 9.99977404e-01 -5.16253323e-05 1.18442209e-01] [-2.11138412e-03 6.58201256e-05 9.99997769e-01 -7.11126105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914203822000005 meters 0.038722853557745573 Centerline is valid? [True, True] Translation: X:26.32, Y:0.13, Z:-0.71 [[ 9.99991673e-01 -3.71387646e-03 1.69152410e-03 2.63169530e+01] [ 3.71394973e-03 9.99993102e-01 -4.01804331e-05 1.25480994e-01] [-1.69136321e-03 4.64623340e-05 9.99998569e-01 -7.08595866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944203822000002 meters 0.02864175690515363 Centerline is valid? [True, True] Translation: X:26.35, Y:0.13, Z:-0.71 [[ 9.99996034e-01 2.79887420e-03 3.11950873e-04 2.63483417e+01] [-2.79887203e-03 9.99996083e-01 -7.38382598e-06 1.34489245e-01] [-3.11970317e-04 6.51068613e-06 9.99999951e-01 -7.12305673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974203822000003 meters 0.02297041191256901 Centerline is valid? [True, True] Translation: X:26.38, Y:0.15, Z:-0.71 [[ 9.99948502e-01 1.01474857e-02 1.49491359e-04 2.63785437e+01] [-1.01474853e-02 9.99948513e-01 -4.04600339e-06 1.47481573e-01] [-1.49524719e-04 2.52883367e-06 9.99999989e-01 -7.14207113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004203822000004 meters 0.02101656197219621 Centerline is valid? [True, True] Translation: X:26.41, Y:0.15, Z:-0.72 [[ 9.99908507e-01 1.35261452e-02 1.42309268e-04 2.64077687e+01] [-1.35261447e-02 9.99908518e-01 -4.77817807e-06 1.52958000e-01] [-1.42360880e-04 2.85284515e-06 9.99999990e-01 -7.15333136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034203822000002 meters 0.01832775726295691 Centerline is valid? [True, True] Translation: X:26.44, Y:0.16, Z:-0.71 [[ 9.99847993e-01 1.73694893e-02 1.51415911e-03 2.64377990e+01] [-1.73694526e-02 9.99849139e-01 -3.74020770e-05 1.59644678e-01] [-1.51458034e-03 1.10962767e-05 9.99998853e-01 -7.13851488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064203822000003 meters 0.02474340778793361 Centerline is valid? [True, True] Translation: X:26.47, Y:0.16, Z:-0.71 [[ 9.99822015e-01 1.84373310e-02 4.00040467e-03 2.64665513e+01] [-1.84370868e-02 9.99830018e-01 -9.79127906e-05 1.63124085e-01] [-4.00152993e-03 2.41395556e-05 9.99991994e-01 -7.11757147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094203822000004 meters 0.016154852190626675 Centerline is valid? [True, True] Translation: X:26.50, Y:0.16, Z:-0.71 [[ 9.99833619e-01 1.76897637e-02 4.45051190e-03 2.64966878e+01] [-1.76894564e-02 9.99843523e-01 -1.08403178e-04 1.63480478e-01] [-4.45173313e-03 2.96580057e-05 9.99990091e-01 -7.08148343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124203822000002 meters 0.025765511124622366 Centerline is valid? [True, True] Translation: X:26.53, Y:0.16, Z:-0.71 [[ 9.99892092e-01 1.42670578e-02 3.50065895e-03 2.65257644e+01] [-1.42668476e-02 9.99898220e-01 -8.50275151e-05 1.58029334e-01] [-3.50151575e-03 3.50749722e-05 9.99993869e-01 -7.11304529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154203822000003 meters 0.02039266045515063 Centerline is valid? [True, True] Translation: X:26.56, Y:0.15, Z:-0.72 [[ 9.99924633e-01 1.20769055e-02 2.20840497e-03 2.65555461e+01] [-1.20768163e-02 9.99927071e-01 -5.37360004e-05 1.52750792e-01] [-2.20889288e-03 2.70614494e-05 9.99997560e-01 -7.15650303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184203822000004 meters 0.030811199916349313 Centerline is valid? [True, True] Translation: X:26.58, Y:0.15, Z:-0.72 [[ 9.99956883e-01 9.23679542e-03 9.55463188e-04 2.65849056e+01] [-9.23677726e-03 9.99957340e-01 -2.34252223e-05 1.45763444e-01] [-9.55638801e-04 1.45988117e-05 9.99999543e-01 -7.19371855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214203822 meters 0.0311624137197533 Centerline is valid? [True, True] Translation: X:26.61, Y:0.15, Z:-0.72 [[ 9.99959494e-01 8.75677601e-03 2.08085532e-03 2.66144549e+01] [-8.75668900e-03 9.99961658e-01 -5.09225076e-05 1.45694501e-01] [-2.08122145e-03 3.26990421e-05 9.99997834e-01 -7.15190759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244203822000003 meters 0.021942467912816916 Centerline is valid? [True, True] Translation: X:26.64, Y:0.14, Z:-0.71 [[ 9.99950606e-01 9.18225751e-03 3.80428460e-03 2.66437665e+01] [-9.18197338e-03 9.99957841e-01 -9.21457332e-05 1.43829807e-01] [-3.80497031e-03 5.72103418e-05 9.99992759e-01 -7.13762170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274203822000004 meters 0.0191431157908219 Centerline is valid? [True, True] Translation: X:26.68, Y:0.14, Z:-0.71 [[ 9.99934570e-01 1.06721834e-02 4.11819343e-03 2.66752819e+01] [-1.06718670e-02 9.99943049e-01 -9.87873308e-05 1.43642010e-01] [-4.11901318e-03 5.48320545e-05 9.99991515e-01 -7.10943281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304203822 meters 0.01940210690997431 Centerline is valid? [True, True] Translation: X:26.71, Y:0.14, Z:-0.71 [[ 9.99907455e-01 1.21903644e-02 6.03954172e-03 2.67054284e+01] [-1.21897152e-02 9.99925692e-01 -1.44279807e-04 1.39948771e-01] [-6.04085176e-03 7.06461608e-05 9.99981751e-01 -7.13761453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334203822000003 meters 0.02579896626516628 Centerline is valid? [True, True] Translation: X:26.74, Y:0.14, Z:-0.71 [[ 9.99901354e-01 1.29677834e-02 5.39611600e-03 2.67378352e+01] [-1.29672872e-02 9.99915913e-01 -1.26931000e-04 1.39216235e-01] [-5.39730827e-03 5.69454933e-05 9.99985433e-01 -7.14111968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364203822000004 meters 0.017671341944291003 Centerline is valid? [True, True] Translation: X:26.77, Y:0.14, Z:-0.72 [[ 9.99868866e-01 1.51982862e-02 5.59130846e-03 2.67689911e+01] [-1.51977806e-02 9.99884498e-01 -1.32906888e-04 1.40760225e-01] [-5.59268261e-03 4.79139801e-05 9.99984360e-01 -7.15154351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394203822000005 meters 0.01856200003433204 Centerline is valid? [True, True] Translation: X:26.80, Y:0.15, Z:-0.71 [[ 9.99845654e-01 1.69472057e-02 4.63247108e-03 2.68000995e+01] [-1.69468633e-02 9.99856385e-01 -1.13152887e-04 1.45240577e-01] [-4.63372341e-03 3.46295681e-05 9.99989264e-01 -7.14469419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424203822000003 meters 0.023362521479591666 Centerline is valid? [True, True] Translation: X:26.83, Y:0.15, Z:-0.72 [[ 9.99777808e-01 2.09751384e-02 2.09251689e-03 2.68291747e+01] [-2.09750760e-02 9.99779998e-01 -5.17373994e-05 1.48937387e-01] [-2.09314173e-03 7.83520289e-06 9.99997809e-01 -7.23147566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454203822000004 meters 0.025689144621270824 Centerline is valid? [True, True] Translation: X:26.86, Y:0.15, Z:-0.72 [[ 9.99731785e-01 2.30191812e-02 2.54462506e-03 2.68579912e+01] [-2.30190936e-02 9.99735024e-01 -6.37068473e-05 1.50210802e-01] [-2.54541727e-03 5.11479775e-06 9.99996760e-01 -7.21505073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484203822000005 meters 0.017251270082489344 Centerline is valid? [True, True] Translation: X:26.89, Y:0.16, Z:-0.71 [[ 9.99625168e-01 2.70042351e-02 4.50487240e-03 2.68878030e+01] [-2.70040090e-02 9.99635319e-01 -1.11024828e-04 1.56202891e-01] [-4.50622770e-03 -1.06664019e-05 9.99989847e-01 -7.14442494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514203822000002 meters 0.022071932787346225 Centerline is valid? [True, True] Translation: X:26.92, Y:0.16, Z:-0.72 [[ 9.99552791e-01 2.94731585e-02 5.05480962e-03 2.69162871e+01] [-2.94729036e-02 9.99565572e-01 -1.24939314e-04 1.64138441e-01] [-5.05629603e-03 -2.40964766e-05 9.99987217e-01 -7.15986135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544203822000004 meters 0.017205417346223738 Centerline is valid? [True, True] Translation: X:26.94, Y:0.17, Z:-0.72 [[ 9.99540875e-01 2.97325436e-02 5.83218123e-03 2.69447252e+01] [-2.97322133e-02 9.99557890e-01 -1.43351425e-04 1.66420998e-01] [-5.83386497e-03 -3.01180473e-05 9.99982982e-01 -7.20293583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574203822000005 meters 0.01594776484421469 Centerline is valid? [True, True] Translation: X:26.97, Y:0.16, Z:-0.72 [[ 9.99582280e-01 2.83328682e-02 5.70218580e-03 2.69748114e+01] [-2.83325338e-02 9.99598543e-01 -1.39431490e-04 1.63678549e-01] [-5.70384712e-03 -2.21841251e-05 9.99983733e-01 -7.21347954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604203822000002 meters 0.015027866003821232 Centerline is valid? [True, True] Translation: X:27.00, Y:0.15, Z:-0.72 [[ 9.99695091e-01 2.42662564e-02 4.56888551e-03 2.70040762e+01] [-2.42659978e-02 9.99705531e-01 -1.12026993e-04 1.54195340e-01] [-4.57025859e-03 1.12426901e-06 9.99989556e-01 -7.22671027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634203822000003 meters 0.015256847988065396 Centerline is valid? [True, True] Translation: X:27.03, Y:0.15, Z:-0.72 [[ 9.99744508e-01 2.20525412e-02 4.96028798e-03 2.70331594e+01] [-2.20522101e-02 9.99756813e-01 -1.21440610e-04 1.50546869e-01] [-4.96175977e-03 1.20242705e-05 9.99987690e-01 -7.23392972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664203822000005 meters 0.01629056362310688 Centerline is valid? [True, True] Translation: X:27.06, Y:0.15, Z:-0.72 [[ 9.99807424e-01 1.89642912e-02 5.04693457e-03 2.70620927e+01] [-1.89639167e-02 9.99820161e-01 -1.22052601e-04 1.46953501e-01] [-5.04834158e-03 2.63194499e-05 9.99987257e-01 -7.23158174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694203822000002 meters 0.016370927731874693 Centerline is valid? [True, True] Translation: X:27.09, Y:0.14, Z:-0.72 [[ 9.99830093e-01 1.78020341e-02 4.78262950e-03 2.70925880e+01] [-1.78016800e-02 9.99841531e-01 -1.16608119e-04 1.44833770e-01] [-4.78394746e-03 3.14494668e-05 9.99988556e-01 -7.22991982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724203822000003 meters 0.02402345612475383 Centerline is valid? [True, True] Translation: X:27.12, Y:0.14, Z:-0.72 [[ 9.99837534e-01 1.69895225e-02 6.02177127e-03 2.71231500e+01] [-1.69889463e-02 9.99855667e-01 -1.46820368e-04 1.43092837e-01] [-6.02339653e-03 4.44929654e-05 9.99981858e-01 -7.20131939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754203822000004 meters 0.01506680950228194 Centerline is valid? [True, True] Translation: X:27.15, Y:0.14, Z:-0.72 [[ 9.99826676e-01 1.70200811e-02 7.54546230e-03 2.71548443e+01] [-1.70191812e-02 9.99855146e-01 -1.83465344e-04 1.42844835e-01] [-7.54749191e-03 5.50159545e-05 9.99971516e-01 -7.17843866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784203822000002 meters 0.01591245652129622 Centerline is valid? [True, True] Translation: X:27.19, Y:0.14, Z:-0.72 [[ 9.99809925e-01 1.81427357e-02 7.13834657e-03 2.71861356e+01] [-1.81419780e-02 9.99835406e-01 -1.70889839e-04 1.41184890e-01] [-7.14027206e-03 4.13536302e-05 9.99974507e-01 -7.22143097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814203822000003 meters 0.014649347472946191 Centerline is valid? [True, True] Translation: X:27.22, Y:0.14, Z:-0.72 [[ 9.99753799e-01 2.08814547e-02 7.50376413e-03 2.72174162e+01] [-2.08806631e-02 9.99781958e-01 -1.83827739e-04 1.42145474e-01] [-7.50596659e-03 2.70989102e-05 9.99971829e-01 -7.22702844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844203822000004 meters 0.013919678218994607 Centerline is valid? [True, True] Translation: X:27.25, Y:0.14, Z:-0.72 [[ 9.99718915e-01 2.24484150e-02 7.62619980e-03 2.72483747e+01] [-2.24476416e-02 9.99748002e-01 -1.87005294e-04 1.43365258e-01] [-7.62847599e-03 1.57625302e-05 9.99970903e-01 -7.22683583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874203822000002 meters 0.013309896921757873 Centerline is valid? [True, True] Translation: X:27.28, Y:0.15, Z:-0.72 [[ 9.99633385e-01 2.61112528e-02 7.16222946e-03 2.72788717e+01] [-2.61106602e-02 9.99659043e-01 -1.76258511e-04 1.47070334e-01] [-7.16438978e-03 -1.08166471e-05 9.99974335e-01 -7.21338820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904203822000003 meters 0.016609483874058875 Centerline is valid? [True, True] Translation: X:27.31, Y:0.15, Z:-0.73 [[ 9.99554644e-01 2.91267405e-02 6.49197387e-03 2.73075860e+01] [-2.91263127e-02 9.99575726e-01 -1.60447976e-04 1.50961441e-01] [-6.49389282e-03 -2.87107407e-05 9.99978914e-01 -7.28559294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934203822000004 meters 0.016227696852778344 Centerline is valid? [True, True] Translation: X:27.34, Y:0.15, Z:-0.73 [[ 9.99542149e-01 2.97025703e-02 5.76619360e-03 2.73369422e+01] [-2.97022439e-02 9.99558781e-01 -1.42257003e-04 1.50566007e-01] [-5.76787484e-03 -2.90770184e-05 9.99983365e-01 -7.28088346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964203822 meters 0.016042505445158475 Centerline is valid? [True, True] Translation: X:27.37, Y:0.15, Z:-0.73 [[ 9.99546876e-01 2.96338864e-02 5.27965729e-03 2.73669841e+01] [-2.96336121e-02 9.99560820e-01 -1.30192108e-04 1.49145135e-01] [-5.28119667e-03 -2.63222018e-05 9.99986054e-01 -7.29207627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994203822000003 meters 0.02659958282546775 Centerline is valid? [True, True] Translation: X:27.40, Y:0.15, Z:-0.73 [[ 9.99570934e-01 2.86919743e-02 5.89219217e-03 2.73961028e+01] [-2.86916176e-02 9.99588300e-01 -1.45072390e-04 1.46120623e-01] [-5.89392877e-03 -2.40463804e-05 9.99982630e-01 -7.29683438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024203822000004 meters 0.015168574133854343 Centerline is valid? [True, True] Translation: X:27.42, Y:0.14, Z:-0.73 [[ 9.99592406e-01 2.76133276e-02 7.24750748e-03 2.74245297e+01] [-2.76127602e-02 9.99618679e-01 -1.78358850e-04 1.43122732e-01] [-7.24966893e-03 -2.18375339e-05 9.99973721e-01 -7.30207881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054203822 meters 0.013567659569739848 Centerline is valid? [True, True] Translation: X:27.46, Y:0.14, Z:-0.73 [[ 9.99643523e-01 2.54551383e-02 8.05379161e-03 2.74554310e+01] [-2.54543785e-02 9.99675965e-01 -1.96845978e-04 1.36121445e-01] [-8.05619265e-03 -8.22845263e-06 9.99967548e-01 -7.27664783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084203822000003 meters 0.014349151781041392 Centerline is valid? [True, True] Translation: X:27.49, Y:0.13, Z:-0.73 [[ 9.99672941e-01 2.43180624e-02 7.91468986e-03 2.74850975e+01] [-2.43172923e-02 9.99704272e-01 -1.93537031e-04 1.31262651e-01] [-7.91705571e-03 1.00990671e-06 9.99968660e-01 -7.31463807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114203822000004 meters 0.028742719430469885 Centerline is valid? [True, True] Translation: X:27.52, Y:0.13, Z:-0.73 [[ 9.99689685e-01 2.37777238e-02 7.42653835e-03 2.75160215e+01] [-2.37770285e-02 9.99717270e-01 -1.81915988e-04 1.27798326e-01] [-7.42876419e-03 5.27852246e-06 9.99972406e-01 -7.30800950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144203822000005 meters 0.013410636933052455 Centerline is valid? [True, True] Translation: X:27.55, Y:0.13, Z:-0.73 [[ 9.99719765e-01 2.23898781e-02 7.68667971e-03 2.75466291e+01] [-2.23890921e-02 9.99749315e-01 -1.88288253e-04 1.25884755e-01] [-7.68896852e-03 1.61377075e-05 9.99970439e-01 -7.28623098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174203822000003 meters 0.014173483751547969 Centerline is valid? [True, True] Translation: X:27.58, Y:0.12, Z:-0.73 [[ 9.99726020e-01 2.17840203e-02 8.56401019e-03 2.75768309e+01] [-2.17830334e-02 9.99762700e-01 -2.08501119e-04 1.24314500e-01] [-8.56651994e-03 2.18938738e-05 9.99963306e-01 -7.30967414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204203822000004 meters 0.013848814333178524 Centerline is valid? [True, True] Translation: X:27.61, Y:0.12, Z:-0.73 [[ 9.99721755e-01 2.21671425e-02 8.06419562e-03 2.76085570e+01] [-2.21662699e-02 9.99754279e-01 -1.97576279e-04 1.20861038e-01] [-8.06659378e-03 1.87681677e-05 9.99967464e-01 -7.31162058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234203822000005 meters 0.013848814333178524 Centerline is valid? [True, True] Translation: X:27.64, Y:0.12, Z:-0.73 [[ 9.99721233e-01 2.21906527e-02 8.06419090e-03 2.76393803e+01] [-2.21897793e-02 9.99753757e-01 -1.97768507e-04 1.20060157e-01] [-8.06659376e-03 1.87707591e-05 9.99967464e-01 -7.32037448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264203822000002 meters 0.014716942120328534 Centerline is valid? [True, True] Translation: X:27.67, Y:0.12, Z:-0.74 [[ 9.99707418e-01 2.31845289e-02 6.89608936e-03 2.76692745e+01] [-2.31839117e-02 9.99731203e-01 -1.69441104e-04 1.18196387e-01] [-6.89816412e-03 9.51320138e-06 9.99976207e-01 -7.36496880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294203822000004 meters 0.014857266037410739 Centerline is valid? [True, True] Translation: X:27.70, Y:0.12, Z:-0.74 [[ 9.99682455e-01 2.45318162e-02 5.76006889e-03 2.77001485e+01] [-2.45314064e-02 9.99699050e-01 -1.41805793e-04 1.17682596e-01] [-5.76181415e-03 4.58172600e-07 9.99983401e-01 -7.38289135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324203822000005 meters 0.015985611177251335 Centerline is valid? [True, True] Translation: X:27.73, Y:0.12, Z:-0.74 [[ 9.99573754e-01 2.87544260e-02 5.04902407e-03 2.77295144e+01] [-2.87541622e-02 9.99586506e-01 -1.24854136e-04 1.22237834e-01] [-5.05052644e-03 -2.03795397e-05 9.99987246e-01 -7.39965362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354203822000002 meters 0.02119322110478762 Centerline is valid? [True, True] Translation: X:27.76, Y:0.13, Z:-0.75 [[ 9.99412336e-01 3.41078742e-02 3.41107930e-03 2.77585678e+01] [-3.41077832e-02 9.99418157e-01 -8.48515087e-05 1.32689398e-01] [-3.41198869e-03 -3.15427089e-05 9.99994179e-01 -7.47068895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384203822000003 meters 0.02169406518233793 Centerline is valid? [True, True] Translation: X:27.79, Y:0.13, Z:-0.75 [[ 9.99334713e-01 3.63199214e-02 3.31571862e-03 2.77876117e+01] [-3.63198473e-02 9.99340213e-01 -8.25960453e-05 1.34596335e-01] [-3.31653083e-03 -3.78852986e-05 9.99994500e-01 -7.45472648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414203822000005 meters 0.02295943374711777 Centerline is valid? [True, True] Translation: X:27.82, Y:0.14, Z:-0.75 [[ 9.99263297e-01 3.81441517e-02 4.22931541e-03 2.78167177e+01] [-3.81440498e-02 9.99272245e-01 -1.04789534e-04 1.37546167e-01] [-4.23023462e-03 -5.66108826e-05 9.99991051e-01 -7.45042201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444203822000002 meters 0.02449591167482611 Centerline is valid? [True, True] Translation: X:27.85, Y:0.15, Z:-0.74 [[ 9.99140029e-01 4.09874634e-02 6.26346656e-03 2.78456827e+01] [-4.09873015e-02 9.99159656e-01 -1.54267448e-04 1.45716579e-01] [-6.26452612e-03 -1.02587810e-04 9.99980372e-01 -7.41613421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474203822000003 meters 0.023660553860768294 Centerline is valid? [True, True] Translation: X:27.87, Y:0.15, Z:-0.74 [[ 9.99096897e-01 4.19331368e-02 6.85587511e-03 2.78741687e+01] [-4.19329679e-02 9.99120412e-01 -1.68446029e-04 1.46096376e-01] [-6.85690824e-03 -1.19193286e-04 9.99976484e-01 -7.39072098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504203822000004 meters 0.024505620032159295 Centerline is valid? [True, True] Translation: X:27.90, Y:0.15, Z:-0.74 [[ 9.99075303e-01 4.21030905e-02 8.71024463e-03 2.79020902e+01] [-4.21028293e-02 9.99113260e-01 -2.13440636e-04 1.46670022e-01] [-8.71150742e-03 -1.53482675e-04 9.99962042e-01 -7.38917748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534203822000002 meters 0.023265846354709494 Centerline is valid? [True, True] Translation: X:27.93, Y:0.15, Z:-0.74 [[ 9.99099670e-01 4.13060419e-02 9.67782084e-03 2.79321634e+01] [-4.13056963e-02 9.99146528e-01 -2.35678812e-04 1.45921548e-01] [-9.67929604e-03 -1.64282505e-04 9.99953141e-01 -7.37340132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564203822000003 meters 0.022858702210772706 Centerline is valid? [True, True] Translation: X:27.96, Y:0.15, Z:-0.74 [[ 9.99151267e-01 3.99815586e-02 9.91065221e-03 2.79610862e+01] [-3.99811313e-02 9.99200406e-01 -2.41312379e-04 1.46959090e-01] [-9.91237575e-03 -1.55131518e-04 9.99950859e-01 -7.38836603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594203822000004 meters 0.026263184136961115 Centerline is valid? [True, True] Translation: X:27.99, Y:0.14, Z:-0.74 [[ 9.99282081e-01 3.68356245e-02 8.85774800e-03 2.79912040e+01] [-3.68351656e-02 9.99321332e-01 -2.14998340e-04 1.44589935e-01] [-8.85965612e-03 -1.11432626e-04 9.99960746e-01 -7.39616432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624203822000002 meters 0.017918836514947828 Centerline is valid? [True, True] Translation: X:28.02, Y:0.14, Z:-0.74 [[ 9.99362604e-01 3.46301550e-02 8.66822314e-03 2.80209638e+01] [-3.46296314e-02 9.99400192e-01 -2.10535950e-04 1.41254451e-01] [-8.67031477e-03 -8.97756170e-05 9.99962408e-01 -7.41044606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654203822000003 meters 0.014888981579249068 Centerline is valid? [True, True] Translation: X:28.05, Y:0.13, Z:-0.74 [[ 9.99489376e-01 3.04037937e-02 9.82835861e-03 2.80504876e+01] [-3.04029216e-02 9.99537696e-01 -2.38165211e-04 1.33803838e-01] [-9.83105604e-03 -6.07672182e-05 9.99951672e-01 -7.40983568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684203822000004 meters 0.01498015304538303 Centerline is valid? [True, True] Translation: X:28.08, Y:0.13, Z:-0.74 [[ 9.99543939e-01 2.86283346e-02 9.60899470e-03 2.80810790e+01] [-2.86274242e-02 9.99590124e-01 -2.32300801e-04 1.31048858e-01] [-9.61170659e-03 -4.28859094e-05 9.99953806e-01 -7.44944170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714203822 meters 0.014751718559019428 Centerline is valid? [True, True] Translation: X:28.11, Y:0.13, Z:-0.75 [[ 9.99603067e-01 2.67477091e-02 8.84695105e-03 2.81113883e+01] [-2.67468630e-02 9.99642216e-01 -2.13963960e-04 1.27973127e-01] [-8.84950880e-03 -2.27491567e-05 9.99960842e-01 -7.48080816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744203822000003 meters 0.014064377396733954 Centerline is valid? [True, True] Translation: X:28.14, Y:0.12, Z:-0.75 [[ 9.99658016e-01 2.49642406e-02 7.78701043e-03 2.81413896e+01] [-2.49635288e-02 9.99688345e-01 -1.88610907e-04 1.24246850e-01] [-7.78929210e-03 -5.84485412e-06 9.99969663e-01 -7.47718336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774203822000004 meters 0.01371837360066154 Centerline is valid? [True, True] Translation: X:28.17, Y:0.12, Z:-0.75 [[ 9.99737237e-01 2.10916759e-02 8.97762532e-03 2.81724661e+01] [-2.10905777e-02 9.99777545e-01 -2.16992517e-04 1.18336063e-01] [-8.98020495e-03 2.75921953e-05 9.99959677e-01 -7.46629205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804203822000005 meters 0.013866497349164056 Centerline is valid? [True, True] Translation: X:28.20, Y:0.12, Z:-0.75 [[ 9.99759718e-01 1.96138346e-02 9.78798572e-03 2.82045359e+01] [-1.96124811e-02 9.99807629e-01 -2.34257176e-04 1.15273687e-01] [-9.79069748e-03 4.22342036e-05 9.99952069e-01 -7.45880853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834203822000003 meters 0.016565562167485955 Centerline is valid? [True, True] Translation: X:28.24, Y:0.11, Z:-0.75 [[ 9.99841383e-01 1.61275640e-02 7.55710921e-03 2.82363969e+01] [-1.61266377e-02 9.99869940e-01 -1.83486971e-04 1.06780596e-01] [-7.55908553e-03 6.15871044e-05 9.99971428e-01 -7.50226312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864203822000004 meters 0.017650375979347713 Centerline is valid? [True, True] Translation: X:28.27, Y:0.10, Z:-0.75 [[ 9.99867870e-01 1.50791920e-02 6.07126731e-03 2.82680190e+01] [-1.50785891e-02 9.99886301e-01 -1.45071877e-04 1.02588437e-01] [-6.07276458e-03 5.35065633e-05 9.99981559e-01 -7.53221297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894203822000005 meters 0.01704832589838874 Centerline is valid? [True, True] Translation: X:28.30, Y:0.10, Z:-0.75 [[ 9.99868950e-01 1.48171730e-02 6.52176291e-03 2.82991589e+01] [-1.48164447e-02 9.99890218e-01 -1.59967143e-04 9.75678845e-02] [-6.52341720e-03 6.33168398e-05 9.99978720e-01 -7.52581736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924203822000003 meters 0.020806541737451337 Centerline is valid? [True, True] Translation: X:28.33, Y:0.09, Z:-0.75 [[ 9.99852392e-01 1.58423477e-02 6.64945347e-03 2.83316186e+01] [-1.58416330e-02 9.99874501e-01 -1.60148527e-04 9.49203788e-02] [-6.65115609e-03 5.47866866e-05 9.99977879e-01 -7.52551262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954203822000004 meters 0.01656719660835335 Centerline is valid? [True, True] Translation: X:28.36, Y:0.09, Z:-0.75 [[ 9.99841674e-01 1.65128548e-02 6.62971263e-03 2.83629833e+01] [-1.65121499e-02 9.99863652e-01 -1.61038118e-04 9.17488059e-02] [-6.63146789e-03 5.15418125e-05 9.99978010e-01 -7.54588029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984203822000005 meters 0.02433339339670483 Centerline is valid? [True, True] Translation: X:28.39, Y:0.09, Z:-0.75 [[ 9.99831475e-01 1.71359512e-02 6.58639394e-03 2.83937668e+01] [-1.71352436e-02 9.99853168e-01 -1.63855393e-04 8.98653504e-02] [-6.58823466e-03 5.09683146e-05 9.99978296e-01 -7.54652475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014203822000006 meters 0.015831630060250186 Centerline is valid? [True, True] Translation: X:28.43, Y:0.08, Z:-0.75 [[ 9.99808385e-01 1.77922057e-02 8.16275024e-03 2.84251897e+01] [-1.77911592e-02 9.99841705e-01 -2.00810483e-04 8.36713814e-02] [-8.16503098e-03 5.55472160e-05 9.99966664e-01 -7.53963540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044203822 meters 0.01837130450017098 Centerline is valid? [True, True] Translation: X:28.46, Y:0.08, Z:-0.76 [[ 9.99781710e-01 1.93304342e-02 7.92887862e-03 2.84566080e+01] [-1.93294711e-02 9.99813149e-01 -1.98082877e-04 7.65778559e-02] [-7.93122612e-03 4.47786076e-05 9.99968546e-01 -7.57168765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074203822 meters 0.01714364431707712 Centerline is valid? [True, True] Translation: X:28.49, Y:0.07, Z:-0.76 [[ 9.99762156e-01 2.05191351e-02 7.38895641e-03 2.84890579e+01] [-2.05183457e-02 9.99789460e-01 -1.82634154e-04 7.46520140e-02] [-7.39114823e-03 3.09815537e-05 9.99972685e-01 -7.56115050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104203822 meters 0.016068446637087903 Centerline is valid? [True, True] Translation: X:28.52, Y:0.07, Z:-0.76 [[ 9.99744952e-01 2.16436525e-02 6.44846306e-03 2.85196347e+01] [-2.16430697e-02 9.99765749e-01 -1.60148420e-04 7.02592075e-02] [-6.45041870e-03 2.05430387e-05 9.99979196e-01 -7.63145387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.134203822 meters 0.01602146233840763 Centerline is valid? [True, True] Translation: X:28.55, Y:0.07, Z:-0.77 [[ 9.99668136e-01 2.54464527e-02 4.01189494e-03 2.85506346e+01] [-2.54462491e-02 9.99676187e-01 -1.01776801e-04 6.67959530e-02] [-4.01318569e-03 -3.44653120e-07 9.99991947e-01 -7.65718610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164203822000005 meters 0.02652755374731147 Centerline is valid? [True, True] Translation: X:28.58, Y:0.07, Z:-0.77 [[ 9.99591684e-01 2.82914054e-02 4.00765700e-03 2.85792659e+01] [-2.82912192e-02 9.99599718e-01 -1.03176200e-04 6.87006321e-02] [-4.00897180e-03 -1.02474309e-05 9.99991964e-01 -7.67808815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194203822000006 meters 0.016563166381313135 Centerline is valid? [True, True] Translation: X:28.61, Y:0.07, Z:-0.76 [[ 9.99464185e-01 3.24541004e-02 4.25127407e-03 2.86092231e+01] [-3.24539304e-02 9.99473227e-01 -1.08997927e-04 7.01946546e-02] [-4.25257204e-03 -2.90310282e-05 9.99990957e-01 -7.61490950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22420382200001 meters 0.025002810152333563 Centerline is valid? [True, True] Translation: X:28.64, Y:0.07, Z:-0.76 [[ 9.99410917e-01 3.40080125e-02 4.61238918e-03 2.86391358e+01] [-3.40078296e-02 9.99421559e-01 -1.18081388e-04 6.95538419e-02] [-4.61373690e-03 -3.88455169e-05 9.99989356e-01 -7.61564848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254203822 meters 0.018258533591288036 Centerline is valid? [True, True] Translation: X:28.67, Y:0.07, Z:-0.76 [[ 9.99397284e-01 3.43458764e-02 5.04271799e-03 2.86678534e+01] [-3.43456617e-02 9.99410005e-01 -1.29194047e-04 6.62128646e-02] [-5.04418009e-03 -4.40793062e-05 9.99987277e-01 -7.64607344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284203822 meters 0.02108420578661655 Centerline is valid? [True, True] Translation: X:28.70, Y:0.06, Z:-0.77 [[ 9.99355792e-01 3.54321457e-02 5.70645755e-03 2.86966687e+01] [-3.54318921e-02 9.99372083e-01 -1.45551271e-04 6.28351171e-02] [-5.70803156e-03 -5.67330824e-05 9.99983707e-01 -7.70148448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314203822 meters 0.020522559336411176 Centerline is valid? [True, True] Translation: X:28.73, Y:0.06, Z:-0.77 [[ 9.99309625e-01 3.67535869e-02 5.42650067e-03 2.87263883e+01] [-3.67533777e-02 9.99324357e-01 -1.38312043e-04 6.27022015e-02] [-5.42791775e-03 -6.12256726e-05 9.99985267e-01 -7.67700333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344203822000004 meters 0.03268680086845432 Centerline is valid? [True, True] Translation: X:28.76, Y:0.07, Z:-0.77 [[ 9.99225773e-01 3.89812107e-02 5.32155660e-03 2.87562499e+01] [-3.89810417e-02 9.99239941e-01 -1.35522399e-04 6.64622801e-02] [-5.32279474e-03 -7.20223461e-05 9.99985831e-01 -7.67584376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374203822000005 meters 0.032726874325124285 Centerline is valid? [True, True] Translation: X:28.79, Y:0.07, Z:-0.76 [[ 9.99067117e-01 4.26364405e-02 6.85785096e-03 2.87850679e+01] [-4.26362447e-02 9.99090647e-01 -1.74814436e-04 7.02768832e-02] [-6.85906822e-03 -1.17741657e-04 9.99976469e-01 -7.64325559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40420382200001 meters 0.025390316486110072 Centerline is valid? [True, True] Translation: X:28.81, Y:0.07, Z:-0.76 [[ 9.99009686e-01 4.38341395e-02 7.62993292e-03 2.88137429e+01] [-4.38339360e-02 9.99038812e-01 -1.93975706e-04 6.88010288e-02] [-7.63110188e-03 -1.40666382e-04 9.99970873e-01 -7.64448894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434203822 meters 0.027124387834611387 Centerline is valid? [True, True] Translation: X:28.84, Y:0.07, Z:-0.77 [[ 9.99044019e-01 4.30682144e-02 7.49511301e-03 2.88425631e+01] [-4.30680010e-02 9.99072125e-01 -1.89958866e-04 6.77051447e-02] [-7.49633968e-03 -1.33022266e-04 9.99971893e-01 -7.69307798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464203822 meters 0.02286671899863823 Centerline is valid? [True, True] Translation: X:28.87, Y:0.06, Z:-0.77 [[ 9.99124685e-01 4.10368770e-02 8.11411469e-03 2.88724220e+01] [-4.10365648e-02 9.99157624e-01 -2.05030872e-04 5.91277416e-02] [-8.11569339e-03 -1.28123989e-04 9.99967059e-01 -7.66486588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494203822 meters 0.02218637184629152 Centerline is valid? [True, True] Translation: X:28.90, Y:0.05, Z:-0.76 [[ 9.99295017e-01 3.61855156e-02 1.00038977e-02 2.89026218e+01] [-3.61848064e-02 9.99345084e-01 -2.51943215e-04 4.81835613e-02] [-1.00064626e-02 -1.10223501e-04 9.99949928e-01 -7.62428820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524203822000004 meters 0.016438391956116984 Centerline is valid? [True, True] Translation: X:28.93, Y:0.04, Z:-0.76 [[ 9.99378569e-01 3.37895269e-02 1.00371174e-02 2.89329762e+01] [-3.37886943e-02 9.99428967e-01 -2.52560845e-04 4.36417080e-02] [-1.00399198e-02 -8.67371956e-05 9.99949595e-01 -7.63936194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554203822000005 meters 0.02440045035676615 Centerline is valid? [True, True] Translation: X:28.96, Y:0.04, Z:-0.77 [[ 9.99484537e-01 3.11125745e-02 7.91631449e-03 2.89636409e+01] [-3.11119954e-02 9.99515885e-01 -1.96322881e-04 3.72059177e-02] [-7.91859020e-03 -5.00706562e-05 9.99968646e-01 -7.68245018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584203822000006 meters 0.015684918965253127 Centerline is valid? [True, True] Translation: X:28.99, Y:0.03, Z:-0.77 [[ 9.99494460e-01 3.10159169e-02 6.98834752e-03 2.89946363e+01] [-3.10154399e-02 9.99518890e-01 -1.76641360e-04 3.43353880e-02] [-6.99046405e-03 -4.01946117e-05 9.99975566e-01 -7.69549682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614203822 meters 0.02460280416989907 Centerline is valid? [True, True] Translation: X:29.03, Y:0.03, Z:-0.77 [[ 9.99459868e-01 3.22172898e-02 6.48210303e-03 2.90250710e+01] [-3.22169006e-02 9.99480887e-01 -1.64476839e-04 3.45084007e-02] [-6.48403709e-03 -4.44452693e-05 9.99978977e-01 -7.70418474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644203822 meters 0.020449056145576856 Centerline is valid? [True, True] Translation: X:29.05, Y:0.04, Z:-0.78 [[ 9.99314756e-01 3.66266962e-02 5.33891150e-03 2.90546057e+01] [-3.66264936e-02 9.99329016e-01 -1.35746800e-04 3.89933778e-02] [-5.34030113e-03 -5.98918273e-05 9.99985739e-01 -7.75099440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674203822 meters 0.027849145541458016 Centerline is valid? [True, True] Translation: X:29.08, Y:0.05, Z:-0.78 [[ 9.99084254e-01 4.26737624e-02 3.09885396e-03 2.90837409e+01] [-4.26737241e-02 9.99089059e-01 -7.85191518e-05 4.89241859e-02] [-3.09938179e-03 -5.37923906e-05 9.99995195e-01 -7.82491387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704203822000004 meters 0.02950562947284486 Centerline is valid? [True, True] Translation: X:29.11, Y:0.05, Z:-0.78 [[ 9.98955948e-01 4.55647179e-02 3.29697765e-03 2.91132147e+01] [-4.55646880e-02 9.98961387e-01 -8.42196901e-05 5.23205883e-02] [-3.29739081e-03 -6.60939978e-05 9.99994561e-01 -7.81861161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.734203822000005 meters 0.03082004483704214 Centerline is valid? [True, True] Translation: X:29.14, Y:0.06, Z:-0.78 [[ 9.98851338e-01 4.78095989e-02 3.20098280e-03 2.91427149e+01] [-4.78095824e-02 9.98856465e-01 -8.17222180e-05 5.55901996e-02] [-3.20122947e-03 -7.14093042e-05 9.99994874e-01 -7.81348768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764203822000006 meters 0.034523052260360114 Centerline is valid? [True, True] Translation: X:29.17, Y:0.06, Z:-0.79 [[ 9.98724853e-01 5.04525354e-02 1.79152061e-03 2.91713939e+01] [-5.04525335e-02 9.98726459e-01 -4.63130358e-05 6.40457373e-02] [-1.79157565e-03 -4.41327740e-05 9.99998394e-01 -7.85485397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794203822 meters 0.034852346342122156 Centerline is valid? [True, True] Translation: X:29.20, Y:0.07, Z:-0.79 [[ 9.98733480e-01 5.03008067e-02 1.12502680e-03 2.92000511e+01] [-5.03008051e-02 9.98734113e-01 -2.97429364e-05 6.50155330e-02] [-1.12509874e-03 -2.68844874e-05 9.99999367e-01 -7.87838614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824203822 meters 0.030787874018652725 Centerline is valid? [True, True] Translation: X:29.23, Y:0.06, Z:-0.79 [[ 9.98836788e-01 4.81918761e-02 1.61682762e-03 2.92291920e+01] [-4.81918715e-02 9.98838096e-01 -4.17838846e-05 6.09755719e-02] [-1.61696267e-03 -3.61826680e-05 9.99998692e-01 -7.85809794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854203822 meters 0.02957944019383679 Centerline is valid? [True, True] Translation: X:29.26, Y:0.06, Z:-0.79 [[ 9.98902684e-01 4.68056959e-02 1.62908574e-03 2.92577348e+01] [-4.68056891e-02 9.98904012e-01 -4.23572040e-05 5.92919606e-02] [-1.62928284e-03 -3.39397560e-05 9.99998672e-01 -7.86289573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884203822 meters 0.02906828073040373 Centerline is valid? [True, True] Translation: X:29.29, Y:0.06, Z:-0.79 [[ 9.98955112e-01 4.56747413e-02 1.58189258e-03 2.92854134e+01] [-4.56747329e-02 9.98956364e-01 -4.14149149e-05 5.87312641e-02] [-1.58213327e-03 -3.08808802e-05 9.99998748e-01 -7.88025728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.914203822000005 meters 0.02816491287246112 Centerline is valid? [True, True] Translation: X:29.31, Y:0.06, Z:-0.79 [[ 9.99004128e-01 4.45831427e-02 1.75916250e-03 2.93138562e+01] [-4.45831319e-02 9.99005677e-01 -4.54175908e-05 5.75970359e-02] [-1.75943819e-03 -3.30566132e-05 9.99998452e-01 -7.88403149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944203822000006 meters 0.02688068699260632 Centerline is valid? [True, True] Translation: X:29.34, Y:0.06, Z:-0.79 [[ 9.99068599e-01 4.29690265e-02 3.94929654e-03 2.93432363e+01] [-4.29689690e-02 9.99076402e-01 -9.94692138e-05 5.94961837e-02] [-3.94992307e-03 -7.03206322e-05 9.99992197e-01 -7.86453624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97420382200001 meters 0.02891901249639032 Centerline is valid? [True, True] Translation: X:29.37, Y:0.06, Z:-0.79 [[ 9.99116322e-01 4.18242827e-02 4.15998196e-03 2.93709098e+01] [-4.18242060e-02 9.99124980e-01 -1.05481326e-04 6.26561958e-02] [-4.16075357e-03 -6.85998273e-05 9.99991342e-01 -7.86370785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004203822 meters 0.03260596034596672 Centerline is valid? [True, True] Translation: X:29.40, Y:0.06, Z:-0.79 [[ 9.99162394e-01 4.08025429e-02 3.10843990e-03 2.93998742e+01] [-4.08024953e-02 9.99167228e-01 -7.87846274e-05 6.05031916e-02] [-3.10906589e-03 -4.81134672e-05 9.99995166e-01 -7.87222499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034203822 meters 0.023305803777703703 Centerline is valid? [True, True] Translation: X:29.43, Y:0.06, Z:-0.79 [[ 9.99249616e-01 3.86716957e-02 2.16907370e-03 2.94284015e+01] [-3.86716668e-02 9.99251970e-01 -5.52801836e-05 5.76031478e-02] [-2.16958895e-03 -2.86429931e-05 9.99997646e-01 -7.90932457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064203822 meters 0.021602657994632127 Centerline is valid? [True, True] Translation: X:29.46, Y:0.05, Z:-0.80 [[ 9.99412885e-01 3.42163343e-02 1.76873681e-03 2.94556642e+01] [-3.42163072e-02 9.99414450e-01 -4.55558782e-05 5.24554900e-02] [-1.76925988e-03 -1.49905104e-05 9.99998435e-01 -7.95237767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094203822000004 meters 0.018157041515409263 Centerline is valid? [True, True] Translation: X:29.48, Y:0.05, Z:-0.79 [[ 9.99494445e-01 3.16937257e-02 2.52245102e-03 2.94842289e+01] [-3.16936656e-02 9.99497628e-01 -6.38071938e-05 4.59295672e-02] [-2.52320610e-03 -1.61707834e-05 9.99996817e-01 -7.91158501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124203822000005 meters 0.015016877947074831 Centerline is valid? [True, True] Translation: X:29.51, Y:0.04, Z:-0.79 [[ 9.99617075e-01 2.72900495e-02 4.57776570e-03 2.95141066e+01] [-2.72898141e-02 9.99627557e-01 -1.13893620e-04 3.95536284e-02] [-4.57916891e-03 -1.10763681e-05 9.99989515e-01 -7.85346752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15420382200001 meters 0.015016877947074831 Centerline is valid? [True, True] Translation: X:29.54, Y:0.04, Z:-0.79 [[ 9.99617076e-01 2.72900297e-02 4.57778300e-03 2.95440939e+01] [-2.72897975e-02 9.99627558e-01 -1.13194372e-04 3.88116762e-02] [-4.57916711e-03 -1.17757438e-05 9.99989515e-01 -7.86198590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184203822 meters 0.014750375950503415 Centerline is valid? [True, True] Translation: X:29.57, Y:0.04, Z:-0.79 [[ 9.99646208e-01 2.61535062e-02 4.84283449e-03 2.95745163e+01] [-2.61532329e-02 9.99657939e-01 -1.19748273e-04 3.96597295e-02] [-4.84430978e-03 -6.94987141e-06 9.99988266e-01 -7.86147313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214203822 meters 0.015391256770325568 Centerline is valid? [True, True] Translation: X:29.60, Y:0.04, Z:-0.79 [[ 9.99670847e-01 2.52706206e-02 4.42651124e-03 2.96042887e+01] [-2.52703824e-02 9.99680647e-01 -1.09746380e-04 3.92976553e-02] [-4.42787098e-03 -2.14937486e-06 9.99990197e-01 -7.89564835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244203822 meters 0.02539668568017196 Centerline is valid? [True, True] Translation: X:29.63, Y:0.03, Z:-0.79 [[ 9.99703327e-01 2.40176547e-02 4.05093227e-03 2.96347100e+01] [-2.40174462e-02 9.99711535e-01 -1.00117495e-04 3.44171159e-02] [-4.05216831e-03 2.79474463e-06 9.99991790e-01 -7.90033048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.274203822000004 meters 0.014645359333715849 Centerline is valid? [True, True] Translation: X:29.67, Y:0.03, Z:-0.79 [[ 9.99711589e-01 2.34821737e-02 5.03259572e-03 2.96654376e+01] [-2.34818451e-02 9.99724256e-01 -1.24378993e-04 3.33213513e-02] [-5.03412870e-03 6.16848731e-06 9.99987329e-01 -7.89577711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304203822000005 meters 0.015120186586528576 Centerline is valid? [True, True] Translation: X:29.70, Y:0.03, Z:-0.79 [[ 9.99700111e-01 2.36900281e-02 6.20249592e-03 2.96950438e+01] [-2.36895313e-02 9.99719352e-01 -1.53560510e-04 3.35202315e-02] [-6.20439306e-03 6.58023814e-06 9.99980753e-01 -7.92478735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334203822000006 meters 0.015456809678080684 Centerline is valid? [True, True] Translation: X:29.73, Y:0.03, Z:-0.79 [[ 9.99683369e-01 2.46463767e-02 5.07133970e-03 2.97256408e+01] [-2.46460583e-02 9.99696232e-01 -1.25275263e-04 3.47336900e-02] [-5.07288677e-03 2.47063300e-07 9.99987133e-01 -7.94469860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364203822 meters 0.015102879512785838 Centerline is valid? [True, True] Translation: X:29.76, Y:0.03, Z:-0.79 [[ 9.99677436e-01 2.50190539e-02 4.36691694e-03 2.97566004e+01] [-2.50188214e-02 9.99686974e-01 -1.07874192e-04 3.43828185e-02] [-4.36824890e-03 -1.41571961e-06 9.99990459e-01 -7.93739465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394203822 meters 0.015336399492481652 Centerline is valid? [True, True] Translation: X:29.79, Y:0.03, Z:-0.80 [[ 9.99677860e-01 2.49551738e-02 4.62768004e-03 2.97858227e+01] [-2.49549107e-02 9.99688571e-01 -1.14601568e-04 3.24487072e-02] [-4.62909875e-03 -9.18691583e-07 9.99989286e-01 -7.95057546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424203822 meters 0.028771223441511992 Centerline is valid? [True, True] Translation: X:29.82, Y:0.03, Z:-0.80 [[ 9.99688961e-01 2.44913189e-02 4.70715814e-03 2.98155753e+01] [-2.44910418e-02 9.99700043e-01 -1.16502279e-04 2.89574858e-02] [-4.70859949e-03 1.18283472e-06 9.99988914e-01 -7.95898208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.454203822000004 meters 0.02553799233479659 Centerline is valid? [True, True] Translation: X:29.85, Y:0.03, Z:-0.80 [[ 9.99688929e-01 2.46488725e-02 3.80500967e-03 2.98465253e+01] [-2.46486937e-02 9.99696170e-01 -9.39027851e-05 2.85441696e-02] [-3.80616819e-03 8.50569993e-08 9.99992757e-01 -7.95878156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484203822000005 meters 0.015533484413149508 Centerline is valid? [True, True] Translation: X:29.88, Y:0.03, Z:-0.80 [[ 9.99686679e-01 2.48284559e-02 3.17666391e-03 2.98773032e+01] [-2.48283321e-02 9.99691726e-01 -7.83960132e-05 2.85825634e-02] [-3.17763108e-03 -4.99816301e-07 9.99994951e-01 -7.97226145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514203822000006 meters 0.023887777003175445 Centerline is valid? [True, True] Translation: X:29.91, Y:0.03, Z:-0.80 [[ 9.99666458e-01 2.55656310e-02 3.65657002e-03 2.99073113e+01] [-2.55654697e-02 9.99673146e-01 -9.08426639e-05 2.91989440e-02] [-3.65769730e-03 -2.66956597e-06 9.99993311e-01 -7.96029285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544203822 meters 0.015406112045803217 Centerline is valid? [True, True] Translation: X:29.94, Y:0.03, Z:-0.80 [[ 9.99582725e-01 2.81003666e-02 6.68917280e-03 2.99359248e+01] [-2.80998902e-02 9.99605106e-01 -1.65203104e-04 3.14963626e-02] [-6.69117356e-03 -2.28308525e-05 9.99977614e-01 -7.95630750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574203822 meters 0.019620628461327755 Centerline is valid? [True, True] Translation: X:29.97, Y:0.03, Z:-0.80 [[ 9.99531689e-01 3.00727216e-02 5.65992886e-03 2.99657671e+01] [-3.00724139e-02 9.99547713e-01 -1.39466953e-04 3.19647025e-02] [-5.66156310e-03 -3.08060845e-05 9.99983973e-01 -7.99986077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604203822 meters 0.018881579483650428 Centerline is valid? [True, True] Translation: X:30.00, Y:0.03, Z:-0.80 [[ 9.99480610e-01 3.19895569e-02 3.89588681e-03 2.99956677e+01] [-3.19894246e-02 9.99488203e-01 -9.62826194e-05 3.06553764e-02] [-3.89697295e-03 -2.83945661e-05 9.99992406e-01 -8.03693533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.634203822 meters 0.028249575821512822 Centerline is valid? [True, True] Translation: X:30.03, Y:0.04, Z:-0.80 [[ 9.99329549e-01 3.65506772e-02 2.12148754e-03 3.00255560e+01] [-3.65506473e-02 9.99331800e-01 -5.28761342e-05 3.72455099e-02] [-2.12200262e-03 -2.47010593e-05 9.99997748e-01 -8.03985761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664203822000005 meters 0.023579954414124388 Centerline is valid? [True, True] Translation: X:30.05, Y:0.04, Z:-0.80 [[ 9.99237244e-01 3.89414546e-02 2.91434449e-03 3.00546929e+01] [-3.89414075e-02 9.99241493e-01 -7.29154790e-05 4.39531993e-02] [-2.91497337e-03 -4.06288139e-05 9.99995751e-01 -8.04018833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694203822000006 meters 0.02497795627734465 Centerline is valid? [True, True] Translation: X:30.08, Y:0.05, Z:-0.80 [[ 9.99127035e-01 4.15962929e-02 3.86210338e-03 3.00840131e+01] [-4.15962335e-02 9.99134498e-01 -9.57374166e-05 4.95494003e-02] [-3.86274304e-03 -6.49951126e-05 9.99992537e-01 -8.01323319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72420382200001 meters 0.030465207038900342 Centerline is valid? [True, True] Translation: X:30.11, Y:0.06, Z:-0.80 [[ 9.98968263e-01 4.49474107e-02 6.49158373e-03 3.01123823e+01] [-4.49473162e-02 9.98989346e-01 -1.60512243e-04 5.80679295e-02] [-6.49223759e-03 -1.31432630e-04 9.99978917e-01 -8.01198172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754203822 meters 0.031199294882719438 Centerline is valid? [True, True] Translation: X:30.14, Y:0.06, Z:-0.80 [[ 9.98927179e-01 4.58161649e-02 6.73573434e-03 3.01415131e+01] [-4.58160883e-02 9.98949878e-01 -1.65752535e-04 5.78312342e-02] [-6.73625514e-03 -1.43030287e-04 9.99977301e-01 -8.01093209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784203822 meters 0.03106022001488633 Centerline is valid? [True, True] Translation: X:30.17, Y:0.06, Z:-0.80 [[ 9.98891930e-01 4.66010274e-02 6.57692079e-03 3.01707244e+01] [-4.66009764e-02 9.98913571e-01 -1.61090359e-04 5.59622788e-02] [-6.57728242e-03 -1.45579071e-04 9.99978359e-01 -8.01709977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814203822 meters 0.030783802772405187 Centerline is valid? [True, True] Translation: X:30.20, Y:0.05, Z:-0.80 [[ 9.98859681e-01 4.73866973e-02 5.81713143e-03 3.01994049e+01] [-4.73866678e-02 9.98876611e-01 -1.42975367e-04 5.39562383e-02] [-5.81737166e-03 -1.32842145e-04 9.99983070e-01 -8.03483404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844203822000004 meters 0.03221770125443305 Centerline is valid? [True, True] Translation: X:30.23, Y:0.06, Z:-0.81 [[ 9.98839406e-01 4.77911394e-02 5.98737767e-03 3.02277312e+01] [-4.77911158e-02 9.98857341e-01 -1.47090559e-04 5.64021870e-02] [-5.98756576e-03 -1.39223613e-04 9.99982065e-01 -8.05365346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874203822000005 meters 0.03617157668755518 Centerline is valid? [True, True] Translation: X:30.26, Y:0.06, Z:-0.81 [[ 9.98827944e-01 4.79735240e-02 6.42494400e-03 3.02558721e+01] [-4.79735041e-02 9.98848596e-01 -1.57308511e-04 6.26929370e-02] [-6.42509294e-03 -1.51102940e-04 9.99979347e-01 -8.09259024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90420382200001 meters 0.03126561150094193 Centerline is valid? [True, True] Translation: X:30.28, Y:0.06, Z:-0.81 [[ 9.98871028e-01 4.70659712e-02 6.43921277e-03 3.02846773e+01] [-4.70659364e-02 9.98891772e-01 -1.57034217e-04 5.79870934e-02] [-6.43946762e-03 -1.46210649e-04 9.99979256e-01 -8.05893839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934203822 meters 0.027744905310057803 Centerline is valid? [True, True] Translation: X:30.31, Y:0.05, Z:-0.81 [[ 9.98963675e-01 4.51368236e-02 5.85176254e-03 3.03134379e+01] [-4.51367625e-02 9.98980807e-01 -1.42583862e-04 5.21527804e-02] [-5.85223425e-03 -1.21693517e-04 9.99982868e-01 -8.05000250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964203822 meters 0.032170213335782724 Centerline is valid? [True, True] Translation: X:30.34, Y:0.05, Z:-0.81 [[ 9.99059041e-01 4.29186421e-02 6.24689649e-03 3.03414198e+01] [-4.29185299e-02 9.99078564e-01 -1.52076722e-04 4.97449511e-02] [-6.24766730e-03 -1.16173990e-04 9.99980476e-01 -8.06024738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994203822 meters 0.02390075992520706 Centerline is valid? [True, True] Translation: X:30.37, Y:0.04, Z:-0.81 [[ 9.99175370e-01 4.00394828e-02 6.73941784e-03 3.03713069e+01] [-4.00392975e-02 9.99198093e-01 -1.62478276e-04 4.41214803e-02] [-6.74051900e-03 -1.07497264e-04 9.99977277e-01 -8.06663596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024203822000004 meters 0.0190076179120208 Centerline is valid? [True, True] Translation: X:30.40, Y:0.03, Z:-0.81 [[ 9.99397149e-01 3.39890158e-02 7.07705710e-03 3.03999903e+01] [-3.39886586e-02 9.99422204e-01 -1.70765932e-04 3.33166932e-02] [-7.07877217e-03 -6.98766919e-05 9.99974943e-01 -8.07117844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054203822000005 meters 0.016232072350030744 Centerline is valid? [True, True] Translation: X:30.43, Y:0.03, Z:-0.81 [[ 9.99484044e-01 3.13722433e-02 6.88680811e-03 3.04302978e+01] [-3.13718475e-02 9.99507769e-01 -1.65526059e-04 2.66630901e-02] [-6.88861113e-03 -5.06112390e-05 9.99976272e-01 -8.06342835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084203822000006 meters 0.01637820494166876 Centerline is valid? [True, True] Translation: X:30.46, Y:0.02, Z:-0.81 [[ 9.99543087e-01 2.95417169e-02 6.39567733e-03 3.04601626e+01] [-2.95413460e-02 9.99563548e-01 -1.52478797e-04 2.29101102e-02] [-6.39739040e-03 -3.65277889e-05 9.99979536e-01 -8.10262251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114203822 meters 0.015962339503857146 Centerline is valid? [True, True] Translation: X:30.49, Y:0.02, Z:-0.81 [[ 9.99579749e-01 2.86199848e-02 4.60665805e-03 3.04906312e+01] [-2.86197772e-02 9.99590364e-01 -1.10982679e-04 1.79067819e-02] [-4.60794732e-03 -2.09054891e-05 9.99989383e-01 -8.12023379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144203822 meters 0.017126673779095124 Centerline is valid? [True, True] Translation: X:30.52, Y:0.02, Z:-0.82 [[ 9.99570327e-01 2.90539100e-02 3.87697226e-03 3.05196203e+01] [-2.90537651e-02 9.99577846e-01 -9.36967867e-05 1.60965154e-02] [-3.87805783e-03 -1.89841134e-05 9.99992480e-01 -8.16097151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174203822 meters 0.017625647228812567 Centerline is valid? [True, True] Translation: X:30.55, Y:0.02, Z:-0.82 [[ 9.99543310e-01 3.00313575e-02 3.35992781e-03 3.05489531e+01] [-3.00312532e-02 9.99548957e-01 -8.15006151e-05 1.55832266e-02] [-3.36085991e-03 -1.94394481e-05 9.99994352e-01 -8.17591173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204203822000004 meters 0.018416452236401305 Centerline is valid? [True, True] Translation: X:30.58, Y:0.02, Z:-0.82 [[ 9.99504974e-01 3.13162730e-02 3.01640542e-03 3.05789524e+01] [-3.13161948e-02 9.99509525e-01 -7.31673351e-05 1.67193179e-02] [-3.01721728e-03 -2.13312244e-05 9.99995448e-01 -8.18692524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.234203822000005 meters 0.02051633840740431 Centerline is valid? [True, True] Translation: X:30.61, Y:0.02, Z:-0.82 [[ 9.99412410e-01 3.41644528e-02 2.76132098e-03 3.06074612e+01] [-3.41643965e-02 9.99416224e-01 -6.75741534e-05 2.02291890e-02] [-2.76201762e-03 -2.68044173e-05 9.99996185e-01 -8.19793793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264203822000006 meters 0.030305322392212355 Centerline is valid? [True, True] Translation: X:30.64, Y:0.02, Z:-0.82 [[ 9.99350771e-01 3.58940618e-02 3.10704879e-03 3.06361608e+01] [-3.58939998e-02 9.99355600e-01 -7.57340455e-05 2.01480460e-02] [-3.10776501e-03 -3.58395322e-05 9.99995170e-01 -8.18934774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294203822 meters 0.023797981385652024 Centerline is valid? [True, True] Translation: X:30.66, Y:0.02, Z:-0.82 [[ 9.99306126e-01 3.70671061e-02 3.64632002e-03 3.06640353e+01] [-3.70670290e-02 9.99312778e-01 -8.87525493e-05 2.12833891e-02] [-3.64710399e-03 -4.64672838e-05 9.99993348e-01 -8.23349615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324203822 meters 0.022959203729427755 Centerline is valid? [True, True] Translation: X:30.69, Y:0.02, Z:-0.82 [[ 9.99266430e-01 3.81529594e-02 3.30963696e-03 3.06925146e+01] [-3.81529029e-02 9.99271910e-01 -8.02305419e-05 1.99943946e-02] [-3.31028828e-03 -4.61005705e-05 9.99994520e-01 -8.21245587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354203822 meters 0.025979876321462696 Centerline is valid? [True, True] Translation: X:30.72, Y:0.02, Z:-0.82 [[ 9.99182729e-01 4.03104567e-02 2.99013145e-03 3.07204685e+01] [-4.03104203e-02 9.99187202e-01 -7.24657600e-05 2.44499592e-02] [-2.99062221e-03 -4.81269198e-05 9.99995527e-01 -8.23900957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384203822 meters 0.02742882400929895 Centerline is valid? [True, True] Translation: X:30.75, Y:0.02, Z:-0.83 [[ 9.99158409e-01 4.08831953e-02 3.32226943e-03 3.07484419e+01] [-4.08831537e-02 9.99163931e-01 -8.04861793e-05 2.49094308e-02] [-3.32278231e-03 -5.54064086e-05 9.99994478e-01 -8.25798713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414203822000005 meters 0.027412265012826904 Centerline is valid? [True, True] Translation: X:30.78, Y:0.02, Z:-0.82 [[ 9.99138242e-01 4.13058905e-02 4.07396572e-03 3.07769531e+01] [-4.13058351e-02 9.99146545e-01 -9.77723169e-05 2.33361560e-02] [-4.07452735e-03 -7.05904955e-05 9.99991697e-01 -8.24865376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444203822000006 meters 0.024958631878217435 Centerline is valid? [True, True] Translation: X:30.81, Y:0.02, Z:-0.82 [[ 9.99145446e-01 4.10992776e-02 4.38493219e-03 3.08060340e+01] [-4.10992126e-02 9.99155065e-01 -1.04979506e-04 1.96188253e-02] [-4.38554179e-03 -7.53274648e-05 9.99990381e-01 -8.20569481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47420382200001 meters 0.024324328381012245 Centerline is valid? [True, True] Translation: X:30.83, Y:0.02, Z:-0.82 [[ 9.99166352e-01 4.05722939e-02 4.52667448e-03 3.08345936e+01] [-4.05722203e-02 9.99176603e-01 -1.08114524e-04 1.82351358e-02] [-4.52733368e-03 -7.56328393e-05 9.99989749e-01 -8.21462076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504203822 meters 0.02457743525834618 Centerline is valid? [True, True] Translation: X:30.86, Y:0.02, Z:-0.82 [[ 9.99213128e-01 3.93982833e-02 4.57171248e-03 3.08623113e+01] [-3.93981952e-02 9.99223584e-01 -1.09357120e-04 1.61825919e-02] [-4.57247142e-03 -7.08461507e-05 9.99989544e-01 -8.24086739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534203822 meters 0.02140078222482587 Centerline is valid? [True, True] Translation: X:30.89, Y:0.00, Z:-0.82 [[ 9.99337683e-01 3.60271777e-02 5.12222006e-03 3.08917368e+01] [-3.60270307e-02 9.99350808e-01 -1.20990677e-04 4.87811850e-03] [-5.12325371e-03 -6.36278367e-05 9.99986874e-01 -8.23670306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564203822 meters 0.01982112661899035 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.00, Z:-0.82 [[ 9.99398952e-01 3.42952106e-02 5.05701257e-03 3.09215327e+01] [-3.42950457e-02 9.99411745e-01 -1.19347207e-04 -1.88406167e-04] [-5.05813080e-03 -5.41550038e-05 9.99987206e-01 -8.23612277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594203822000004 meters 0.019432502841046816 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.00, Z:-0.83 [[ 9.99451370e-01 3.27214058e-02 5.12536297e-03 3.09504445e+01] [-3.27212149e-02 9.99464510e-01 -1.21105625e-04 -3.92717617e-03] [-5.12658113e-03 -4.66689203e-05 9.99986858e-01 -8.25904994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624203822000005 meters 0.016344366137055408 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.02, Z:-0.82 [[ 9.99574825e-01 2.85125350e-02 6.09962452e-03 3.09810266e+01] [-2.85121937e-02 9.99593435e-01 -1.42910363e-04 -1.54264350e-02] [-6.10121936e-03 -3.10640750e-05 9.99981387e-01 -8.24505743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65420382200001 meters 0.02525398878754686 Centerline is valid? [True, True] Translation: X:31.01, Y:-0.02, Z:-0.82 [[ 9.99617486e-01 2.68977462e-02 6.43379169e-03 3.10110796e+01] [-2.68973331e-02 9.99638190e-01 -1.50739689e-04 -2.00240452e-02] [-6.43551843e-03 -2.23698086e-05 9.99979292e-01 -8.21218312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684203822 meters 0.014293454588194499 Centerline is valid? [True, True] Translation: X:31.04, Y:-0.02, Z:-0.82 [[ 9.99658399e-01 2.50968551e-02 7.29613368e-03 3.10417337e+01] [-2.50962796e-02 9.99685024e-01 -1.70433366e-04 -2.41746955e-02] [-7.29811292e-03 -1.27306656e-05 9.99973368e-01 -8.22906721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714203822 meters 0.014087733880274652 Centerline is valid? [True, True] Translation: X:31.07, Y:-0.03, Z:-0.82 [[ 9.99710529e-01 2.28066100e-02 7.66272652e-03 3.10729245e+01] [-2.28059174e-02 9.99739895e-01 -1.77760071e-04 -3.29882373e-02] [-7.66478751e-03 2.95310620e-06 9.99970625e-01 -8.23569738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744203822 meters 0.014033379823093708 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.04, Z:-0.82 [[ 9.99723538e-01 2.24784297e-02 6.89701140e-03 3.11046885e+01] [-2.24778692e-02 9.99747328e-01 -1.58770213e-04 -3.82826327e-02] [-6.89883763e-03 3.69619836e-06 9.99976203e-01 -8.24357341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.774203822000004 meters 0.023728064208291128 Centerline is valid? [True, True] Translation: X:31.14, Y:-0.04, Z:-0.83 [[ 9.99722825e-01 2.27771088e-02 5.95619215e-03 3.11356405e+01] [-2.27766924e-02 9.99740568e-01 -1.37750255e-04 -4.29448465e-02] [-5.95778448e-03 2.04971753e-06 9.99982252e-01 -8.26104156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804203822000005 meters 0.01467410018405523 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.05, Z:-0.83 [[ 9.99667574e-01 2.47491310e-02 7.22650956e-03 3.11665675e+01] [-2.47485543e-02 9.99693693e-01 -1.69231947e-04 -4.60242104e-02] [-7.22848437e-03 -9.66997451e-06 9.99973874e-01 -8.26287246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834203822000006 meters 0.013590698042414353 Centerline is valid? [True, True] Translation: X:31.20, Y:-0.05, Z:-0.82 [[ 9.99613788e-01 2.66929076e-02 7.73069666e-03 3.11986413e+01] [-2.66922967e-02 9.99643681e-01 -1.82205840e-04 -4.53732467e-02] [-7.73280566e-03 -2.42145790e-05 9.99970101e-01 -8.22265909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864203822 meters 0.014894036680865124 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.04, Z:-0.82 [[ 9.99533903e-01 2.95032514e-02 7.84443662e-03 3.12297448e+01] [-2.95026956e-02 9.99564683e-01 -1.86585591e-04 -4.38702937e-02] [-7.84652669e-03 -4.49334021e-05 9.99969215e-01 -8.24570578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894203822 meters 0.017906762500460787 Centerline is valid? [True, True] Translation: X:31.26, Y:-0.04, Z:-0.83 [[ 9.99435777e-01 3.27741862e-02 7.34717596e-03 3.12603589e+01] [-3.27737595e-02 9.99462780e-01 -1.78491408e-04 -4.17301176e-02] [-7.34907882e-03 -6.24038796e-05 9.99972993e-01 -8.29106247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924203822 meters 0.023549058524620133 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.04, Z:-0.83 [[ 9.99209036e-01 3.92519174e-02 6.37098725e-03 3.12909482e+01] [-3.92517260e-02 9.99229342e-01 -1.55116340e-04 -3.57689951e-02] [-6.37216601e-03 -9.50785972e-05 9.99979693e-01 -8.31881409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.954203822000004 meters 0.02552774860034047 Centerline is valid? [True, True] Translation: X:31.32, Y:-0.03, Z:-0.83 [[ 9.99079165e-01 4.24252843e-02 6.39660284e-03 3.13210117e+01] [-4.24251509e-02 9.99099636e-01 -1.56604626e-04 -3.30710231e-02] [-6.39748756e-03 -1.14916421e-04 9.99979529e-01 -8.31693857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984203822000005 meters 0.028169416236115036 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.03, Z:-0.83 [[ 9.98950233e-01 4.53551652e-02 6.42972707e-03 3.13513544e+01] [-4.53550955e-02 9.98970916e-01 -1.56726387e-04 -2.95676437e-02] [-6.43021869e-03 -1.35059024e-04 9.99979317e-01 -8.32750962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014203822000006 meters 0.03438039191044096 Centerline is valid? [True, True] Translation: X:31.38, Y:-0.02, Z:-0.84 [[ 9.98763827e-01 4.93590852e-02 5.87348536e-03 3.13809252e+01] [-4.93590946e-02 9.98781087e-01 -1.43439543e-04 -2.09841026e-02] [-5.87340614e-03 -1.46647693e-04 9.99982741e-01 -8.36819030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04420382200001 meters 0.03438039191044096 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.02, Z:-0.84 [[ 9.98766129e-01 4.93124901e-02 5.87346815e-03 3.14092470e+01] [-4.93124946e-02 9.98783388e-01 -1.44147115e-04 -2.15811269e-02] [-5.87343067e-03 -1.45666110e-04 9.99982741e-01 -8.37623434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074203822 meters 0.03480693216912437 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.02, Z:-0.84 [[ 9.98717489e-01 5.03295603e-02 5.50569063e-03 3.14388277e+01] [-5.03295835e-02 9.98732654e-01 -1.34418892e-04 -2.11798779e-02] [-5.50547826e-03 -1.42852618e-04 9.99984835e-01 -8.38141566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104203822 meters 0.03311191791108843 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.02, Z:-0.84 [[ 9.98690936e-01 5.08426257e-02 5.60730199e-03 3.14674091e+01] [-5.08426555e-02 9.98706666e-01 -1.37333279e-04 -2.37944057e-02] [-5.60703226e-03 -1.47936622e-04 9.99984270e-01 -8.36729560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.134203822 meters 0.036019681753754515 Centerline is valid? [True, True] Translation: X:31.50, Y:-0.02, Z:-0.84 [[ 9.98685180e-01 5.09068501e-02 6.03361647e-03 3.14954375e+01] [-5.09068866e-02 9.98703393e-01 -1.47643761e-04 -2.11944496e-02] [-6.03330932e-03 -1.59702993e-04 9.99981787e-01 -8.39706622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164203822000005 meters 0.03267548470124077 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.03, Z:-0.84 [[ 9.98773427e-01 4.91463534e-02 6.02302523e-03 3.15251196e+01] [-4.91463649e-02 9.98791577e-01 -1.46192500e-04 -2.60541222e-02] [-6.02293170e-03 -1.49996611e-04 9.99981851e-01 -8.38774637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194203822000006 meters 0.031914805226772695 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.03, Z:-0.84 [[ 9.98838732e-01 4.78398630e-02 5.70388637e-03 3.15535771e+01] [-4.78398510e-02 9.98855009e-01 -1.38616203e-04 -2.74871356e-02] [-5.70398685e-03 -1.34417841e-04 9.99983723e-01 -8.40261976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22420382200001 meters 0.030899917511350298 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.03, Z:-0.84 [[ 9.98899945e-01 4.65465039e-02 5.68533066e-03 3.15821411e+01] [-4.65464742e-02 9.98916116e-01 -1.37603928e-04 -2.91019209e-02] [-5.68557340e-03 -1.27179541e-04 9.99983829e-01 -8.41399531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254203822 meters 0.027549162757525263 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.03, Z:-0.84 [[ 9.99029138e-01 4.38087268e-02 4.64509455e-03 3.16120185e+01] [-4.38086769e-02 9.99039933e-01 -1.12530819e-04 -3.38399993e-02] [-4.64556478e-03 -9.10738792e-05 9.99989205e-01 -8.42681143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284203822 meters 0.025969848458853174 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.04, Z:-0.84 [[ 9.99101033e-01 4.21834082e-02 4.20536160e-03 3.16412768e+01] [-4.21833531e-02 9.99109881e-01 -1.01844107e-04 -3.65629065e-02] [-4.20591446e-03 -7.56437011e-05 9.99991152e-01 -8.44654421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.314203822 meters 0.026288075041348953 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.04, Z:-0.85 [[ 9.99170237e-01 4.04880456e-02 4.42223527e-03 3.16699045e+01] [-4.04879674e-02 9.99180020e-01 -1.07239993e-04 -3.71772345e-02] [-4.42295107e-03 -7.18963081e-05 9.99990216e-01 -8.47913887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344203822000004 meters 0.022311836833822606 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.04, Z:-0.85 [[ 9.99299043e-01 3.69862158e-02 5.78297075e-03 3.16999898e+01] [-3.69860297e-02 9.99315773e-01 -1.39155704e-04 -4.27774801e-02] [-5.78416073e-03 -7.48309659e-05 9.99983269e-01 -8.46165657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374203822000005 meters 0.020008765336235364 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.05, Z:-0.84 [[ 9.99359905e-01 3.52664282e-02 6.00501347e-03 3.17302128e+01] [-3.52661986e-02 9.99377944e-01 -1.44154621e-04 -4.72118258e-02] [-6.00636183e-03 -6.77116493e-05 9.99981959e-01 -8.44803987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40420382200001 meters 0.018486364582193486 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.05, Z:-0.85 [[ 9.99425046e-01 3.33958562e-02 5.85620624e-03 3.17608510e+01] [-3.33956057e-02 9.99442201e-01 -1.40582397e-04 -5.04895315e-02] [-5.85763453e-03 -5.50699856e-05 9.99982842e-01 -8.45181815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434203822 meters 0.017249040568668113 Centerline is valid? [True, True] Translation: X:31.79, Y:-0.05, Z:-0.85 [[ 9.99519911e-01 3.06182750e-02 4.74002791e-03 3.17924305e+01] [-3.06180823e-02 9.99531150e-01 -1.13218523e-04 -5.22357351e-02] [-4.74127210e-03 -3.19663968e-05 9.99988760e-01 -8.47314037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464203822 meters 0.01749897878687061 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.05, Z:-0.85 [[ 9.99547136e-01 2.97502996e-02 4.52135794e-03 3.18218355e+01] [-2.97501139e-02 9.99557362e-01 -1.08341739e-04 -5.46894642e-02] [-4.52257981e-03 -2.62182386e-05 9.99989773e-01 -8.50770350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494203822 meters 0.017476360006124656 Centerline is valid? [True, True] Translation: X:31.85, Y:-0.06, Z:-0.85 [[ 9.99572692e-01 2.90074478e-02 3.60568566e-03 3.18524330e+01] [-2.90073238e-02 9.99579195e-01 -8.66901279e-05 -5.81984109e-02] [-3.60668303e-03 -1.79382070e-05 9.99993496e-01 -8.52913485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524203822000004 meters 0.01823387912061519 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.06, Z:-0.86 [[ 9.99578442e-01 2.89328284e-02 2.41446377e-03 3.18829006e+01] [-2.89327725e-02 9.99581358e-01 -5.80500333e-05 -6.05486662e-02] [-2.41513252e-03 -1.18315691e-05 9.99997083e-01 -8.55868477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554203822000005 meters 0.018449701392927682 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.06, Z:-0.86 [[ 9.99551301e-01 2.97735952e-02 3.27576162e-03 3.19117655e+01] [-2.97734941e-02 9.99556668e-01 -7.96360428e-05 -5.86300925e-02] [-3.27668042e-03 -1.79305591e-05 9.99994632e-01 -8.55645376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584203822000006 meters 0.02418935569876575 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.06, Z:-0.85 [[ 9.99508141e-01 3.10670460e-02 4.27946505e-03 3.19412648e+01] [-3.10668885e-02 9.99517302e-01 -1.03302270e-04 -5.67271828e-02] [-4.28060866e-03 -2.96982036e-05 9.99990838e-01 -8.53818507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614203822 meters 0.018280577906165725 Centerline is valid? [True, True] Translation: X:31.97, Y:-0.06, Z:-0.85 [[ 9.99439719e-01 3.30526535e-02 5.26976767e-03 3.19723457e+01] [-3.30524465e-02 9.99453611e-01 -1.26391514e-04 -5.53510828e-02] [-5.27106590e-03 -4.78580146e-05 9.99986107e-01 -8.51111541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644203822 meters 0.020303401069559704 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.05, Z:-0.85 [[ 9.99412835e-01 3.37573849e-02 5.86728833e-03 3.20021862e+01] [-3.37571389e-02 9.99430055e-01 -1.40994288e-04 -5.17971532e-02] [-5.86870390e-03 -5.71513654e-05 9.99982777e-01 -8.54075383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674203822 meters 0.019266627147585008 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.05, Z:-0.85 [[ 9.99404643e-01 3.39445681e-02 6.17454407e-03 3.20332555e+01] [-3.39443014e-02 9.99423715e-01 -1.48017359e-04 -5.10303267e-02] [-6.17601016e-03 -6.16613488e-05 9.99980926e-01 -8.51971404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704203822000004 meters 0.02676957863725223 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.05, Z:-0.85 [[ 9.99408828e-01 3.38870885e-02 5.80178600e-03 3.20632939e+01] [-3.38868520e-02 9.99425666e-01 -1.39081531e-04 -5.10534195e-02] [-5.80316690e-03 -5.76049538e-05 9.99983160e-01 -8.53807695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734203822000005 meters 0.01853479878456052 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.06, Z:-0.86 [[ 9.99458800e-01 3.25124791e-02 5.00462261e-03 3.20940367e+01] [-3.25122859e-02 9.99471329e-01 -1.19971777e-04 -5.75913863e-02] [-5.00587739e-03 -4.28048733e-05 9.99987470e-01 -8.56858008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764203822000006 meters 0.016992323417348684 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.06, Z:-0.86 [[ 9.99490187e-01 3.14945034e-02 5.24050293e-03 3.21245019e+01] [-3.14942776e-02 9.99503924e-01 -1.25626345e-04 -6.25320230e-02] [-5.24185978e-03 -3.94835547e-05 9.99986261e-01 -8.55559317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79420382200001 meters 0.017408150715082716 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.07, Z:-0.86 [[ 9.99527098e-01 3.02173410e-02 5.70016072e-03 3.21544593e+01] [-3.02170546e-02 9.99543351e-01 -1.36368964e-04 -6.54426702e-02] [-5.70167845e-03 -3.59375927e-05 9.99983745e-01 -8.58448731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824203822 meters 0.02932907984326583 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.07, Z:-0.86 [[ 9.99554861e-01 2.92773437e-02 5.73736442e-03 3.21846122e+01] [-2.92770361e-02 9.99571326e-01 -1.37607160e-04 -6.82339270e-02] [-5.73893374e-03 -3.04271192e-05 9.99983532e-01 -8.55752925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854203822 meters 0.014995477191147662 Centerline is valid? [True, True] Translation: X:32.22, Y:-0.07, Z:-0.86 [[ 9.99610341e-01 2.72054659e-02 6.24737264e-03 3.22155169e+01] [-2.72050641e-02 9.99629863e-01 -1.49303051e-04 -7.17168626e-02] [-6.24912212e-03 -2.07153000e-05 9.99980474e-01 -8.55332634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884203822 meters 0.014720575265844579 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.07, Z:-0.86 [[ 9.99629897e-01 2.63370708e-02 6.81374525e-03 3.22458410e+01] [-2.63365693e-02 9.99653119e-01 -1.63329650e-04 -7.26984712e-02] [-6.81568331e-03 -1.61814734e-05 9.99976773e-01 -8.56152633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914203822000005 meters 0.028679152543259173 Centerline is valid? [True, True] Translation: X:32.28, Y:-0.07, Z:-0.86 [[ 9.99640918e-01 2.61155239e-02 6.00125500e-03 3.22776212e+01] [-2.61151324e-02 9.99658931e-01 -1.43612049e-04 -7.35594372e-02] [-6.00295867e-03 -1.31630878e-05 9.99981982e-01 -8.56798735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944203822000006 meters 0.023867126216738595 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.07, Z:-0.86 [[ 9.99624090e-01 2.68161099e-02 5.70752536e-03 3.23092597e+01] [-2.68157666e-02 9.99640383e-01 -1.36686649e-04 -7.47005733e-02] [-5.70913825e-03 -1.64164009e-05 9.99983703e-01 -8.58295596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97420382200001 meters 0.025600258913623667 Centerline is valid? [True, True] Translation: X:32.34, Y:-0.08, Z:-0.86 [[ 9.99605354e-01 2.74306023e-02 6.05797618e-03 3.23407923e+01] [-2.74302256e-02 9.99623710e-01 -1.45270274e-04 -7.61229424e-02] [-6.05968148e-03 -2.09587104e-05 9.99981640e-01 -8.59106265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004203822 meters 0.022134920180802486 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.08, Z:-0.86 [[ 9.99601471e-01 2.75222143e-02 6.27912493e-03 3.23708651e+01] [-2.75218156e-02 9.99621192e-01 -1.49902769e-04 -7.85718205e-02] [-6.28087200e-03 -2.29698905e-05 9.99980275e-01 -8.61320629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034203822 meters 0.015110952354725453 Centerline is valid? [True, True] Translation: X:32.40, Y:-0.08, Z:-0.86 [[ 9.99618160e-01 2.71996367e-02 4.86977615e-03 3.24023927e+01] [-2.71993892e-02 9.99630021e-01 -1.17054529e-04 -8.21732120e-02] [-4.87115827e-03 -1.54451033e-05 9.99988136e-01 -8.61890854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064203822 meters 0.015811590819935176 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.08, Z:-0.86 [[ 9.99618785e-01 2.72501573e-02 4.44006713e-03 3.24326214e+01] [-2.72499505e-02 9.99628645e-01 -1.07070936e-04 -8.11988382e-02] [-4.44133599e-03 -1.39614907e-05 9.99990137e-01 -8.64420053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094203822000004 meters 0.015513533796799697 Centerline is valid? [True, True] Translation: X:32.46, Y:-0.08, Z:-0.86 [[ 9.99601152e-01 2.78649977e-02 4.59118370e-03 3.24632795e+01] [-2.78647815e-02 9.99611695e-01 -1.11073850e-04 -7.92513704e-02] [-4.59249599e-03 -1.69027825e-05 9.99989454e-01 -8.63558801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124203822000005 meters 0.016744227518234688 Centerline is valid? [True, True] Translation: X:32.49, Y:-0.08, Z:-0.87 [[ 9.99515689e-01 3.08090045e-02 4.38099786e-03 3.24940595e+01] [-3.08088359e-02 9.99525290e-01 -1.05988854e-04 -7.64577670e-02] [-4.38218356e-03 -2.90359220e-05 9.99990398e-01 -8.65695200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15420382200001 meters 0.01962939415223854 Centerline is valid? [True, True] Translation: X:32.52, Y:-0.07, Z:-0.87 [[ 9.99438246e-01 3.33341549e-02 3.46790591e-03 3.25236132e+01] [-3.33340634e-02 9.99444262e-01 -8.42028495e-05 -7.47514680e-02] [-3.46878550e-03 -3.14438473e-05 9.99993983e-01 -8.70651821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184203822 meters 0.021607371315965913 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.07, Z:-0.87 [[ 9.99344434e-01 3.60859391e-02 2.91680235e-03 3.25535273e+01] [-3.60858851e-02 9.99348690e-01 -7.11396043e-05 -7.23393721e-02] [-2.91746975e-03 -3.41624271e-05 9.99995744e-01 -8.71816415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214203822 meters 0.02542831231669417 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.06, Z:-0.87 [[ 9.99135202e-01 4.12994921e-02 4.81662594e-03 3.25832195e+01] [-4.12994082e-02 9.99146809e-01 -1.16916696e-04 -6.21669304e-02] [-4.81734503e-03 -8.21082144e-05 9.99988393e-01 -8.69023506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244203822 meters 0.027930068978646576 Centerline is valid? [True, True] Translation: X:32.61, Y:-0.06, Z:-0.87 [[ 9.99050063e-01 4.32654816e-02 5.20289004e-03 3.26118044e+01] [-4.32654099e-02 9.99063606e-01 -1.26388141e-04 -5.76668149e-02] [-5.20348633e-03 -9.88370897e-05 9.99986457e-01 -8.70261427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274203822000004 meters 0.03031116519566415 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.05, Z:-0.87 [[ 9.98998356e-01 4.44789658e-02 4.88940705e-03 3.26408528e+01] [-4.44789176e-02 9.99010316e-01 -1.18650308e-04 -5.48050907e-02] [-4.88984553e-03 -9.89440713e-05 9.99988040e-01 -8.73061783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304203822000005 meters 0.028940239997257644 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.05, Z:-0.87 [[ 9.98933721e-01 4.59094344e-02 4.87292211e-03 3.26707030e+01] [-4.59094056e-02 9.98945600e-01 -1.17825982e-04 -5.21735541e-02] [-4.87319342e-03 -1.06012611e-04 9.99988120e-01 -8.69527743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334203822000006 meters 0.030314343680048098 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.05, Z:-0.87 [[ 9.98926637e-01 4.59187818e-02 6.08605571e-03 3.26997574e+01] [-4.59187374e-02 9.98945168e-01 -1.47103327e-04 -4.68497528e-02] [-6.08639074e-03 -1.32518562e-04 9.99981469e-01 -8.70326809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364203822 meters 0.032575592684704585 Centerline is valid? [True, True] Translation: X:32.73, Y:-0.05, Z:-0.87 [[ 9.98940509e-01 4.54588450e-02 7.16614557e-03 3.27299264e+01] [-4.54587785e-02 9.98966201e-01 -1.72249467e-04 -4.68487144e-02] [-7.16656748e-03 -1.53697254e-04 9.99974308e-01 -8.68204185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394203822 meters 0.024616488880981537 Centerline is valid? [True, True] Translation: X:32.76, Y:-0.05, Z:-0.87 [[ 9.99094332e-01 4.15774032e-02 9.04626491e-03 3.27595540e+01] [-4.15771421e-02 9.99135273e-01 -2.17007939e-04 -5.39735373e-02] [-9.04746499e-03 -1.59306440e-04 9.99959058e-01 -8.67444819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424203822 meters 0.022268496517927665 Centerline is valid? [True, True] Translation: X:32.79, Y:-0.06, Z:-0.87 [[ 9.99182721e-01 3.92630972e-02 9.60720513e-03 3.27903168e+01] [-3.92626979e-02 9.99228896e-01 -2.30240836e-04 -5.91599083e-02] [-9.60883695e-03 -1.47152128e-04 9.99953823e-01 -8.67212669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454203822000004 meters 0.018884811348528922 Centerline is valid? [True, True] Translation: X:32.82, Y:-0.06, Z:-0.87 [[ 9.99268871e-01 3.69001749e-02 1.00050293e-02 3.28214719e+01] [-3.68996244e-02 9.99318948e-01 -2.39675349e-04 -6.44450480e-02] [-1.00070594e-02 -1.29681708e-04 9.99949920e-01 -8.65275659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484203822000005 meters 0.017330192690323085 Centerline is valid? [True, True] Translation: X:32.85, Y:-0.07, Z:-0.87 [[ 9.99357347e-01 3.42115743e-02 1.06986509e-02 3.28521955e+01] [-3.42108128e-02 9.99414606e-01 -2.54238125e-04 -6.69062289e-02] [-1.07010858e-02 -1.11934803e-04 9.99942735e-01 -8.66807285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514203822000006 meters 0.014831412330795001 Centerline is valid? [True, True] Translation: X:32.88, Y:-0.07, Z:-0.87 [[ 9.99457336e-01 3.10286801e-02 1.10569116e-02 3.28840949e+01] [-3.10276524e-02 9.99518491e-01 -2.64520275e-04 -7.13932923e-02] [-1.10597953e-02 -7.86932812e-05 9.99938835e-01 -8.66894296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54420382200001 meters 0.02280593087908524 Centerline is valid? [True, True] Translation: X:32.92, Y:-0.08, Z:-0.87 [[ 9.99647064e-01 2.45592140e-02 1.01288405e-02 3.29153935e+01] [-2.45580041e-02 9.99698377e-01 -2.43825197e-04 -8.18469548e-02] [-1.01317735e-02 -5.00496365e-06 9.99948672e-01 -8.67990279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574203822 meters 0.026621940462914533 Centerline is valid? [True, True] Translation: X:32.95, Y:-0.09, Z:-0.87 [[ 9.99714689e-01 2.18181466e-02 9.72158613e-03 3.29467102e+01] [-2.18168892e-02 9.99761956e-01 -2.35384934e-04 -8.86070887e-02] [-9.72440762e-03 2.32230091e-05 9.99952717e-01 -8.70017110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604203822 meters 0.027895510100710577 Centerline is valid? [True, True] Translation: X:32.98, Y:-0.10, Z:-0.87 [[ 9.99792416e-01 1.80254222e-02 9.49782459e-03 3.29771987e+01] [-1.80240381e-02 9.99837527e-01 -2.31318302e-04 -1.00927378e-01] [-9.50045106e-03 6.00811323e-05 9.99954868e-01 -8.71515629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634203822 meters 0.016178073237248933 Centerline is valid? [True, True] Translation: X:33.01, Y:-0.11, Z:-0.87 [[ 9.99805872e-01 1.75239202e-02 9.00729828e-03 3.30094814e+01] [-1.75226466e-02 9.99846442e-01 -2.20306126e-04 -1.06346898e-01] [-9.00977577e-03 6.24316537e-05 9.99959409e-01 -8.73569662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664203822000005 meters 0.0280773418734089 Centerline is valid? [True, True] Translation: X:33.04, Y:-0.11, Z:-0.88 [[ 9.99798361e-01 1.84036363e-02 8.03392780e-03 3.30419500e+01] [-1.84026451e-02 9.99830638e-01 -1.97291946e-04 -1.08056247e-01] [-8.03619804e-03 4.94066424e-05 9.99967708e-01 -8.75101873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694203822000006 meters 0.024165288229809782 Centerline is valid? [True, True] Translation: X:33.08, Y:-0.11, Z:-0.88 [[ 9.99774298e-01 1.99294860e-02 7.35997189e-03 3.30751482e+01] [-1.99286939e-02 9.99801387e-01 -1.80955898e-04 -1.07928373e-01] [-7.36211646e-03 3.42404293e-05 9.99972899e-01 -8.75431351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72420382200001 meters 0.022016378021199438 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.10, Z:-0.88 [[ 9.99670445e-01 2.49775506e-02 5.92655704e-03 3.31058951e+01] [-2.49771204e-02 9.99688012e-01 -1.46602718e-04 -1.04193734e-01] [-5.92836980e-03 -1.47392421e-06 9.99982427e-01 -8.80362780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754203822 meters 0.016830562083848262 Centerline is valid? [True, True] Translation: X:33.14, Y:-0.10, Z:-0.89 [[ 9.99586906e-01 2.82769367e-02 5.14116605e-03 3.31371573e+01] [-2.82766552e-02 9.99600127e-01 -1.27441291e-04 -1.01747493e-01] [-5.14271389e-03 -1.79863338e-05 9.99986776e-01 -8.85469306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784203822 meters 0.029207285934319437 Centerline is valid? [True, True] Translation: X:33.17, Y:-0.10, Z:-0.88 [[ 9.99360467e-01 3.54338343e-02 4.80634461e-03 3.31677516e+01] [-3.54336517e-02 9.99372023e-01 -1.23169760e-04 -9.50889806e-02] [-4.80769071e-03 -4.72153522e-05 9.99988442e-01 -8.80917890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814203822 meters 0.024733548600146503 Centerline is valid? [True, True] Translation: X:33.20, Y:-0.09, Z:-0.88 [[ 9.99246742e-01 3.84145032e-02 5.50227204e-03 3.31977002e+01] [-3.84143075e-02 9.99261888e-01 -1.41284689e-04 -9.26823582e-02] [-5.50363813e-03 -7.01877049e-05 9.99984852e-01 -8.82440202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844203822000004 meters 0.023317195379000406 Centerline is valid? [True, True] Translation: X:33.23, Y:-0.09, Z:-0.88 [[ 9.99152443e-01 4.07747507e-02 5.64045808e-03 3.32276866e+01] [-4.07745816e-02 9.99168360e-01 -1.45020206e-04 -9.27445077e-02] [-5.64168042e-03 -8.50900253e-05 9.99984082e-01 -8.84487636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874203822000005 meters 0.027583175696646336 Centerline is valid? [True, True] Translation: X:33.26, Y:-0.09, Z:-0.89 [[ 9.98998772e-01 4.45982348e-02 3.52853242e-03 3.32577096e+01] [-4.45981929e-02 9.99005001e-01 -9.05941678e-05 -8.91177598e-02] [-3.52906187e-03 -6.68627071e-05 9.99993771e-01 -8.89067035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90420382200001 meters 0.027928327901497112 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.09, Z:-0.89 [[ 9.98922709e-01 4.62722826e-02 3.50671206e-03 3.32873860e+01] [-4.62722505e-02 9.98928862e-01 -9.03093071e-05 -8.66120421e-02] [-3.50713470e-03 -7.20514412e-05 9.99993847e-01 -8.88345052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934203822 meters 0.03182420765352736 Centerline is valid? [True, True] Translation: X:33.32, Y:-0.08, Z:-0.89 [[ 9.98845499e-01 4.78396329e-02 4.36334887e-03 3.33152003e+01] [-4.78395956e-02 9.98855025e-01 -1.12974293e-04 -8.04519188e-02] [-4.36375760e-03 -9.58969815e-05 9.99990474e-01 -8.91285577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964203822 meters 0.03182420765352736 Centerline is valid? [True, True] Translation: X:33.34, Y:-0.08, Z:-0.89 [[ 9.98847746e-01 4.77926893e-02 4.36336456e-03 3.33435212e+01] [-4.77926542e-02 9.98857272e-01 -1.12359895e-04 -8.10816207e-02] [-4.36374841e-03 -9.63063456e-05 9.99990474e-01 -8.92090132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994203822 meters 0.03288287805469749 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.08, Z:-0.89 [[ 9.98784580e-01 4.90188184e-02 5.14964236e-03 3.33726539e+01] [-4.90187884e-02 9.98797848e-01 -1.32126377e-04 -7.97865072e-02] [-5.14992838e-03 -1.20463441e-04 9.99986732e-01 -8.91898982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024203822000004 meters 0.03207784122613912 Centerline is valid? [True, True] Translation: X:33.40, Y:-0.08, Z:-0.89 [[ 9.98725996e-01 5.02959022e-02 4.08733842e-03 3.34017174e+01] [-5.02958947e-02 9.98734355e-01 -1.04702091e-04 -8.38271946e-02] [-4.08743139e-03 -1.01007642e-04 9.99991641e-01 -8.92273041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054203822000005 meters 0.03493561586075543 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.08, Z:-0.90 [[ 9.98733651e-01 5.01818688e-02 3.58801268e-03 3.34290753e+01] [-5.01818601e-02 9.98740092e-01 -9.25023853e-05 -8.13141056e-02] [-3.58813405e-03 -8.76679051e-05 9.99993559e-01 -8.97322997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084203822000006 meters 0.033102845518138815 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.08, Z:-0.90 [[ 9.98764123e-01 4.95428754e-02 3.96614684e-03 3.34583912e+01] [-4.95428651e-02 9.98771993e-01 -1.00927598e-04 -8.38693451e-02] [-3.96627663e-03 -9.56914134e-05 9.99992130e-01 -8.96192175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114203822 meters 0.030969899802903558 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.09, Z:-0.90 [[ 9.98897307e-01 4.65841332e-02 5.83851809e-03 3.34876921e+01] [-4.65840628e-02 9.98914362e-01 -1.48113663e-04 -8.85720625e-02] [-5.83907932e-03 -1.24031554e-04 9.99982945e-01 -8.95174854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144203822 meters 0.026111509002971333 Centerline is valid? [True, True] Translation: X:33.52, Y:-0.10, Z:-0.89 [[ 9.98989180e-01 4.44111783e-02 6.94727961e-03 3.35179640e+01] [-4.44110318e-02 9.99013328e-01 -1.75438813e-04 -9.67078813e-02] [-6.94821637e-03 -1.33274380e-04 9.99975852e-01 -8.90969552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174203822 meters 0.02487068500918974 Centerline is valid? [True, True] Translation: X:33.55, Y:-0.10, Z:-0.89 [[ 9.99084182e-01 4.20653717e-02 7.82955530e-03 3.35472337e+01] [-4.20651116e-02 9.99114852e-01 -1.97966608e-04 -1.00419817e-01] [-7.83095252e-03 -1.31565810e-04 9.99969329e-01 -8.91465251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204203822000004 meters 0.024533363999532102 Centerline is valid? [True, True] Translation: X:33.58, Y:-0.11, Z:-0.89 [[ 9.99299319e-01 3.65801703e-02 7.92225013e-03 3.35785957e+01] [-3.65797383e-02 9.99330718e-01 -1.99461220e-04 -1.10420049e-01] [-7.92424423e-03 -9.04723751e-05 9.99968599e-01 -8.89287794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.234203822000005 meters 0.0161722963333396 Centerline is valid? [True, True] Translation: X:33.61, Y:-0.12, Z:-0.89 [[ 9.99416526e-01 3.31593995e-02 8.18915281e-03 3.36100990e+01] [-3.31588212e-02 9.99450074e-01 -2.06410566e-04 -1.16654408e-01] [-8.19149383e-03 -6.52525230e-05 9.99966447e-01 -8.89965136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264203822000006 meters 0.01983212629122917 Centerline is valid? [True, True] Translation: X:33.64, Y:-0.12, Z:-0.89 [[ 9.99506805e-01 3.01577799e-02 8.75530444e-03 3.36410943e+01] [-3.01570243e-02 9.99545150e-01 -2.18334033e-04 -1.23064531e-01] [-8.75790656e-03 -4.58075771e-05 9.99961648e-01 -8.90926580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29420382200001 meters 0.013552830151324146 Centerline is valid? [True, True] Translation: X:33.67, Y:-0.13, Z:-0.89 [[ 9.99575242e-01 2.74753692e-02 9.71803824e-03 3.36730234e+01] [-2.74742935e-02 9.99622481e-01 -2.44199951e-04 -1.31265242e-01] [-9.72107897e-03 -2.29000092e-05 9.99952749e-01 -8.90925202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324203822 meters 0.013486733569451738 Centerline is valid? [True, True] Translation: X:33.71, Y:-0.15, Z:-0.89 [[ 9.99690200e-01 2.29791977e-02 9.56353844e-03 3.37059337e+01] [-2.29779404e-02 9.99735943e-01 -2.41333006e-04 -1.46034979e-01] [-9.56655876e-03 2.15078245e-05 9.99954239e-01 -8.91441040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354203822 meters 0.014789209974364639 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.15, Z:-0.89 [[ 9.99730844e-01 2.14797860e-02 8.76692639e-03 3.37367874e+01] [-2.14786438e-02 9.99769282e-01 -2.24428823e-04 -1.50985521e-01] [-8.76972439e-03 3.60667279e-05 9.99961545e-01 -8.94587558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384203822 meters 0.014555511635541144 Centerline is valid? [True, True] Translation: X:33.77, Y:-0.15, Z:-0.89 [[ 9.99750330e-01 2.07332740e-02 8.33116082e-03 3.37686988e+01] [-2.07322243e-02 9.99785042e-01 -2.12349469e-04 -1.53417965e-01] [-8.33377267e-03 3.95729570e-05 9.99965273e-01 -8.94010019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414203822000005 meters 0.014553170800254398 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.16, Z:-0.89 [[ 9.99744940e-01 2.04779065e-02 9.52415009e-03 3.37997445e+01] [-2.04764988e-02 9.99790304e-01 -2.45297689e-04 -1.57251044e-01] [-9.52717610e-03 5.02138749e-05 9.99954614e-01 -8.94296168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444203822000006 meters 0.014377995188288454 Centerline is valid? [True, True] Translation: X:33.83, Y:-0.16, Z:-0.90 [[ 9.99733675e-01 2.12316227e-02 9.04419692e-03 3.38325792e+01] [-2.12303794e-02 9.99774583e-01 -2.33463273e-04 -1.58655495e-01] [-9.04711501e-03 4.13893636e-05 9.99959073e-01 -8.95248442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47420382200001 meters 0.014636126169322257 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.16, Z:-0.90 [[ 9.99715928e-01 2.23703691e-02 8.22371665e-03 3.38639863e+01] [-2.23693646e-02 9.99749752e-01 -2.14117219e-04 -1.59948282e-01] [-8.22644856e-03 3.00970786e-05 9.99966162e-01 -8.98388990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504203822 meters 0.014707141035181929 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.16, Z:-0.90 [[ 9.99648602e-01 2.57715334e-02 6.20492720e-03 3.38962447e+01] [-2.57710294e-02 9.99667859e-01 -1.61176088e-04 -1.60631284e-01] [-6.20702005e-03 1.21208964e-06 9.99980736e-01 -9.02603976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534203822 meters 0.019824821943298182 Centerline is valid? [True, True] Translation: X:33.93, Y:-0.16, Z:-0.90 [[ 9.99578999e-01 2.84804335e-02 5.53990479e-03 3.39288280e+01] [-2.84800715e-02 9.99594350e-01 -1.44246173e-04 -1.58932310e-01] [-5.54176572e-03 -1.35914389e-05 9.99984644e-01 -9.02397345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564203822 meters 0.015696821687999518 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.16, Z:-0.90 [[ 9.99489809e-01 3.13482361e-02 6.11634831e-03 3.39596601e+01] [-3.13478288e-02 9.99508523e-01 -1.62468783e-04 -1.55572099e-01] [-6.11843538e-03 -2.93483466e-05 9.99981282e-01 -9.03724204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594203822000004 meters 0.019310362820273166 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.15, Z:-0.91 [[ 9.99294488e-01 3.69625435e-02 6.65550284e-03 3.39899833e+01] [-3.69621677e-02 9.99316649e-01 -1.79502271e-04 -1.46049113e-01] [-6.65758966e-03 -6.66261822e-05 9.99977836e-01 -9.05410931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624203822000005 meters 0.02046080182197075 Centerline is valid? [True, True] Translation: X:34.02, Y:-0.14, Z:-0.91 [[ 9.99190411e-01 3.97923484e-02 5.92376056e-03 3.40215906e+01] [-3.97921035e-02 9.99207968e-01 -1.59244576e-04 -1.43937427e-01] [-5.92540547e-03 -7.66032400e-05 9.99982442e-01 -9.05235716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65420382200001 meters 0.027337519087284292 Centerline is valid? [True, True] Translation: X:34.05, Y:-0.14, Z:-0.91 [[ 9.98961118e-01 4.53047287e-02 4.91600442e-03 3.40521891e+01] [-4.53046239e-02 9.98973210e-01 -1.32731099e-04 -1.35959616e-01] [-4.91697006e-03 -9.01245243e-05 9.99987908e-01 -9.07239643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684203822 meters 0.02884498572521579 Centerline is valid? [True, True] Translation: X:34.08, Y:-0.13, Z:-0.91 [[ 9.98864773e-01 4.73729048e-02 4.99724986e-03 3.40813635e+01] [-4.73728192e-02 9.98877269e-01 -1.35561743e-04 -1.31621308e-01] [-4.99806124e-03 -1.01325964e-04 9.99987504e-01 -9.10370589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714203822 meters 0.031197748021550745 Centerline is valid? [True, True] Translation: X:34.11, Y:-0.13, Z:-0.91 [[ 9.98783388e-01 4.90279574e-02 5.29186828e-03 3.41108376e+01] [-4.90278851e-02 9.98797400e-01 -1.43462037e-04 -1.28117545e-01] [-5.29253793e-03 -1.16161611e-04 9.99985988e-01 -9.11352380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744203822 meters 0.030325790340053314 Centerline is valid? [True, True] Translation: X:34.14, Y:-0.13, Z:-0.91 [[ 9.98734231e-01 4.99514209e-02 5.89838761e-03 3.41409517e+01] [-4.99513462e-02 9.98751639e-01 -1.60071984e-04 -1.27125452e-01] [-5.89902012e-03 -1.34763032e-04 9.99982592e-01 -9.09086139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774203822000004 meters 0.03185543459083572 Centerline is valid? [True, True] Translation: X:34.17, Y:-0.12, Z:-0.91 [[ 9.98683630e-01 5.09456986e-02 5.96183879e-03 3.41709036e+01] [-5.09456449e-02 9.98701415e-01 -1.60967966e-04 -1.20399625e-01] [-5.96229746e-03 -1.42973649e-04 9.99982215e-01 -9.10498249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804203822000005 meters 0.032566186508132686 Centerline is valid? [True, True] Translation: X:34.20, Y:-0.12, Z:-0.91 [[ 9.98691808e-01 5.07129835e-02 6.54717114e-03 3.41994576e+01] [-5.07129075e-02 9.98713257e-01 -1.77735990e-04 -1.18183345e-01] [-6.54776014e-03 -1.54522608e-04 9.99978551e-01 -9.12095151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834203822000006 meters 0.028740568747907664 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.12, Z:-0.91 [[ 9.98713398e-01 5.01218437e-02 7.70392135e-03 3.42295144e+01] [-5.01217260e-02 9.98743095e-01 -2.08464179e-04 -1.21703157e-01] [-7.70468686e-03 -1.77937867e-04 9.99970303e-01 -9.08458877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864203822 meters 0.028374028029927903 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.12, Z:-0.91 [[ 9.98742554e-01 4.93729708e-02 8.69605246e-03 3.42588515e+01] [-4.93727973e-02 9.98780392e-01 -2.34758167e-04 -1.21577683e-01] [-8.69703739e-03 -1.94885464e-04 9.99962161e-01 -9.07970262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894203822 meters 0.02803088986591349 Centerline is valid? [True, True] Translation: X:34.29, Y:-0.12, Z:-0.91 [[ 9.98849237e-01 4.71957863e-02 8.52992651e-03 3.42891768e+01] [-4.71955546e-02 9.98885643e-01 -2.28561647e-04 -1.21810276e-01] [-8.53120827e-03 -1.74275986e-04 9.99963593e-01 -9.11715641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924203822 meters 0.026284931965469202 Centerline is valid? [True, True] Translation: X:34.32, Y:-0.12, Z:-0.91 [[ 9.98939386e-01 4.53841741e-02 7.77046468e-03 3.43194609e+01] [-4.53839132e-02 9.98969597e-01 -2.09995174e-04 -1.24540870e-01] [-7.77198843e-03 -1.42881644e-04 9.99969787e-01 -9.13358176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.954203822000004 meters 0.03210955468693798 Centerline is valid? [True, True] Translation: X:34.35, Y:-0.13, Z:-0.91 [[ 9.99033666e-01 4.33361773e-02 7.32875908e-03 3.43501369e+01] [-4.33358920e-02 9.99060539e-01 -1.97808813e-04 -1.26568319e-01] [-7.33044628e-03 -1.19980648e-04 9.99973125e-01 -9.14488106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984203822000005 meters 0.021392572563260638 Centerline is valid? [True, True] Translation: X:34.38, Y:-0.13, Z:-0.92 [[ 9.99191068e-01 3.95377413e-02 7.34682752e-03 3.43806695e+01] [-3.95373494e-02 9.99218074e-01 -1.98633550e-04 -1.29641113e-01] [-7.34893636e-03 -9.20012172e-05 9.99972992e-01 -9.16862792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014203822000006 meters 0.020513599111221553 Centerline is valid? [True, True] Translation: X:34.41, Y:-0.13, Z:-0.92 [[ 9.99238005e-01 3.84360578e-02 6.78806575e-03 3.44122462e+01] [-3.84357012e-02 9.99261059e-01 -1.83019479e-04 -1.31637396e-01] [-6.79008432e-03 -7.80240476e-05 9.99976944e-01 -9.18661673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04420382200001 meters 0.01956768068648655 Centerline is valid? [True, True] Translation: X:34.44, Y:-0.13, Z:-0.92 [[ 9.99267151e-01 3.77060158e-02 6.58912993e-03 3.44439468e+01] [-3.77056631e-02 9.99288873e-01 -1.77785368e-04 -1.33414669e-01] [-6.59114780e-03 -7.07924350e-05 9.99978276e-01 -9.19076448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074203822 meters 0.01968992271569127 Centerline is valid? [True, True] Translation: X:34.47, Y:-0.13, Z:-0.92 [[ 9.99268209e-01 3.76255913e-02 6.88189348e-03 3.44739296e+01] [-3.76252016e-02 9.99291904e-01 -1.86134231e-04 -1.33436668e-01] [-6.88402385e-03 -7.29346095e-05 9.99976302e-01 -9.20066634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104203822 meters 0.019483255803477154 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.13, Z:-0.92 [[ 9.99252593e-01 3.82273352e-02 5.73809991e-03 3.45052470e+01] [-3.82270758e-02 9.99269066e-01 -1.54927087e-04 -1.32636725e-01] [-5.73982819e-03 -6.45394870e-05 9.99983525e-01 -9.21159107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.134203822 meters 0.030323959910979484 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.13, Z:-0.92 [[ 9.99236902e-01 3.86724146e-02 5.48256992e-03 3.45343697e+01] [-3.86721793e-02 9.99251940e-01 -1.48964607e-04 -1.30400539e-01] [-5.48422945e-03 -6.31719945e-05 9.99984960e-01 -9.22625434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164203822000005 meters 0.01934826533270336 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.13, Z:-0.92 [[ 9.99224949e-01 3.88399821e-02 6.39981088e-03 3.45652794e+01] [-3.88396675e-02 9.99245440e-01 -1.73485982e-04 -1.29025025e-01] [-6.40172003e-03 -7.52150053e-05 9.99979506e-01 -9.21439668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194203822000006 meters 0.021090315511181578 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.12, Z:-0.92 [[ 9.99178709e-01 3.99083376e-02 7.01659772e-03 3.45949110e+01] [-3.99079878e-02 9.99203341e-01 -1.89909653e-04 -1.21770447e-01] [-7.01858686e-03 -9.02646151e-05 9.99975365e-01 -9.22333342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22420382200001 meters 0.031113363188830456 Centerline is valid? [True, True] Translation: X:34.63, Y:-0.12, Z:-0.92 [[ 9.99147099e-01 4.07992357e-02 6.36370267e-03 3.46252535e+01] [-4.07989638e-02 9.99167361e-01 -1.72595443e-04 -1.21046905e-01] [-6.36544576e-03 -8.71842389e-05 9.99979737e-01 -9.22518173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254203822 meters 0.02306988317454933 Centerline is valid? [True, True] Translation: X:34.65, Y:-0.12, Z:-0.93 [[ 9.99132948e-01 4.11462213e-02 6.35146708e-03 3.46544876e+01] [-4.11459558e-02 9.99153132e-01 -1.72528391e-04 -1.19914492e-01] [-6.35318711e-03 -8.89583833e-05 9.99979814e-01 -9.26565814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284203822 meters 0.023192840343434475 Centerline is valid? [True, True] Translation: X:34.68, Y:-0.12, Z:-0.93 [[ 9.99106218e-01 4.16396830e-02 7.27341419e-03 3.46843072e+01] [-4.16393471e-02 9.99132687e-01 -1.97675302e-04 -1.20005766e-01] [-7.27533700e-03 -1.05361595e-04 9.99973529e-01 -9.26878705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.314203822 meters 0.02143741361094369 Centerline is valid? [True, True] Translation: X:34.71, Y:-0.12, Z:-0.92 [[ 9.99103544e-01 4.16858894e-02 7.37534230e-03 3.47146713e+01] [-4.16855502e-02 9.99130760e-01 -1.99771446e-04 -1.20282055e-01] [-7.37725901e-03 -1.07852843e-04 9.99972782e-01 -9.24400344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344203822000004 meters 0.022467426121869916 Centerline is valid? [True, True] Translation: X:34.74, Y:-0.11, Z:-0.93 [[ 9.99073857e-01 4.23877157e-02 7.39662471e-03 3.47443226e+01] [-4.23873951e-02 9.99101230e-01 -2.00169020e-04 -1.13843324e-01] [-7.39846156e-03 -1.13540019e-04 9.99972625e-01 -9.25817839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374203822000005 meters 0.022643202309191472 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.11, Z:-0.93 [[ 9.99058140e-01 4.27543007e-02 7.40964867e-03 3.47736380e+01] [-4.27539835e-02 9.99085610e-01 -2.01274290e-04 -1.12276623e-01] [-7.41147870e-03 -1.15707280e-04 9.99972528e-01 -9.26536525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40420382200001 meters 0.02393347531227048 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.11, Z:-0.93 [[ 9.99045042e-01 4.31665472e-02 6.75671686e-03 3.48025830e+01] [-4.31662936e-02 9.99067884e-01 -1.83433839e-04 -1.10423761e-01] [-6.75833703e-03 -1.08403756e-04 9.99977156e-01 -9.29784897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434203822 meters 0.027119638793120415 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.11, Z:-0.94 [[ 9.99030188e-01 4.36423357e-02 5.83356270e-03 3.48310198e+01] [-4.36421535e-02 9.99047215e-01 -1.58585624e-04 -1.06689273e-01] [-5.83492562e-03 -9.61574131e-05 9.99982972e-01 -9.35495985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464203822 meters 0.035649840818712523 Centerline is valid? [True, True] Translation: X:34.86, Y:-0.11, Z:-0.93 [[ 9.99002137e-01 4.43850228e-02 4.96988440e-03 3.48608542e+01] [-4.43849012e-02 9.99014496e-01 -1.34806174e-04 -1.05722917e-01] [-4.97096994e-03 -8.59161722e-05 9.99987641e-01 -9.32245258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494203822 meters 0.026301467593335015 Centerline is valid? [True, True] Translation: X:34.89, Y:-0.10, Z:-0.94 [[ 9.99008856e-01 4.41235197e-02 5.86687100e-03 3.48885805e+01] [-4.41233423e-02 9.99026078e-01 -1.59734140e-04 -1.03729961e-01] [-5.86820516e-03 -9.92901368e-05 9.99982777e-01 -9.35848680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524203822000004 meters 0.024529596457306506 Centerline is valid? [True, True] Translation: X:34.92, Y:-0.11, Z:-0.93 [[ 9.99016102e-01 4.38762488e-02 6.45784015e-03 3.49186955e+01] [-4.38760379e-02 9.99036968e-01 -1.74397192e-04 -1.05807401e-01] [-6.45927293e-03 -1.09118836e-04 9.99979133e-01 -9.34068097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554203822000005 meters 0.022857615840656924 Centerline is valid? [True, True] Translation: X:34.95, Y:-0.11, Z:-0.93 [[ 9.99033392e-01 4.34661902e-02 6.55525241e-03 3.49482317e+01] [-4.34659651e-02 9.99054893e-01 -1.76875358e-04 -1.07517564e-01] [-6.55674509e-03 -1.08225984e-04 9.99978498e-01 -9.32955766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584203822000006 meters 0.02434005317835937 Centerline is valid? [True, True] Translation: X:34.98, Y:-0.10, Z:-0.94 [[ 9.99087596e-01 4.21945509e-02 6.60261715e-03 3.49767770e+01] [-4.21942941e-02 9.99109408e-01 -1.78251611e-04 -1.02842006e-01] [-6.60425816e-03 -1.00503796e-04 9.99978187e-01 -9.36968929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61420382200001 meters 0.02357692601159771 Centerline is valid? [True, True] Translation: X:35.01, Y:-0.10, Z:-0.94 [[ 9.99126870e-01 4.11698870e-02 7.10897925e-03 3.50065422e+01] [-4.11695697e-02 9.99152156e-01 -1.91030457e-04 -1.03035802e-01] [-7.11081665e-03 -1.01809954e-04 9.99974713e-01 -9.37591777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644203822 meters 0.02194810942606514 Centerline is valid? [True, True] Translation: X:35.04, Y:-0.11, Z:-0.94 [[ 9.99184803e-01 3.98281046e-02 6.59173172e-03 3.50362162e+01] [-3.98278013e-02 9.99206543e-01 -1.77335451e-04 -1.05069380e-01] [-6.59356440e-03 -8.53432938e-05 9.99978259e-01 -9.38241039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674203822 meters 0.02503418507592248 Centerline is valid? [True, True] Translation: X:35.07, Y:-0.11, Z:-0.94 [[ 9.99293251e-01 3.72144526e-02 5.29930106e-03 3.50661221e+01] [-3.72142197e-02 9.99307301e-01 -1.42586299e-04 -1.08143289e-01] [-5.30093651e-03 -5.47238272e-05 9.99985948e-01 -9.38703738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704203822000004 meters 0.019213793920983824 Centerline is valid? [True, True] Translation: X:35.09, Y:-0.11, Z:-0.94 [[ 9.99328568e-01 3.59963580e-02 6.83197930e-03 3.50949015e+01] [-3.59959431e-02 9.99351919e-01 -1.83717949e-04 -1.09743595e-01] [-6.83416480e-03 -6.23289429e-05 9.99976645e-01 -9.40356112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.734203822000005 meters 0.017476954378354174 Centerline is valid? [True, True] Translation: X:35.13, Y:-0.11, Z:-0.94 [[ 9.99360825e-01 3.47976166e-02 8.18951028e-03 3.51257460e+01] [-3.47969902e-02 9.99394377e-01 -2.19001001e-04 -1.13621351e-01] [-8.19217124e-03 -6.61092878e-05 9.99966441e-01 -9.38459114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764203822000006 meters 0.015043342997257216 Centerline is valid? [True, True] Translation: X:35.16, Y:-0.12, Z:-0.94 [[ 9.99453325e-01 3.17388760e-02 9.25719970e-03 3.51575922e+01] [-3.17379508e-02 9.99496194e-01 -2.46876257e-04 -1.19959213e-01] [-9.26037144e-03 -4.70632530e-05 9.99957121e-01 -9.36211672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79420382200001 meters 0.013720545259723774 Centerline is valid? [True, True] Translation: X:35.19, Y:-0.12, Z:-0.94 [[ 9.99511957e-01 2.98781604e-02 9.11828953e-03 3.51889696e+01] [-2.98771805e-02 9.99553548e-01 -2.43690573e-04 -1.22891741e-01] [-9.12149967e-03 -2.88571409e-05 9.99958398e-01 -9.35136246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824203822 meters 0.014357025476975063 Centerline is valid? [True, True] Translation: X:35.22, Y:-0.12, Z:-0.94 [[ 9.99557178e-01 2.83480553e-02 9.04629890e-03 3.52199454e+01] [-2.83470386e-02 9.99598113e-01 -2.40607379e-04 -1.24502868e-01] [-9.04948407e-03 -1.59349520e-05 9.99959052e-01 -9.39010416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854203822 meters 0.014357025476975063 Centerline is valid? [True, True] Translation: X:35.25, Y:-0.13, Z:-0.94 [[ 9.99552626e-01 2.85081217e-02 9.04630952e-03 3.52516248e+01] [-2.85071151e-02 9.99593561e-01 -2.40221986e-04 -1.25503596e-01] [-9.04948102e-03 -1.77696698e-05 9.99959052e-01 -9.39910046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884203822 meters 0.013871523439435514 Centerline is valid? [True, True] Translation: X:35.28, Y:-0.13, Z:-0.94 [[ 9.99610665e-01 2.62453054e-02 9.47111461e-03 3.52839294e+01] [-2.62440843e-02 9.99655533e-01 -2.53203064e-04 -1.31700875e-01] [-9.47449751e-03 4.54375266e-06 9.99955116e-01 -9.39448271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.914203822000005 meters 0.012859377970045185 Centerline is valid? [True, True] Translation: X:35.32, Y:-0.13, Z:-0.94 [[ 9.99612429e-01 2.58832454e-02 1.02493192e-02 3.53157179e+01] [-2.58817770e-02 9.99664973e-01 -2.75904850e-04 -1.34988689e-01] [-1.02530267e-02 1.05273239e-05 9.99947436e-01 -9.36108444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944203822000006 meters 0.012471935901072945 Centerline is valid? [True, True] Translation: X:35.35, Y:-0.14, Z:-0.94 [[ 9.99605806e-01 2.58120660e-02 1.10439820e-02 3.53483041e+01] [-2.58103320e-02 9.99666813e-01 -2.99532077e-04 -1.36729843e-01] [-1.10480338e-02 1.43651607e-05 9.99938969e-01 -9.35736268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97420382200001 meters 0.018244397644639622 Centerline is valid? [True, True] Translation: X:35.38, Y:-0.14, Z:-0.94 [[ 9.99587970e-01 2.65430561e-02 1.09250150e-02 3.53797945e+01] [-2.65413830e-02 9.99647671e-01 -2.98125534e-04 -1.36966109e-01] [-1.09290790e-02 8.03769024e-06 9.99940276e-01 -9.37993530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004203822 meters 0.013367006867998282 Centerline is valid? [True, True] Translation: X:35.41, Y:-0.14, Z:-0.94 [[ 9.99583103e-01 2.69624947e-02 1.03268813e-02 3.54112826e+01] [-2.69610041e-02 9.99636446e-01 -2.83552917e-04 -1.38562130e-01] [-1.03307722e-02 5.01161586e-06 9.99946636e-01 -9.41813388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034203822 meters 0.013482062324782627 Centerline is valid? [True, True] Translation: X:35.44, Y:-0.14, Z:-0.94 [[ 9.99565886e-01 2.78576208e-02 9.59124849e-03 3.54431509e+01] [-2.78563668e-02 9.99611901e-01 -2.64332105e-04 -1.38966870e-01] [-9.59488980e-03 -2.95998106e-06 9.99953968e-01 -9.43355789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064203822 meters 0.0143524203870908 Centerline is valid? [True, True] Translation: X:35.47, Y:-0.14, Z:-0.95 [[ 9.99544912e-01 2.88011784e-02 8.96997901e-03 3.54738244e+01] [-2.88001089e-02 9.99585160e-01 -2.48411373e-04 -1.40703991e-01] [-8.97341245e-03 -1.00380479e-05 9.99959738e-01 -9.47850100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094203822000004 meters 0.013612454885808223 Centerline is valid? [True, True] Translation: X:35.51, Y:-0.14, Z:-0.95 [[ 9.99540502e-01 2.91422010e-02 8.33774249e-03 3.55055751e+01] [-2.91412811e-02 9.99575276e-01 -2.31813759e-04 -1.43711456e-01] [-8.34095682e-03 -1.12652571e-05 9.99965214e-01 -9.46841957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124203822000005 meters 0.014208396314808835 Centerline is valid? [True, True] Translation: X:35.54, Y:-0.15, Z:-0.95 [[ 9.99535054e-01 2.94649854e-02 7.84163629e-03 3.55363480e+01] [-2.94641712e-02 9.99565813e-01 -2.19360159e-04 -1.46268036e-01] [-7.84469500e-03 -1.17891456e-05 9.99969230e-01 -9.49420863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15420382200001 meters 0.014284744852057553 Centerline is valid? [True, True] Translation: X:35.57, Y:-0.15, Z:-0.95 [[ 9.99535167e-01 2.94768238e-02 7.78250251e-03 3.55676985e+01] [-2.94759914e-02 9.99565464e-01 -2.21662389e-04 -1.47762929e-01] [-7.78565463e-03 -7.83762399e-06 9.99969691e-01 -9.49693679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184203822 meters 0.0137782021829513 Centerline is valid? [True, True] Translation: X:35.60, Y:-0.15, Z:-0.95 [[ 9.99544058e-01 2.92020313e-02 7.67582203e-03 3.55986300e+01] [-2.92012122e-02 9.99573530e-01 -2.18783815e-04 -1.47078057e-01] [-7.67893746e-03 -5.45924536e-06 9.99970517e-01 -9.48404794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214203822 meters 0.014265401418016029 Centerline is valid? [True, True] Translation: X:35.63, Y:-0.15, Z:-0.95 [[ 9.99544838e-01 2.92178064e-02 7.51248625e-03 3.56297823e+01] [-2.92170419e-02 9.99573069e-01 -2.11515971e-04 -1.47949167e-01] [-7.51545897e-03 -8.07292820e-06 9.99971759e-01 -9.51204355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244203822 meters 0.014196914878782404 Centerline is valid? [True, True] Translation: X:35.66, Y:-0.15, Z:-0.95 [[ 9.99568059e-01 2.86270214e-02 6.64750588e-03 3.56612238e+01] [-2.86263869e-02 9.99590163e-01 -1.90590073e-04 -1.54995089e-01] [-6.65023751e-03 2.13673998e-07 9.99977887e-01 -9.52951105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.274203822000004 meters 0.023090011191960802 Centerline is valid? [True, True] Translation: X:35.69, Y:-0.16, Z:-0.95 [[ 9.99571131e-01 2.84029829e-02 7.12916752e-03 3.56920846e+01] [-2.84022425e-02 9.99596554e-01 -2.05103583e-04 -1.60286859e-01] [-7.13211684e-03 2.53127584e-06 9.99974566e-01 -9.52326237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304203822000005 meters 0.021134076700917947 Centerline is valid? [True, True] Translation: X:35.72, Y:-0.16, Z:-0.95 [[ 9.99553423e-01 2.86358286e-02 8.54076409e-03 3.57232059e+01] [-2.86348010e-02 9.99589911e-01 -2.42611165e-04 -1.63827052e-01] [-8.54420899e-03 -2.06025902e-06 9.99963498e-01 -9.52234069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334203822000006 meters 0.013282435471471316 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.17, Z:-0.95 [[ 9.99538541e-01 2.88429064e-02 9.52849431e-03 3.57559243e+01] [-2.88415992e-02 9.99583957e-01 -2.74596424e-04 -1.65691671e-01] [-9.53245020e-03 -3.47305052e-07 9.99954565e-01 -9.51332610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36420382200001 meters 0.01406150601800136 Centerline is valid? [True, True] Translation: X:35.79, Y:-0.17, Z:-0.95 [[ 9.99520033e-01 2.95007790e-02 9.45555200e-03 3.57876459e+01] [-2.94995373e-02 9.99564757e-01 -2.70794756e-04 -1.67262904e-01] [-9.45942520e-03 -8.26962510e-06 9.99955259e-01 -9.54556818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394203822 meters 0.013280566040526725 Centerline is valid? [True, True] Translation: X:35.82, Y:-0.17, Z:-0.95 [[ 9.99449322e-01 3.16126069e-02 1.00844678e-02 3.58198482e+01] [-3.16112784e-02 9.99500196e-01 -2.91138335e-04 -1.69862818e-01] [-1.00886312e-02 -2.78049070e-05 9.99949108e-01 -9.51270314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424203822 meters 0.013436208968963774 Centerline is valid? [True, True] Translation: X:35.85, Y:-0.17, Z:-0.95 [[ 9.99383495e-01 3.34637738e-02 1.06209639e-02 3.58530377e+01] [-3.34623878e-02 9.99439930e-01 -3.08222402e-04 -1.70227787e-01] [-1.06253297e-02 -4.73704322e-05 9.99943548e-01 -9.50984533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.454203822000004 meters 0.02558718186830939 Centerline is valid? [True, True] Translation: X:35.88, Y:-0.17, Z:-0.95 [[ 9.99308238e-01 3.57878316e-02 1.01131852e-02 3.58837615e+01] [-3.57866653e-02 9.99359408e-01 -2.96321658e-04 -1.69286322e-01] [-1.01173115e-02 -6.58005009e-05 9.99948817e-01 -9.53559158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484203822000005 meters 0.029593348922568305 Centerline is valid? [True, True] Translation: X:35.92, Y:-0.17, Z:-0.96 [[ 9.99134623e-01 4.06823419e-02 8.65744052e-03 3.59157118e+01] [-4.06816507e-02 9.99172126e-01 -2.55994699e-04 -1.67073982e-01] [-8.66068772e-03 -9.64258041e-05 9.99962491e-01 -9.57373543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514203822000006 meters 0.021945319571398895 Centerline is valid? [True, True] Translation: X:35.95, Y:-0.16, Z:-0.96 [[ 9.99008163e-01 4.36038073e-02 9.02210770e-03 3.59456276e+01] [-4.36031631e-02 9.99048894e-01 -2.68186071e-04 -1.64021312e-01] [-9.02522065e-03 -1.25472359e-04 9.99959264e-01 -9.59090439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54420382200001 meters 0.024735829862645362 Centerline is valid? [True, True] Translation: X:35.98, Y:-0.16, Z:-0.96 [[ 9.98861930e-01 4.67859659e-02 9.26924683e-03 3.59766097e+01] [-4.67854229e-02 9.98904925e-01 -2.75532389e-04 -1.60241563e-01] [-9.27198735e-03 -1.58446819e-04 9.99957002e-01 -9.59029212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574203822 meters 0.030552642753272977 Centerline is valid? [True, True] Translation: X:36.01, Y:-0.15, Z:-0.96 [[ 9.98542790e-01 5.33570476e-02 8.08220492e-03 3.60071052e+01] [-5.33568488e-02 9.98575480e-01 -2.40373603e-04 -1.53661272e-01] [-8.08351728e-03 -1.91217658e-04 9.99967310e-01 -9.60406691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604203822 meters 0.03607206321744201 Centerline is valid? [True, True] Translation: X:36.04, Y:-0.15, Z:-0.96 [[ 9.98386767e-01 5.62515364e-02 7.72191773e-03 3.60354161e+01] [-5.62514387e-02 9.98416608e-01 -2.30007778e-04 -1.48374050e-01] [-7.72262919e-03 -2.04732260e-04 9.99970159e-01 -9.64648310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.634203822 meters 0.03887372075046871 Centerline is valid? [True, True] Translation: X:36.07, Y:-0.15, Z:-0.97 [[ 9.98242061e-01 5.87942112e-02 7.48520410e-03 3.60652491e+01] [-5.87941924e-02 9.98270100e-01 -2.22753358e-04 -1.46845043e-01] [-7.48535206e-03 -2.17724758e-04 9.99971961e-01 -9.65802419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664203822000005 meters 0.042999712054232135 Centerline is valid? [True, True] Translation: X:36.10, Y:-0.14, Z:-0.96 [[ 9.98017191e-01 6.23573114e-02 8.55869523e-03 3.60952929e+01] [-6.23574201e-02 9.98053850e-01 -2.54420691e-04 -1.44443795e-01] [-8.55790371e-03 -2.79781930e-04 9.99963341e-01 -9.62089988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694203822000006 meters 0.04242863436793942 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.14, Z:-0.96 [[ 9.97963359e-01 6.31387190e-02 9.09046819e-03 3.61244850e+01] [-6.31388742e-02 9.98004714e-01 -2.70195520e-04 -1.40783040e-01] [-9.08938991e-03 -3.04316699e-04 9.99958644e-01 -9.63035969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72420382200001 meters 0.04329503681907175 Centerline is valid? [True, True] Translation: X:36.15, Y:-0.14, Z:-0.96 [[ 9.97954732e-01 6.32247081e-02 9.43338453e-03 3.61534127e+01] [-6.32248828e-02 9.97999266e-01 -2.79989878e-04 -1.39789515e-01] [-9.43221312e-03 -3.17007408e-04 9.99955465e-01 -9.64115050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754203822 meters 0.03808730752438561 Centerline is valid? [True, True] Translation: X:36.18, Y:-0.15, Z:-0.96 [[ 9.98080005e-01 6.12860609e-02 8.96226500e-03 3.61830903e+01] [-6.12861447e-02 9.98120202e-01 -2.65535522e-04 -1.47696982e-01] [-8.96169138e-03 -2.84236975e-04 9.99959803e-01 -9.64243277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784203822 meters 0.03936857289831339 Centerline is valid? [True, True] Translation: X:36.21, Y:-0.15, Z:-0.97 [[ 9.98196455e-01 5.93191624e-02 9.22355734e-03 3.62118307e+01] [-5.93191675e-02 9.98239030e-01 -2.73261507e-04 -1.47973865e-01] [-9.22352458e-03 -2.74365075e-04 9.99957425e-01 -9.67613638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.814203822 meters 0.03508941630016957 Centerline is valid? [True, True] Translation: X:36.24, Y:-0.16, Z:-0.97 [[ 9.98318034e-01 5.71154550e-02 9.94623622e-03 3.62411866e+01] [-5.71153582e-02 9.98367542e-01 -2.94005631e-04 -1.55368976e-01] [-9.94679167e-03 -2.74571720e-04 9.99950492e-01 -9.65974718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844203822000004 meters 0.032631883557661466 Centerline is valid? [True, True] Translation: X:36.27, Y:-0.16, Z:-0.97 [[ 9.98442058e-01 5.48119821e-02 1.04453010e-02 3.62705971e+01] [-5.48117524e-02 9.98496658e-01 -3.08474731e-04 -1.61293591e-01] [-1.04465062e-02 -2.64531104e-04 9.99945399e-01 -9.66396102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874203822000005 meters 0.02948961488496562 Centerline is valid? [True, True] Translation: X:36.30, Y:-0.17, Z:-0.97 [[ 9.98715548e-01 4.99056118e-02 8.75688920e-03 3.63006136e+01] [-4.99052668e-02 9.98753923e-01 -2.58043042e-04 -1.71817677e-01] [-8.75885523e-03 -1.79303293e-04 9.99961624e-01 -9.70131844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90420382200001 meters 0.026053889607676402 Centerline is valid? [True, True] Translation: X:36.33, Y:-0.18, Z:-0.97 [[ 9.98852285e-01 4.72239838e-02 8.00046896e-03 3.63312042e+01] [-4.72236098e-02 9.98884315e-01 -2.35753280e-04 -1.78052397e-01] [-8.00267617e-03 -1.42328322e-04 9.99967968e-01 -9.70549518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934203822 meters 0.031691837072638646 Centerline is valid? [True, True] Translation: X:36.36, Y:-0.18, Z:-0.97 [[ 9.98969407e-01 4.46403272e-02 8.20766836e-03 3.63611331e+01] [-4.46398464e-02 9.99003116e-01 -2.41858914e-04 -1.80119132e-01] [-8.21028293e-03 -1.24779399e-04 9.99966287e-01 -9.74205882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964203822 meters 0.018559243615382387 Centerline is valid? [True, True] Translation: X:36.39, Y:-0.19, Z:-0.97 [[ 9.99163208e-01 3.99403904e-02 8.81189623e-03 3.63921190e+01] [-3.99396576e-02 9.99202060e-01 -2.59194724e-04 -1.94025466e-01] [-8.81521720e-03 -9.29662863e-05 9.99961141e-01 -9.72072848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994203822 meters 0.017717439235829347 Centerline is valid? [True, True] Translation: X:36.42, Y:-0.20, Z:-0.97 [[ 9.99223867e-01 3.84411031e-02 8.59918953e-03 3.64234104e+01] [-3.84403701e-02 9.99260864e-01 -2.50561351e-04 -2.00001001e-01] [-8.60246542e-03 -8.01891464e-05 9.99962995e-01 -9.73794865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024203822000004 meters 0.026419820925800266 Centerline is valid? [True, True] Translation: X:36.45, Y:-0.21, Z:-0.97 [[ 9.99269705e-01 3.73624500e-02 8.00649521e-03 3.64545890e+01] [-3.73617514e-02 9.99301778e-01 -2.36855468e-04 -2.05030313e-01] [-8.00975440e-03 -6.24541903e-05 9.99967919e-01 -9.73257896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054203822000005 meters 0.017464911115527025 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.21, Z:-0.98 [[ 9.99293381e-01 3.68551120e-02 7.37835888e-03 3.64857336e+01] [-3.68545248e-02 9.99320618e-01 -2.15581313e-04 -2.06802236e-01] [-7.38129143e-03 -5.64969311e-05 9.99972756e-01 -9.78592656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084203822000006 meters 0.01648311997624492 Centerline is valid? [True, True] Translation: X:36.52, Y:-0.21, Z:-0.98 [[ 9.99257289e-01 3.76691291e-02 8.11825962e-03 3.65176226e+01] [-3.76684088e-02 9.99290264e-01 -2.41663722e-04 -2.07305050e-01] [-8.12160107e-03 -6.43176867e-05 9.99967017e-01 -9.75433356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11420382200001 meters 0.025479854737173863 Centerline is valid? [True, True] Translation: X:36.55, Y:-0.21, Z:-0.98 [[ 9.99203628e-01 3.90096371e-02 8.38795939e-03 3.65492179e+01] [-3.90089135e-02 9.99238831e-01 -2.49917351e-04 -2.06455152e-01] [-8.39132392e-03 -7.74868581e-05 9.99964789e-01 -9.75898432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144203822 meters 0.023705654705474397 Centerline is valid? [True, True] Translation: X:36.58, Y:-0.21, Z:-0.98 [[ 9.99159244e-01 4.03052420e-02 7.50282975e-03 3.65798612e+01] [-4.03047083e-02 9.99187410e-01 -2.22384957e-04 -2.05012016e-01] [-7.50569631e-03 -8.02013788e-05 9.99971829e-01 -9.80559102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174203822 meters 0.02154141190427502 Centerline is valid? [True, True] Translation: X:36.61, Y:-0.21, Z:-0.98 [[ 9.99121181e-01 4.14529637e-02 6.20631013e-03 3.66114790e+01] [-4.14526116e-02 9.99140454e-01 -1.85414231e-04 -2.06639838e-01] [-6.20866149e-03 -7.20164781e-05 9.99980723e-01 -9.80497155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204203822000004 meters 0.021134945811877824 Centerline is valid? [True, True] Translation: X:36.64, Y:-0.21, Z:-0.98 [[ 9.99067965e-01 4.27350004e-02 6.07628109e-03 3.66404789e+01] [-4.27346825e-02 9.99086440e-01 -1.82211362e-04 -2.08306312e-01] [-6.07851685e-03 -7.76264084e-05 9.99981523e-01 -9.82873544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234203822000005 meters 0.022396292784740722 Centerline is valid? [True, True] Translation: X:36.67, Y:-0.21, Z:-0.98 [[ 9.99047163e-01 4.31497462e-02 6.54713613e-03 3.66712631e+01] [-4.31493860e-02 9.99068612e-01 -1.96331041e-04 -2.09100413e-01] [-6.54950984e-03 -8.63609344e-05 9.99978548e-01 -9.80749304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264203822000006 meters 0.03121430788466107 Centerline is valid? [True, True] Translation: X:36.70, Y:-0.21, Z:-0.98 [[ 9.99030432e-01 4.35511908e-02 6.44127619e-03 3.67011782e+01] [-4.35508522e-02 9.99051193e-01 -1.92887872e-04 -2.07036770e-01] [-6.44356516e-03 -8.78222132e-05 9.99979236e-01 -9.82022808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29420382200001 meters 0.022409615795366225 Centerline is valid? [True, True] Translation: X:36.73, Y:-0.21, Z:-0.99 [[ 9.99036626e-01 4.34440113e-02 6.19983904e-03 3.67306957e+01] [-4.34436918e-02 9.99055860e-01 -1.86260396e-04 -2.05329175e-01] [-6.20207742e-03 -8.32629384e-05 9.99980763e-01 -9.85633763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324203822 meters 0.021516720643922425 Centerline is valid? [True, True] Translation: X:36.76, Y:-0.21, Z:-0.99 [[ 9.99053486e-01 4.27927271e-02 7.80479708e-03 3.67601519e+01] [-4.27922024e-02 9.99083967e-01 -2.34287483e-04 -2.07078625e-01] [-7.80767343e-03 -9.99187298e-05 9.99969515e-01 -9.85494883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354203822 meters 0.019153966796160753 Centerline is valid? [True, True] Translation: X:36.79, Y:-0.21, Z:-0.98 [[ 9.99057535e-01 4.23417965e-02 9.55056978e-03 3.67917820e+01] [-4.23409985e-02 9.99103177e-01 -2.85825337e-04 -2.12066690e-01] [-9.55410697e-03 -1.18824704e-04 9.99954351e-01 -9.81222787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384203822 meters 0.01860935967972567 Centerline is valid? [True, True] Translation: X:36.82, Y:-0.21, Z:-0.98 [[ 9.99065291e-01 4.19062468e-02 1.06024194e-02 3.68229672e+01] [-4.19052491e-02 9.99121539e-01 -3.16340403e-04 -2.14854288e-01] [-1.06063623e-02 -1.28252311e-04 9.99943743e-01 -9.80668116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414203822000005 meters 0.019407492239845336 Centerline is valid? [True, True] Translation: X:36.85, Y:-0.22, Z:-0.98 [[ 9.99089814e-01 4.18528401e-02 8.23917896e-03 3.68539261e+01] [-4.18522441e-02 9.99123781e-01 -2.44821970e-04 -2.16260985e-01] [-8.24220613e-03 -1.00228992e-04 9.99966027e-01 -9.84952186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444203822000006 meters 0.02234200320061146 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.21, Z:-0.99 [[ 9.99075794e-01 4.23507717e-02 7.34639292e-03 3.68844873e+01] [-4.23502858e-02 9.99102800e-01 -2.21757968e-04 -2.14513577e-01] [-7.34919336e-03 -8.95688214e-05 9.99972990e-01 -9.91554833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47420382200001 meters 0.020705452906891974 Centerline is valid? [True, True] Translation: X:36.92, Y:-0.22, Z:-0.99 [[ 9.99049213e-01 4.30550941e-02 6.85045277e-03 3.69159880e+01] [-4.30546874e-02 9.99072696e-01 -2.06903540e-04 -2.17477692e-01] [-6.85300857e-03 -8.82372838e-05 9.99976514e-01 -9.89136930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504203822 meters 0.02427951770322176 Centerline is valid? [True, True] Translation: X:36.95, Y:-0.22, Z:-0.99 [[ 9.99006132e-01 4.40711272e-02 6.66958140e-03 3.69457527e+01] [-4.40707599e-02 9.99028392e-01 -2.02109290e-04 -2.16858420e-01] [-6.67200836e-03 -9.20251003e-05 9.99977738e-01 -9.91814248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534203822 meters 0.029655691067091115 Centerline is valid? [True, True] Translation: X:36.98, Y:-0.22, Z:-0.99 [[ 9.98947830e-01 4.55691446e-02 5.16580787e-03 3.69762756e+01] [-4.55689442e-02 9.98961184e-01 -1.56540223e-04 -2.21551577e-01] [-5.16757495e-03 -7.90248944e-05 9.99986645e-01 -9.94107983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564203822 meters 0.023830155273532085 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.22, Z:-1.00 [[ 9.98923178e-01 4.61686810e-02 4.57581419e-03 3.70054889e+01] [-4.61685274e-02 9.98933655e-01 -1.39245483e-04 -2.24214365e-01] [-4.57736358e-03 -7.21630628e-05 9.99989521e-01 -9.95844213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594203822000004 meters 0.03248612935365207 Centerline is valid? [True, True] Translation: X:37.03, Y:-0.22, Z:-1.00 [[ 9.98855757e-01 4.76190466e-02 4.42744856e-03 3.70343505e+01] [-4.76189161e-02 9.98865567e-01 -1.34935538e-04 -2.21210337e-01] [-4.42885142e-03 -7.60491627e-05 9.99990190e-01 -9.98250880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624203822000005 meters 0.03099571439720581 Centerline is valid? [True, True] Translation: X:37.06, Y:-0.21, Z:-1.00 [[ 9.98663398e-01 5.15365670e-02 3.92432102e-03 3.70637210e+01] [-5.15365002e-02 9.98671105e-01 -1.18205772e-04 -2.11971916e-01] [-3.92519793e-03 -8.41979930e-05 9.99992293e-01 -9.99461271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65420382200001 meters 0.034187055393863006 Centerline is valid? [True, True] Translation: X:37.09, Y:-0.21, Z:-1.00 [[ 9.98535258e-01 5.39490630e-02 4.10336659e-03 3.70928600e+01] [-5.39490045e-02 9.98543684e-01 -1.25019996e-04 -2.07793640e-01] [-4.10413551e-03 -9.65356693e-05 9.99991573e-01 -1.00041826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684203822 meters 0.038170574072058996 Centerline is valid? [True, True] Translation: X:37.12, Y:-0.20, Z:-1.00 [[ 9.98404509e-01 5.62947279e-02 4.39780593e-03 3.71212817e+01] [-5.62946869e-02 9.98414188e-01 -1.33189610e-04 -2.03215297e-01] [-4.39832971e-03 -1.14596001e-04 9.99990321e-01 -1.00214433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714203822 meters 0.037121915555783334 Centerline is valid? [True, True] Translation: X:37.15, Y:-0.20, Z:-1.00 [[ 9.98125817e-01 6.10023749e-02 4.85426734e-03 3.71522603e+01] [-6.10023823e-02 9.98137610e-01 -1.46674008e-04 -2.01217159e-01] [-4.85417426e-03 -1.49722758e-04 9.99988207e-01 -9.95166150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744203822 meters 0.046261645532269656 Centerline is valid? [True, True] Translation: X:37.18, Y:-0.20, Z:-1.00 [[ 9.97964208e-01 6.35426556e-02 5.45620780e-03 3.71805627e+01] [-6.35427010e-02 9.97979107e-01 -1.65200138e-04 -1.96032621e-01] [-5.45567864e-03 -1.81838356e-04 9.99985101e-01 -9.95513031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774203822000004 meters 0.046261645532269656 Centerline is valid? [True, True] Translation: X:37.21, Y:-0.20, Z:-1.00 [[ 9.97967268e-01 6.34945834e-02 5.45618712e-03 3.72088883e+01] [-6.34946244e-02 9.97982167e-01 -1.65885759e-04 -1.96797875e-01] [-5.45571029e-03 -1.80889994e-04 9.99985101e-01 -9.96317660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804203822000005 meters 0.04473366933548538 Centerline is valid? [True, True] Translation: X:37.24, Y:-0.19, Z:-1.00 [[ 9.97854060e-01 6.52201497e-02 5.79722715e-03 3.72371624e+01] [-6.52202272e-02 9.97870879e-01 -1.75884005e-04 -1.92498089e-01] [-5.79635534e-03 -2.02589904e-04 9.99983180e-01 -9.98322296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834203822000006 meters 0.044412928093273865 Centerline is valid? [True, True] Translation: X:37.27, Y:-0.19, Z:-1.00 [[ 9.97698482e-01 6.76724570e-02 4.26351813e-03 3.72669422e+01] [-6.76725243e-02 9.97707579e-01 -1.28643091e-04 -1.91599308e-01] [-4.26244995e-03 -1.60176018e-04 9.99990903e-01 -9.99785299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86420382200001 meters 0.04645122945970554 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.19, Z:-1.00 [[ 9.97691729e-01 6.77784620e-02 4.15857697e-03 3.72945826e+01] [-6.77785217e-02 9.97700384e-01 -1.26741628e-04 -1.88328230e-01] [-4.15760420e-03 -1.55413126e-04 9.99991345e-01 -1.00304869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894203822 meters 0.05103090219327408 Centerline is valid? [True, True] Translation: X:37.32, Y:-0.18, Z:-1.01 [[ 9.97753127e-01 6.68507664e-02 4.43530836e-03 3.73223319e+01] [-6.68508277e-02 9.97762972e-01 -1.34590680e-04 -1.82539171e-01] [-4.43438394e-03 -1.62215763e-04 9.99990155e-01 -1.00745181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924203822 meters 0.049398050116797 Centerline is valid? [True, True] Translation: X:37.35, Y:-0.18, Z:-1.01 [[ 9.97863946e-01 6.51580362e-02 4.68776742e-03 3.73501615e+01] [-6.51580881e-02 9.97874944e-01 -1.41800102e-04 -1.83976882e-01] [-4.68704507e-03 -1.63948753e-04 9.99989002e-01 -1.00776979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954203822000004 meters 0.04161490911203664 Centerline is valid? [True, True] Translation: X:37.38, Y:-0.19, Z:-1.00 [[ 9.98140944e-01 6.07316930e-02 5.13003782e-03 3.73807847e+01] [-6.07317053e-02 9.98154115e-01 -1.53520518e-04 -1.88154907e-01] [-5.12989192e-03 -1.58320830e-04 9.99986829e-01 -1.00366376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984203822000005 meters 0.0347976607572749 Centerline is valid? [True, True] Translation: X:37.41, Y:-0.19, Z:-1.00 [[ 9.98296576e-01 5.80798817e-02 5.53840227e-03 3.74103791e+01] [-5.80798527e-02 9.98311927e-01 -1.66202275e-04 -1.94904451e-01] [-5.53870605e-03 -1.55750425e-04 9.99984649e-01 -9.99526987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014203822000006 meters 0.032918051683129175 Centerline is valid? [True, True] Translation: X:37.44, Y:-0.20, Z:-1.00 [[ 9.98571557e-01 5.31540511e-02 5.43077421e-03 3.74387127e+01] [-5.31539496e-02 9.98586316e-01 -1.63128751e-04 -1.99658317e-01] [-5.43176777e-03 -1.25771368e-04 9.99985240e-01 -1.00318898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04420382200001 meters 0.032560661355998034 Centerline is valid? [True, True] Translation: X:37.47, Y:-0.20, Z:-1.01 [[ 9.98666514e-01 5.13721446e-02 5.10839086e-03 3.74673590e+01] [-5.13720342e-02 9.98679574e-01 -1.52908624e-04 -2.01565410e-01] [-5.10950085e-03 -1.09723707e-04 9.99986940e-01 -1.00624694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074203822 meters 0.031748102519389046 Centerline is valid? [True, True] Translation: X:37.50, Y:-0.20, Z:-1.01 [[ 9.98747007e-01 4.98080337e-02 4.85551015e-03 3.74963222e+01] [-4.98079141e-02 9.98758805e-01 -1.45633408e-04 -2.02382652e-01] [-4.85673723e-03 -9.63919023e-05 9.99988201e-01 -1.00887808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104203822 meters 0.02781419709671579 Centerline is valid? [True, True] Translation: X:37.52, Y:-0.21, Z:-1.01 [[ 9.98814179e-01 4.85015909e-02 4.22264940e-03 3.75249942e+01] [-4.85014875e-02 9.98823102e-01 -1.26952719e-04 -2.05471571e-01] [-4.22383718e-03 -7.80026010e-05 9.99991077e-01 -1.00663077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134203822 meters 0.023876326756217082 Centerline is valid? [True, True] Translation: X:37.55, Y:-0.20, Z:-1.00 [[ 9.98935231e-01 4.59361676e-02 4.27478048e-03 3.75546509e+01] [-4.59360414e-02 9.98944375e-01 -1.27751977e-04 -2.03369696e-01] [-4.27613635e-03 -6.87505428e-05 9.99990855e-01 -1.00447208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164203822000005 meters 0.024672058806622117 Centerline is valid? [True, True] Translation: X:37.58, Y:-0.20, Z:-1.01 [[ 9.99002393e-01 4.45099100e-02 3.61765582e-03 3.75828840e+01] [-4.45098091e-02 9.99008941e-01 -1.08429285e-04 -2.01332991e-01] [-3.61889669e-03 -5.27000546e-05 9.99993450e-01 -1.00909021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194203822000006 meters 0.022414610694956507 Centerline is valid? [True, True] Translation: X:37.61, Y:-0.21, Z:-1.01 [[ 9.99080021e-01 4.28394778e-02 1.97253871e-03 3.76127256e+01] [-4.28394444e-02 9.99081968e-01 -5.92008564e-05 -2.05255943e-01] [-1.97326399e-03 -2.53560693e-05 9.99998053e-01 -1.01052288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22420382200001 meters 0.022606054396732172 Centerline is valid? [True, True] Translation: X:37.64, Y:-0.21, Z:-1.02 [[ 9.99171000e-01 4.07048382e-02 6.54404129e-04 3.76405932e+01] [-4.07048331e-02 9.99171215e-01 -2.10898113e-05 -2.08760395e-01] [-6.54720225e-04 -5.56508300e-06 9.99999786e-01 -1.01619970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254203822 meters 0.019825279725596116 Centerline is valid? [True, True] Translation: X:37.67, Y:-0.21, Z:-1.01 [[ 9.99308535e-01 3.71520113e-02 1.47616180e-03 3.76699005e+01] [-3.71519846e-02 9.99309626e-01 -4.54807870e-05 -2.14297584e-01] [-1.47683240e-03 -9.39300190e-06 9.99998909e-01 -1.01362088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284203822 meters 0.0187880912175347 Centerline is valid? [True, True] Translation: X:37.70, Y:-0.22, Z:-1.01 [[ 9.99351333e-01 3.59321118e-02 2.40764963e-03 3.76985797e+01] [-3.59320418e-02 9.99354233e-01 -7.23410181e-05 -2.15979009e-01] [-2.40869421e-03 -1.42176744e-05 9.99997099e-01 -1.01224659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.314203822 meters 0.018522476110737478 Centerline is valid? [True, True] Translation: X:37.73, Y:-0.22, Z:-1.01 [[ 9.99375573e-01 3.51688670e-02 3.40799135e-03 3.77277607e+01] [-3.51687268e-02 9.99381384e-01 -1.01077839e-04 -2.17340124e-01] [-3.40943791e-03 -1.88399940e-05 9.99994188e-01 -1.01182947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344203822000004 meters 0.017437557632284693 Centerline is valid? [True, True] Translation: X:37.76, Y:-0.22, Z:-1.01 [[ 9.99376151e-01 3.49695584e-02 4.94357778e-03 3.77572622e+01] [-3.49692630e-02 9.99388378e-01 -1.46203935e-04 -2.19140122e-01] [-4.94566686e-03 -2.67605461e-05 9.99987770e-01 -1.00898208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374203822000005 meters 0.01647188594226768 Centerline is valid? [True, True] Translation: X:37.79, Y:-0.22, Z:-1.01 [[ 9.99366339e-01 3.49511040e-02 6.73359545e-03 3.77874901e+01] [-3.49505600e-02 9.99389023e-01 -1.98487030e-04 -2.21053611e-01] [-6.73641872e-03 -3.69816749e-05 9.99977309e-01 -1.00617334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40420382200001 meters 0.016590823738863215 Centerline is valid? [True, True] Translation: X:37.82, Y:-0.22, Z:-1.01 [[ 9.99354808e-01 3.53582476e-02 6.30565191e-03 3.78185634e+01] [-3.53577839e-02 9.99374701e-01 -1.85038295e-04 -2.21789261e-01] [-6.30825162e-03 -3.80349678e-05 9.99980102e-01 -1.00713716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434203822 meters 0.01745816027615964 Centerline is valid? [True, True] Translation: X:37.85, Y:-0.22, Z:-1.01 [[ 9.99343667e-01 3.57773750e-02 5.67585298e-03 3.78484898e+01] [-3.57770093e-02 9.99359784e-01 -1.65987730e-04 -2.21684179e-01] [-5.67815781e-03 -3.71862581e-05 9.99983878e-01 -1.01022044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464203822 meters 0.01888803514736634 Centerline is valid? [True, True] Translation: X:37.88, Y:-0.22, Z:-1.01 [[ 9.99288053e-01 3.74888949e-02 4.23900321e-03 3.78787842e+01] [-3.74887017e-02 9.99297044e-01 -1.25063798e-04 -2.21795640e-01] [-4.24071188e-03 -3.39399679e-05 9.99991008e-01 -1.01272336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494203822 meters 0.01937361138763614 Centerline is valid? [True, True] Translation: X:37.91, Y:-0.22, Z:-1.01 [[ 9.99252862e-01 3.83805749e-02 4.54409395e-03 3.79087670e+01] [-3.83803595e-02 9.99263193e-01 -1.34627487e-04 -2.23429058e-01] [-4.54591291e-03 -3.98770576e-05 9.99989666e-01 -1.01295515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524203822000004 meters 0.019318850343304262 Centerline is valid? [True, True] Translation: X:37.94, Y:-0.23, Z:-1.01 [[ 9.99226144e-01 3.90720714e-02 4.52629330e-03 3.79383147e+01] [-3.90718652e-02 9.99236394e-01 -1.34007416e-04 -2.25709142e-01] [-4.52807295e-03 -4.29470086e-05 9.99989747e-01 -1.01259820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554203822000005 meters 0.020948613654541925 Centerline is valid? [True, True] Translation: X:37.97, Y:-0.23, Z:-1.02 [[ 9.99203625e-01 3.97961571e-02 2.89522047e-03 3.79680307e+01] [-3.97960761e-02 9.99207819e-01 -8.55857615e-05 -2.26624581e-01] [-2.89633292e-03 -2.97008111e-05 9.99995805e-01 -1.01628268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584203822000006 meters 0.021235230079437423 Centerline is valid? [True, True] Translation: X:38.00, Y:-0.23, Z:-1.02 [[ 9.99162235e-01 4.09143522e-02 9.18646795e-04 3.79973374e+01] [-4.09143437e-02 9.99162657e-01 -2.80610389e-05 -2.27426590e-01] [-9.19025672e-04 -9.54830040e-06 9.99999578e-01 -1.01675672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61420382200001 meters 0.02201986343794756 Centerline is valid? [True, True] Translation: X:38.03, Y:-0.23, Z:-1.02 [[ 9.99140124e-01 4.14089613e-02 2.07623820e-03 3.80257243e+01] [-4.14089211e-02 9.99142281e-01 -6.23397570e-05 -2.26657333e-01] [-2.07703880e-03 -2.36886316e-05 9.99997843e-01 -1.01739404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644203822 meters 0.0221421698554115 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.23, Z:-1.02 [[ 9.99114776e-01 4.19307409e-02 3.38790139e-03 3.80544994e+01] [-4.19306406e-02 9.99120519e-01 -1.00660188e-04 -2.26229931e-01] [-3.38914255e-03 -4.14857950e-05 9.99994256e-01 -1.01586854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674203822 meters 0.022011550165712837 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.23, Z:-1.01 [[ 9.99071097e-01 4.29330967e-02 3.70026644e-03 3.80838084e+01] [-4.29329849e-02 9.99077948e-01 -1.09665509e-04 -2.26972631e-01] [-3.70156289e-03 -4.92998430e-05 9.99993148e-01 -1.01423439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704203822000004 meters 0.025040345257970206 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.23, Z:-1.02 [[ 9.98992594e-01 4.48155464e-02 2.31607811e-03 3.81118478e+01] [-4.48155068e-02 9.98995278e-01 -6.90440923e-05 -2.27619093e-01] [-2.31684535e-03 -3.48216776e-05 9.99997316e-01 -1.01954438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.734203822000005 meters 0.02650598627529655 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.23, Z:-1.02 [[ 9.98960280e-01 4.55711668e-02 1.27594888e-03 3.81401016e+01] [-4.55711551e-02 9.98961095e-01 -3.82438847e-05 -2.28355911e-01] [-1.27636611e-03 -1.99423427e-05 9.99999185e-01 -1.02251819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764203822000006 meters 0.03432319639664612 Centerline is valid? [True, True] Translation: X:38.17, Y:-0.23, Z:-1.02 [[ 9.98860295e-01 4.77215606e-02 8.74076278e-04 3.81688785e+01] [-4.77215557e-02 9.98860677e-01 -2.64777926e-05 -2.25243222e-01] [-8.74343984e-04 -1.52646640e-05 9.99999618e-01 -1.02496304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79420382200001 meters 0.029031128909181393 Centerline is valid? [True, True] Translation: X:38.20, Y:-0.23, Z:-1.02 [[ 9.98832174e-01 4.82993416e-02 1.20909453e-03 3.81977215e+01] [-4.82993328e-02 9.98832906e-01 -3.65335941e-05 -2.26543519e-01] [-1.20944795e-03 -2.19075301e-05 9.99999268e-01 -1.02439955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824203822 meters 0.028464764590545356 Centerline is valid? [True, True] Translation: X:38.23, Y:-0.23, Z:-1.02 [[ 9.98839662e-01 4.80969389e-02 2.45249143e-03 3.82264164e+01] [-4.80969056e-02 9.98842671e-01 -7.25882192e-05 -2.29017133e-01] [-2.45314436e-03 -4.54532565e-05 9.99996990e-01 -1.02329099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854203822 meters 0.02672079869997255 Centerline is valid? [True, True] Translation: X:38.26, Y:-0.23, Z:-1.02 [[ 9.98865240e-01 4.74937739e-02 3.54587814e-03 3.82550209e+01] [-4.74937032e-02 9.98871532e-01 -1.04192046e-04 -2.33013487e-01] [-3.54682521e-03 -6.43330706e-05 9.99993708e-01 -1.02058812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884203822 meters 0.02416777682853335 Centerline is valid? [True, True] Translation: X:38.28, Y:-0.24, Z:-1.02 [[ 9.98933927e-01 4.59057016e-02 4.86576482e-03 3.82846793e+01] [-4.59055559e-02 9.98945774e-01 -1.41665750e-04 -2.37806480e-01] [-4.86713847e-03 -8.18509151e-05 9.99988152e-01 -1.01749635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.914203822000005 meters 0.02352411917306234 Centerline is valid? [True, True] Translation: X:38.31, Y:-0.24, Z:-1.02 [[ 9.98958089e-01 4.53784371e-02 4.85123854e-03 3.83138528e+01] [-4.53782867e-02 9.98969865e-01 -1.41128751e-04 -2.39504474e-01] [-4.85264531e-03 -7.91591857e-05 9.99988223e-01 -1.01789254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944203822000006 meters 0.02733654493658474 Centerline is valid? [True, True] Translation: X:38.34, Y:-0.24, Z:-1.03 [[ 9.98964932e-01 4.52520564e-02 4.61700153e-03 3.83421838e+01] [-4.52519179e-02 9.98975598e-01 -1.34525390e-04 -2.36984241e-01] [-4.61835942e-03 -7.45420272e-05 9.99989333e-01 -1.02514051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97420382200001 meters 0.026321306429538994 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.24, Z:-1.03 [[ 9.98951481e-01 4.56264330e-02 3.76406760e-03 3.83717207e+01] [-4.56263446e-02 9.98958570e-01 -1.09397049e-04 -2.40343822e-01] [-3.76513898e-03 -6.24583018e-05 9.99992910e-01 -1.02544116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004203822 meters 0.026908808328632176 Centerline is valid? [True, True] Translation: X:38.40, Y:-0.25, Z:-1.03 [[ 9.98914140e-01 4.64674779e-02 3.36363043e-03 3.84015784e+01] [-4.64674121e-02 9.98919802e-01 -9.77552032e-05 -2.45429163e-01] [-3.36453948e-03 -5.86501465e-05 9.99994338e-01 -1.02698278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034203822 meters 0.02649250041305192 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.25, Z:-1.03 [[ 9.98893821e-01 4.69176604e-02 3.14130016e-03 3.84300922e+01] [-4.69176034e-02 9.98898759e-01 -9.18874777e-05 -2.48992539e-01] [-3.14215197e-03 -5.55964412e-05 9.99995062e-01 -1.02635766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064203822 meters 0.027610712531433535 Centerline is valid? [True, True] Translation: X:38.46, Y:-0.25, Z:-1.03 [[ 9.98858615e-01 4.76989757e-02 2.50483013e-03 3.84595147e+01] [-4.76989430e-02 9.98861755e-01 -7.27965608e-05 -2.50249718e-01] [-2.50545134e-03 -4.67642776e-05 9.99996860e-01 -1.02776093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094203822000004 meters 0.030464978716706358 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.25, Z:-1.03 [[ 9.98764078e-01 4.96763281e-02 1.60574466e-03 3.84884522e+01] [-4.96763164e-02 9.98765369e-01 -4.71925544e-05 -2.50373509e-01] [-1.60610651e-03 -3.26332519e-05 9.99998710e-01 -1.03088859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124203822000005 meters 0.031588877751601886 Centerline is valid? [True, True] Translation: X:38.52, Y:-0.25, Z:-1.03 [[ 9.98708120e-01 5.07900158e-02 1.57037142e-03 3.85176371e+01] [-5.07900061e-02 9.98709354e-01 -4.61120924e-05 -2.50756508e-01] [-1.57068666e-03 -3.37066528e-05 9.99998766e-01 -1.03259906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15420382200001 meters 0.03212052625374184 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.25, Z:-1.03 [[ 9.98638629e-01 5.21462590e-02 1.28684983e-03 3.85468435e+01] [-5.21462535e-02 9.98639458e-01 -3.78188584e-05 -2.51468652e-01] [-1.28707113e-03 -2.93370246e-05 9.99999171e-01 -1.03230376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18420382200001 meters 0.03469229660447426 Centerline is valid? [True, True] Translation: X:38.57, Y:-0.25, Z:-1.03 [[ 9.98550418e-01 5.38029818e-02 1.51693047e-03 3.85746746e+01] [-5.38029753e-02 9.98551570e-01 -4.51385075e-05 -2.49355669e-01] [-1.51716189e-03 -3.65422970e-05 9.99998848e-01 -1.03383256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214203822 meters 0.03620360648703334 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.25, Z:-1.03 [[ 9.98318536e-01 5.79591945e-02 9.12622403e-04 3.86052536e+01] [-5.79591948e-02 9.98318953e-01 -2.61237736e-05 -2.50559057e-01] [-9.12602354e-04 -2.68150122e-05 9.99999583e-01 -1.03206706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244203822 meters 0.038955901410065344 Centerline is valid? [True, True] Translation: X:38.63, Y:-0.25, Z:-1.03 [[ 9.98204813e-01 5.98832487e-02 1.07167733e-03 3.86338443e+01] [-5.98832490e-02 9.98205387e-01 -3.19023414e-05 -2.49755300e-01] [-1.07166450e-03 -3.23304496e-05 9.99999425e-01 -1.03300874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.274203822000004 meters 0.03984724566889544 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.25, Z:-1.03 [[ 9.98105824e-01 6.15046741e-02 1.39262109e-03 3.86629221e+01] [-6.15046765e-02 9.98106794e-01 -4.11202214e-05 -2.49185694e-01] [-1.39251366e-03 -4.46103773e-05 9.99999029e-01 -1.03197468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304203822000005 meters 0.04663556355431047 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.24, Z:-1.03 [[ 9.97919314e-01 6.43695954e-02 3.68750992e-03 3.86913253e+01] [-6.43696400e-02 9.97926119e-01 -1.06710941e-04 -2.38339974e-01] [-3.68673140e-03 -1.30874777e-04 9.99993195e-01 -1.03271142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334203822000006 meters 0.04589840392055475 Centerline is valid? [True, True] Translation: X:38.72, Y:-0.24, Z:-1.03 [[ 9.97852110e-01 6.53024414e-02 5.17277270e-03 3.87199627e+01] [-6.53025486e-02 9.97865500e-01 -1.48359044e-04 -2.39827273e-01] [-5.17141962e-03 -1.89754855e-04 9.99986610e-01 -1.02967146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36420382200001 meters 0.04729813200092932 Centerline is valid? [True, True] Translation: X:38.75, Y:-0.24, Z:-1.03 [[ 9.97802577e-01 6.59328641e-02 6.54783217e-03 3.87475424e+01] [-6.59330521e-02 9.97824031e-01 -1.87386259e-04 -2.38516603e-01] [-6.54593921e-03 -2.44744067e-04 9.99978545e-01 -1.02832779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394203822 meters 0.0482694702925804 Centerline is valid? [True, True] Translation: X:38.78, Y:-0.24, Z:-1.03 [[ 9.97769416e-01 6.63424564e-02 7.40744927e-03 3.87750886e+01] [-6.63427131e-02 9.97796873e-01 -2.11324237e-04 -2.36897701e-01] [-7.40514948e-03 -2.80577420e-04 9.99972542e-01 -1.02798129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424203822 meters 0.04565037338000672 Centerline is valid? [True, True] Translation: X:38.80, Y:-0.24, Z:-1.03 [[ 9.97760459e-01 6.65729361e-02 6.48934091e-03 3.88038001e+01] [-6.65731406e-02 9.97781531e-01 -1.84738473e-04 -2.40923490e-01] [-6.48724308e-03 -2.47691061e-04 9.99978927e-01 -1.02974574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.454203822000004 meters 0.0445515266555349 Centerline is valid? [True, True] Translation: X:38.83, Y:-0.24, Z:-1.03 [[ 9.97787479e-01 6.62317421e-02 5.78821897e-03 3.88324777e+01] [-6.62318997e-02 9.97804244e-01 -1.64662140e-04 -2.44501087e-01] [-5.78641531e-03 -2.19066917e-04 9.99983235e-01 -1.03124143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484203822000005 meters 0.048013842442252215 Centerline is valid? [True, True] Translation: X:38.86, Y:-0.24, Z:-1.03 [[ 9.97823585e-01 6.56626022e-02 6.04289473e-03 3.88604932e+01] [-6.56627641e-02 9.97841857e-01 -1.71814590e-04 -2.41693625e-01] [-6.04113509e-03 -2.25352521e-04 9.99981727e-01 -1.03475994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514203822000006 meters 0.043215721230049166 Centerline is valid? [True, True] Translation: X:38.89, Y:-0.25, Z:-1.03 [[ 9.97965494e-01 6.34884880e-02 5.83817064e-03 3.88906738e+01] [-6.34886077e-02 9.97982550e-01 -1.65020269e-04 -2.47035611e-01] [-5.83686931e-03 -2.05972791e-04 9.99982944e-01 -1.03306999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54420382200001 meters 0.043906522067796334 Centerline is valid? [True, True] Translation: X:38.92, Y:-0.25, Z:-1.04 [[ 9.98071848e-01 6.18770184e-02 4.88069118e-03 3.89196247e+01] [-6.18770822e-02 9.98083768e-01 -1.38086434e-04 -2.46867902e-01] [-4.87988302e-03 -1.64182747e-04 9.99988080e-01 -1.03709018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574203822 meters 0.04222250375826495 Centerline is valid? [True, True] Translation: X:38.95, Y:-0.25, Z:-1.04 [[ 9.98202969e-01 5.97975627e-02 3.88394553e-03 3.89488445e+01] [-5.97975871e-02 9.98210517e-01 -1.09931701e-04 -2.50285929e-01] [-3.88356892e-03 -1.22516421e-04 9.99992451e-01 -1.03986230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604203822 meters 0.035411247702177434 Centerline is valid? [True, True] Translation: X:38.98, Y:-0.26, Z:-1.04 [[ 9.98424817e-01 5.60307890e-02 2.90456086e-03 3.89788224e+01] [-5.60307880e-02 9.98429038e-01 -8.17827608e-05 -2.61338795e-01] [-2.90458026e-03 -8.10908960e-05 9.99995778e-01 -1.03919928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.634203822 meters 0.03578782566017858 Centerline is valid? [True, True] Translation: X:39.01, Y:-0.26, Z:-1.04 [[ 9.98495541e-01 5.46836114e-02 4.04452826e-03 3.90076485e+01] [-5.46835968e-02 9.98503726e-01 -1.14280058e-04 -2.62706024e-01] [-4.04472578e-03 -1.07061224e-04 9.99991814e-01 -1.04001299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664203822000005 meters 0.03578782566017858 Centerline is valid? [True, True] Translation: X:39.04, Y:-0.26, Z:-1.04 [[ 9.98498111e-01 5.46366496e-02 4.04452486e-03 3.90359719e+01] [-5.46366341e-02 9.98506297e-01 -1.14402225e-04 -2.63407524e-01] [-4.04473410e-03 -1.06748819e-04 9.99991814e-01 -1.04081756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694203822000006 meters 0.034340417023572746 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.27, Z:-1.04 [[ 9.98546944e-01 5.35724061e-02 5.83084805e-03 3.90660220e+01] [-5.35723654e-02 9.98563956e-01 -1.63269739e-04 -2.67188817e-01] [-5.83122145e-03 -1.49339823e-04 9.99982987e-01 -1.03852563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72420382200001 meters 0.03337609651932709 Centerline is valid? [True, True] Translation: X:39.10, Y:-0.27, Z:-1.04 [[ 9.98563499e-01 5.30950526e-02 7.20089543e-03 3.90959061e+01] [-5.30949775e-02 9.98589447e-01 -2.01719979e-04 -2.70658315e-01] [-7.20144851e-03 -1.80901173e-04 9.99974053e-01 -1.03626244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754203822 meters 0.033327232578228914 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.27, Z:-1.04 [[ 9.98578015e-01 5.27684748e-02 7.57868546e-03 3.91253187e+01] [-5.27683900e-02 9.98606756e-01 -2.11286369e-04 -2.71574718e-01] [-7.57927576e-03 -1.88929107e-04 9.99971259e-01 -1.03636040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784203822 meters 0.029975555087337694 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.27, Z:-1.03 [[ 9.98606378e-01 5.21527455e-02 8.08663125e-03 3.91557415e+01] [-5.21526251e-02 9.98639100e-01 -2.25901488e-04 -2.74400329e-01] [-8.08740754e-03 -1.96152381e-04 9.99967277e-01 -1.03362339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.814203822 meters 0.03165571090177401 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.27, Z:-1.04 [[ 9.98634344e-01 5.14580725e-02 9.02845768e-03 3.91855866e+01] [-5.14578920e-02 9.98675133e-01 -2.52448840e-04 -2.71315972e-01] [-9.02948671e-03 -2.12481318e-04 9.99959211e-01 -1.03625620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844203822000004 meters 0.03062258067117662 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.28, Z:-1.04 [[ 9.98698016e-01 5.00960745e-02 9.62580120e-03 3.92153971e+01] [-5.00958096e-02 9.98744381e-01 -2.68780376e-04 -2.75367502e-01] [-9.62717970e-03 -2.13781876e-04 9.99953635e-01 -1.03742696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874203822000005 meters 0.02850495914969849 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.28, Z:-1.04 [[ 9.98741576e-01 4.92472204e-02 9.48556245e-03 3.92462727e+01] [-4.92469291e-02 9.98786599e-01 -2.64415332e-04 -2.81853949e-01] [-9.48707438e-03 -2.03052237e-04 9.99954976e-01 -1.03681056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90420382200001 meters 0.027383874648769346 Centerline is valid? [True, True] Translation: X:39.28, Y:-0.29, Z:-1.04 [[ 9.98797668e-01 4.80521825e-02 9.70599780e-03 3.92769433e+01] [-4.80518188e-02 9.98844807e-01 -2.70808547e-04 -2.86999733e-01] [-9.70779844e-03 -1.95907902e-04 9.99952859e-01 -1.03759612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93420382200001 meters 0.02548674416128117 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.29, Z:-1.04 [[ 9.98892039e-01 4.60879487e-02 9.51812695e-03 3.93092489e+01] [-4.60875330e-02 9.98937370e-01 -2.63121769e-04 -2.94376855e-01] [-9.52013945e-03 -1.75836749e-04 9.99954667e-01 -1.03867227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964203822 meters 0.023013774008244395 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.30, Z:-1.04 [[ 9.98904628e-01 4.58329219e-02 9.42798901e-03 3.93414293e+01] [-4.58324901e-02 9.98949105e-01 -2.61966485e-04 -2.99200327e-01] [-9.43008787e-03 -1.70428678e-04 9.99955521e-01 -1.03688517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.994203822 meters 0.02376510381366874 Centerline is valid? [True, True] Translation: X:39.37, Y:-0.30, Z:-1.04 [[ 9.98888535e-01 4.61424869e-02 9.62107316e-03 3.93728304e+01] [-4.61420322e-02 9.98934853e-01 -2.69343737e-04 -3.00164005e-01] [-9.62325349e-03 -1.74891497e-04 9.99953680e-01 -1.03841873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024203822000004 meters 0.026880481721728466 Centerline is valid? [True, True] Translation: X:39.40, Y:-0.30, Z:-1.04 [[ 9.98866929e-01 4.66041670e-02 9.63898237e-03 3.94035969e+01] [-4.66037167e-02 9.98913420e-01 -2.71450448e-04 -2.97972505e-01] [-9.64115957e-03 -1.78069528e-04 9.99953507e-01 -1.04238485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054203822000005 meters 0.025788165944134814 Centerline is valid? [True, True] Translation: X:39.44, Y:-0.30, Z:-1.04 [[ 9.98823529e-01 4.74858283e-02 9.83124538e-03 3.94353649e+01] [-4.74853878e-02 9.98871894e-01 -2.78362630e-04 -3.01293567e-01] [-9.83337297e-03 -1.88805355e-04 9.99951633e-01 -1.04207535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084203822000006 meters 0.026395753103229783 Centerline is valid? [True, True] Translation: X:39.47, Y:-0.30, Z:-1.04 [[ 9.98810654e-01 4.78065875e-02 9.58162283e-03 3.94662466e+01] [-4.78061673e-02 9.98856594e-01 -2.73018822e-04 -3.03747264e-01] [-9.58371924e-03 -1.85366555e-04 9.99954058e-01 -1.04439974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11420382200001 meters 0.02450830657021613 Centerline is valid? [True, True] Translation: X:39.50, Y:-0.31, Z:-1.04 [[ 9.98814091e-01 4.77286456e-02 9.61191766e-03 3.94984415e+01] [-4.77282080e-02 9.98860322e-01 -2.75034253e-04 -3.09514873e-01] [-9.61409018e-03 -1.84051518e-04 9.99953767e-01 -1.04365458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144203822 meters 0.024208678212455592 Centerline is valid? [True, True] Translation: X:39.53, Y:-0.31, Z:-1.04 [[ 9.98854082e-01 4.67014626e-02 1.04640510e-02 3.95291783e+01] [-4.67008619e-02 9.98908874e-01 -3.01874567e-04 -3.14074151e-01] [-1.04667314e-02 -1.87151558e-04 9.99945205e-01 -1.04346217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174203822 meters 0.024312556462776285 Centerline is valid? [True, True] Translation: X:39.56, Y:-0.32, Z:-1.04 [[ 9.98873253e-01 4.62415223e-02 1.06745278e-02 3.95601116e+01] [-4.62408399e-02 9.98930272e-01 -3.10857568e-04 -3.16629733e-01] [-1.06774835e-02 -1.83091822e-04 9.99942977e-01 -1.04390993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204203822000004 meters 0.02231279653706403 Centerline is valid? [True, True] Translation: X:39.59, Y:-0.32, Z:-1.04 [[ 9.98895060e-01 4.57831997e-02 1.06093399e-02 3.95921094e+01] [-4.57825035e-02 9.98951384e-01 -3.08614853e-04 -3.22356692e-01] [-1.06123442e-02 -1.77448290e-04 9.99943672e-01 -1.04288134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.234203822000005 meters 0.02279917051143527 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.32, Z:-1.04 [[ 9.98914324e-01 4.53051398e-02 1.08451781e-02 3.96236502e+01] [-4.53043604e-02 9.98973180e-01 -3.17660833e-04 -3.24745797e-01] [-1.08484337e-02 -1.74017901e-04 9.99941139e-01 -1.04468027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264203822000006 meters 0.022016109872815954 Centerline is valid? [True, True] Translation: X:39.66, Y:-0.33, Z:-1.04 [[ 9.98928667e-01 4.48187837e-02 1.15236671e-02 3.96560771e+01] [-4.48178489e-02 9.98995118e-01 -3.39478641e-04 -3.28458869e-01] [-1.15273022e-02 -1.77351026e-04 9.99933543e-01 -1.04436213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29420382200001 meters 0.020242666088769044 Centerline is valid? [True, True] Translation: X:39.69, Y:-0.34, Z:-1.04 [[ 9.98966376e-01 4.35464233e-02 1.30341289e-02 3.96880336e+01] [-4.35450830e-02 9.99051388e-01 -3.86738239e-04 -3.38742328e-01] [-1.30386057e-02 -1.81233729e-04 9.99914977e-01 -1.04398791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324203822 meters 0.018381487823898694 Centerline is valid? [True, True] Translation: X:39.72, Y:-0.35, Z:-1.04 [[ 9.98995139e-01 4.29691998e-02 1.27420726e-02 3.97206710e+01] [-4.29678530e-02 9.99076383e-01 -3.79566978e-04 -3.47177201e-01] [-1.27466135e-02 -1.68313936e-04 9.99918744e-01 -1.04380150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354203822 meters 0.019748317283047847 Centerline is valid? [True, True] Translation: X:39.75, Y:-0.35, Z:-1.05 [[ 9.99009632e-01 4.28120253e-02 1.21196770e-02 3.97522297e+01] [-4.28107671e-02 9.99083133e-01 -3.63351612e-04 -3.50693687e-01] [-1.21241207e-02 -1.55860911e-04 9.99926488e-01 -1.04776275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384203822 meters 0.019298348726226704 Centerline is valid? [True, True] Translation: X:39.78, Y:-0.36, Z:-1.05 [[ 9.98976778e-01 4.38280530e-02 1.11579039e-02 3.97840728e+01] [-4.38270297e-02 9.99039077e-01 -3.36336507e-04 -3.56254120e-01] [-1.11619229e-02 -1.53025423e-04 9.99937692e-01 -1.04823160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.414203822000005 meters 0.021477020380038892 Centerline is valid? [True, True] Translation: X:39.82, Y:-0.36, Z:-1.05 [[ 9.98917033e-01 4.53103428e-02 1.05704206e-02 3.98153247e+01] [-4.53094758e-02 9.98972947e-01 -3.21606729e-04 -3.56436905e-01] [-1.05741363e-02 -1.57681777e-04 9.99944080e-01 -1.05108654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444203822000006 meters 0.023461973410157728 Centerline is valid? [True, True] Translation: X:39.85, Y:-0.36, Z:-1.05 [[ 9.98854214e-01 4.68862462e-02 9.58852002e-03 3.98462405e+01] [-4.68856106e-02 9.98900223e-01 -2.91189576e-04 -3.57209163e-01] [-9.59162757e-03 -1.58707681e-04 9.99953987e-01 -1.05438353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47420382200001 meters 0.025423723205261362 Centerline is valid? [True, True] Translation: X:39.88, Y:-0.36, Z:-1.06 [[ 9.98784479e-01 4.85229571e-02 8.66529433e-03 3.98782158e+01] [-4.85224932e-02 9.98822055e-01 -2.63878585e-04 -3.58017443e-01] [-8.66789126e-03 -1.56903851e-04 9.99962421e-01 -1.05720449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504203822 meters 0.028692958184012997 Centerline is valid? [True, True] Translation: X:39.91, Y:-0.36, Z:-1.06 [[ 9.98632338e-01 5.16157776e-02 8.32257294e-03 3.99091369e+01] [-5.16154453e-02 9.98667002e-01 -2.54863362e-04 -3.57384414e-01] [-8.32463394e-03 -1.75058513e-04 9.99965334e-01 -1.05906193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534203822 meters 0.027563080180451553 Centerline is valid? [True, True] Translation: X:39.94, Y:-0.36, Z:-1.06 [[ 9.98538029e-01 5.33137233e-02 8.91361263e-03 3.99416761e+01] [-5.33133983e-02 9.98577792e-01 -2.74241256e-04 -3.60360056e-01] [-8.91555644e-03 -2.01374658e-04 9.99960235e-01 -1.05640056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564203822 meters 0.030867065776770307 Centerline is valid? [True, True] Translation: X:39.97, Y:-0.36, Z:-1.06 [[ 9.98447032e-01 5.50277587e-02 8.68735573e-03 3.99724016e+01] [-5.50274781e-02 9.98484804e-01 -2.71508671e-04 -3.58253833e-01] [-8.68913320e-03 -2.06956251e-04 9.99962227e-01 -1.05938810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594203822000004 meters 0.032980165577001105 Centerline is valid? [True, True] Translation: X:40.00, Y:-0.36, Z:-1.06 [[ 9.98278962e-01 5.81868746e-02 7.30764886e-03 4.00037637e+01] [-5.81867601e-02 9.98305689e-01 -2.28457992e-04 -3.59008155e-01] [-7.30856069e-03 -1.97143603e-04 9.99973273e-01 -1.06212557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624203822000005 meters 0.03519704536706397 Centerline is valid? [True, True] Translation: X:40.03, Y:-0.36, Z:-1.07 [[ 9.98195320e-01 5.96833987e-02 6.63287296e-03 4.00347154e+01] [-5.96833558e-02 9.98217339e-01 -2.04584637e-04 -3.58637545e-01] [-6.63325910e-03 -1.91656690e-04 9.99977981e-01 -1.06513950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65420382200001 meters 0.03780669059256236 Centerline is valid? [True, True] Translation: X:40.07, Y:-0.36, Z:-1.07 [[ 9.98127326e-01 6.07449690e-02 7.20340539e-03 4.00651060e+01] [-6.07449131e-02 9.98153297e-01 -2.26753304e-04 -3.56730157e-01] [-7.20387696e-03 -2.11241565e-04 9.99974029e-01 -1.06667677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68420382200001 meters 0.03920726398372112 Centerline is valid? [True, True] Translation: X:40.10, Y:-0.35, Z:-1.06 [[ 9.97986151e-01 6.27698586e-02 9.14262697e-03 4.00954453e+01] [-6.27698496e-02 9.98027987e-01 -2.88223362e-04 -3.53693171e-01] [-9.14268933e-03 -2.86238396e-04 9.99958164e-01 -1.06385525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714203822 meters 0.04033285733202844 Centerline is valid? [True, True] Translation: X:40.13, Y:-0.35, Z:-1.07 [[ 9.97936304e-01 6.35562038e-02 9.15103746e-03 4.01263409e+01] [-6.35562543e-02 9.97978217e-01 -2.85592371e-04 -3.52050210e-01] [-9.15068721e-03 -2.96602669e-04 9.99958088e-01 -1.06533442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744203822 meters 0.03727406168774521 Centerline is valid? [True, True] Translation: X:40.16, Y:-0.36, Z:-1.06 [[ 9.97924621e-01 6.37812708e-02 8.85440177e-03 4.01581136e+01] [-6.37813195e-02 9.97963860e-01 -2.77174005e-04 -3.56363253e-01] [-8.85405148e-03 -2.88146664e-04 9.99960761e-01 -1.06472182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.774203822000004 meters 0.03951792359325485 Centerline is valid? [True, True] Translation: X:40.19, Y:-0.36, Z:-1.07 [[ 9.97949711e-01 6.34492939e-02 8.40012966e-03 4.01890082e+01] [-6.34493139e-02 9.97985027e-01 -2.64377602e-04 -3.55297145e-01] [-8.39997820e-03 -2.69146912e-04 9.99964683e-01 -1.06817870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804203822000005 meters 0.03517836066527335 Centerline is valid? [True, True] Translation: X:40.22, Y:-0.36, Z:-1.07 [[ 9.98068520e-01 6.15893054e-02 8.12320723e-03 4.02207693e+01] [-6.15892337e-02 9.98101547e-01 -2.59221669e-04 -3.62404670e-01] [-8.12375099e-03 -2.41581120e-04 9.99966973e-01 -1.06759905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834203822000006 meters 0.03585254188994725 Centerline is valid? [True, True] Translation: X:40.25, Y:-0.36, Z:-1.07 [[ 9.98135033e-01 6.05704697e-02 7.59439364e-03 4.02522332e+01] [-6.05703949e-02 9.98163899e-01 -2.40065145e-04 -3.62591571e-01] [-7.59499043e-03 -2.20377990e-04 9.99971133e-01 -1.07093844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86420382200001 meters 0.03586234702105612 Centerline is valid? [True, True] Translation: X:40.28, Y:-0.36, Z:-1.07 [[ 9.98197199e-01 5.95822182e-02 7.23267415e-03 4.02834045e+01] [-5.95821171e-02 9.98223381e-01 -2.29643504e-04 -3.63617675e-01] [-7.23350711e-03 -2.01708536e-04 9.99973818e-01 -1.07378852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894203822 meters 0.03453789475532444 Centerline is valid? [True, True] Translation: X:40.31, Y:-0.37, Z:-1.07 [[ 9.98337022e-01 5.70478519e-02 8.29053858e-03 4.03148203e+01] [-5.70475947e-02 9.98371424e-01 -2.67686460e-04 -3.68208703e-01] [-8.29230775e-03 -2.05713982e-04 9.99965597e-01 -1.07166081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924203822 meters 0.030375381904163588 Centerline is valid? [True, True] Translation: X:40.35, Y:-0.37, Z:-1.07 [[ 9.98407511e-01 5.56729478e-02 9.10847414e-03 4.03467902e+01] [-5.56726025e-02 9.98449035e-01 -2.91657911e-04 -3.70292557e-01] [-9.11058468e-03 -2.15899011e-04 9.99958474e-01 -1.07217308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.954203822000004 meters 0.0287847980281485 Centerline is valid? [True, True] Translation: X:40.38, Y:-0.37, Z:-1.07 [[ 9.98481023e-01 5.41860572e-02 9.97584348e-03 4.03779409e+01] [-5.41855456e-02 9.98530832e-01 -3.21750640e-04 -3.72362975e-01] [-9.97862169e-03 -2.19284613e-04 9.99950188e-01 -1.07201328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984203822000005 meters 0.027514431795205335 Centerline is valid? [True, True] Translation: X:40.41, Y:-0.37, Z:-1.07 [[ 9.98550289e-01 5.29201075e-02 9.83777892e-03 4.04103773e+01] [-5.29195364e-02 9.98598729e-01 -3.18535930e-04 -3.74683504e-01] [-9.84085048e-03 -2.02536554e-04 9.99951557e-01 -1.07299926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014203822000006 meters 0.023383723387098685 Centerline is valid? [True, True] Translation: X:40.44, Y:-0.38, Z:-1.07 [[ 9.98689735e-01 5.04098697e-02 8.81234840e-03 4.04421342e+01] [-5.04093065e-02 9.98728602e-01 -2.86156463e-04 -3.84966818e-01] [-8.81556950e-03 -1.58442849e-04 9.99961130e-01 -1.07421467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04420382200001 meters 0.024359342545218658 Centerline is valid? [True, True] Translation: X:40.47, Y:-0.39, Z:-1.08 [[ 9.98738498e-01 4.95994262e-02 7.83001660e-03 4.04743754e+01] [-4.95989523e-02 9.98769182e-01 -2.54815670e-04 -3.87861610e-01] [-7.83301799e-03 -1.33866400e-04 9.99969312e-01 -1.07930040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074203822 meters 0.022805655440744716 Centerline is valid? [True, True] Translation: X:40.51, Y:-0.39, Z:-1.08 [[ 9.98822478e-01 4.79629888e-02 7.29451731e-03 4.05061892e+01] [-4.79625240e-02 9.98849107e-01 -2.38735993e-04 -3.90069569e-01] [-7.29757260e-03 -1.11408586e-04 9.99973366e-01 -1.08015814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104203822 meters 0.022495503673724437 Centerline is valid? [True, True] Translation: X:40.54, Y:-0.39, Z:-1.08 [[ 9.98817277e-01 4.78296225e-02 8.73918679e-03 4.05371835e+01] [-4.78289275e-02 9.98855500e-01 -2.88618957e-04 -3.89309960e-01] [-8.74298933e-03 -1.29708331e-04 9.99961771e-01 -1.07910854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.134203822 meters 0.02210192339379319 Centerline is valid? [True, True] Translation: X:40.57, Y:-0.39, Z:-1.08 [[ 9.98786946e-01 4.82110593e-02 1.00164791e-02 4.05699392e+01] [-4.82101269e-02 9.98837160e-01 -3.34659251e-04 -3.89354069e-01] [-1.00209658e-02 -1.48642435e-04 9.99949778e-01 -1.07755456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164203822000005 meters 0.022804158243306876 Centerline is valid? [True, True] Translation: X:40.60, Y:-0.39, Z:-1.08 [[ 9.98741456e-01 4.89525241e-02 1.09157904e-02 4.06007832e+01] [-4.89514702e-02 9.98801092e-01 -3.63866221e-04 -3.89674452e-01] [-1.09205155e-02 -1.70935706e-04 9.99940355e-01 -1.07740149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194203822000006 meters 0.023195351001885547 Centerline is valid? [True, True] Translation: X:40.63, Y:-0.39, Z:-1.08 [[ 9.98652569e-01 5.05010425e-02 1.19453026e-02 4.06333556e+01] [-5.04998719e-02 9.98723987e-01 -3.99800142e-04 -3.92258339e-01] [-1.19502505e-02 -2.03974810e-04 9.99928572e-01 -1.07585405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22420382200001 meters 0.02339879520228709 Centerline is valid? [True, True] Translation: X:40.67, Y:-0.39, Z:-1.08 [[ 9.98606643e-01 5.11667889e-02 1.29124765e-02 4.06655576e+01] [-5.11654347e-02 9.98690096e-01 -4.35414126e-04 -3.93501763e-01] [-1.29178412e-02 -2.25865036e-04 9.99916536e-01 -1.07522200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254203822 meters 0.023497216719570176 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.39, Z:-1.08 [[ 9.98556850e-01 5.21383389e-02 1.28767271e-02 4.06978814e+01] [-5.21370464e-02 9.98639844e-01 -4.36277048e-04 -3.94077978e-01] [-1.28819595e-02 -2.35707081e-04 9.99916996e-01 -1.07545069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284203822 meters 0.02616163760207255 Centerline is valid? [True, True] Translation: X:40.73, Y:-0.39, Z:-1.08 [[ 9.98515904e-01 5.31907377e-02 1.16933598e-02 4.07287082e+01] [-5.31897236e-02 9.98584345e-01 -3.97918405e-04 -3.91086341e-01] [-1.16979717e-02 -2.24638723e-04 9.99931551e-01 -1.07951988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.314203822 meters 0.02771886447899594 Centerline is valid? [True, True] Translation: X:40.76, Y:-0.39, Z:-1.08 [[ 9.98434506e-01 5.50729356e-02 9.77282034e-03 4.07606804e+01] [-5.50722901e-02 9.98482314e-01 -3.35355588e-04 -3.87846411e-01] [-9.77645728e-03 -2.03381005e-04 9.99952189e-01 -1.08293025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344203822000004 meters 0.029397998763226282 Centerline is valid? [True, True] Translation: X:40.79, Y:-0.39, Z:-1.09 [[ 9.98391828e-01 5.59327994e-02 9.23472328e-03 4.07919972e+01] [-5.59322636e-02 9.98434515e-01 -3.16476714e-04 -3.86461608e-01] [-9.23796789e-03 -2.00551212e-04 9.99957309e-01 -1.08543581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374203822000005 meters 0.028804670995364472 Centerline is valid? [True, True] Translation: X:40.82, Y:-0.39, Z:-1.08 [[ 9.98336950e-01 5.69132379e-02 9.17698780e-03 4.08239991e+01] [-5.69127569e-02 9.98379106e-01 -3.13769142e-04 -3.88532913e-01] [-9.17997050e-03 -2.09040348e-04 9.99957841e-01 -1.08457730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40420382200001 meters 0.029383742758882263 Centerline is valid? [True, True] Translation: X:40.86, Y:-0.39, Z:-1.09 [[ 9.98249140e-01 5.84636438e-02 8.98091137e-03 4.08556539e+01] [-5.84632315e-02 9.98289515e-01 -3.08658230e-04 -3.88708147e-01] [-8.98359494e-03 -2.16935288e-04 9.99959623e-01 -1.08584095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43420382200001 meters 0.032184506396837294 Centerline is valid? [True, True] Translation: X:40.89, Y:-0.39, Z:-1.09 [[ 9.98212421e-01 5.91618765e-02 8.47558630e-03 4.08866391e+01] [-5.91615252e-02 9.98248380e-01 -2.92383117e-04 -3.86078233e-01] [-8.47803823e-03 -2.09568154e-04 9.99964039e-01 -1.09001083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464203822 meters 0.03441936344492009 Centerline is valid? [True, True] Translation: X:40.92, Y:-0.38, Z:-1.09 [[ 9.98178132e-01 5.97122352e-02 8.65252869e-03 4.09181748e+01] [-5.97118661e-02 9.98215609e-01 -3.01225839e-04 -3.84169946e-01] [-8.65507606e-03 -2.15981589e-04 9.99962521e-01 -1.09306007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.494203822 meters 0.03212008344272637 Centerline is valid? [True, True] Translation: X:40.95, Y:-0.39, Z:-1.09 [[ 9.98130539e-01 6.03437060e-02 9.69863763e-03 4.09500833e+01] [-6.03432742e-02 9.98177627e-01 -3.37419006e-04 -3.88172008e-01] [-9.70132421e-03 -2.48459335e-04 9.99952910e-01 -1.09023803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524203822000004 meters 0.03299100078606266 Centerline is valid? [True, True] Translation: X:40.98, Y:-0.39, Z:-1.09 [[ 9.98093757e-01 6.06051185e-02 1.16563788e-02 4.09815014e+01] [-6.06044767e-02 9.98161776e-01 -4.08605138e-04 -3.89778948e-01] [-1.16597153e-02 -2.98602497e-04 9.99931979e-01 -1.08840171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554203822000005 meters 0.031140585137882006 Centerline is valid? [True, True] Translation: X:41.01, Y:-0.39, Z:-1.09 [[ 9.98101732e-01 6.04434016e-02 1.18121936e-02 4.10139579e+01] [-6.04427115e-02 9.98171581e-01 -4.15732535e-04 -3.93941875e-01] [-1.18157242e-02 -2.99017645e-04 9.99930147e-01 -1.08757966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584203822000006 meters 0.031140585137882006 Centerline is valid? [True, True] Translation: X:41.05, Y:-0.40, Z:-1.09 [[ 9.98090317e-01 6.06316146e-02 1.18121379e-02 4.10464564e+01] [-6.06309190e-02 9.98160166e-01 -4.17305109e-04 -3.95289405e-01] [-1.18157074e-02 -2.99672588e-04 9.99930147e-01 -1.08850306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61420382200001 meters 0.03096407836364273 Centerline is valid? [True, True] Translation: X:41.08, Y:-0.40, Z:-1.09 [[ 9.98130400e-01 5.99731026e-02 1.17869318e-02 4.10775333e+01] [-5.99723310e-02 9.98199952e-01 -4.19230810e-04 -3.96171814e-01] [-1.17908573e-02 -2.88442757e-04 9.99930444e-01 -1.09028705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644203822 meters 0.030327114774969563 Centerline is valid? [True, True] Translation: X:41.11, Y:-0.40, Z:-1.09 [[ 9.98181533e-01 5.91402085e-02 1.16645620e-02 4.11084345e+01] [-5.91393754e-02 9.98249648e-01 -4.16636453e-04 -3.96988476e-01] [-1.16687849e-02 -2.73956099e-04 9.99931880e-01 -1.09207286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674203822 meters 0.0273096048595658 Centerline is valid? [True, True] Translation: X:41.14, Y:-0.40, Z:-1.09 [[ 9.98334189e-01 5.64700943e-02 1.18311466e-02 4.11398750e+01] [-5.64690052e-02 9.98404262e-01 -4.26353491e-04 -4.03471169e-01] [-1.18363434e-02 -2.42449811e-04 9.99929919e-01 -1.09258011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704203822000004 meters 0.02556483139729098 Centerline is valid? [True, True] Translation: X:41.17, Y:-0.41, Z:-1.09 [[ 9.98395666e-01 5.54037916e-02 1.16839130e-02 4.11716602e+01] [-5.54026771e-02 9.98464004e-01 -4.19279340e-04 -4.09969803e-01] [-1.16891962e-02 -2.28713383e-04 9.99931653e-01 -1.09275649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.734203822000005 meters 0.02495750189068713 Centerline is valid? [True, True] Translation: X:41.20, Y:-0.41, Z:-1.09 [[ 9.98457207e-01 5.43410451e-02 1.14130169e-02 4.12023220e+01] [-5.43398897e-02 9.98522412e-01 -4.11543373e-04 -4.14426535e-01] [-1.14185169e-02 -2.09273635e-04 9.99934785e-01 -1.09425083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764203822000006 meters 0.021654529146338575 Centerline is valid? [True, True] Translation: X:41.23, Y:-0.42, Z:-1.10 [[ 9.98641942e-01 5.10086909e-02 1.06012008e-02 4.12340846e+01] [-5.10074946e-02 9.98698197e-01 -3.83374613e-04 -4.22917049e-01] [-1.06069555e-02 -1.57886724e-04 9.99943732e-01 -1.09688693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79420382200001 meters 0.01940124652648282 Centerline is valid? [True, True] Translation: X:41.27, Y:-0.43, Z:-1.10 [[ 9.98721801e-01 4.93593771e-02 1.08818810e-02 4.12663649e+01] [-4.93579984e-02 9.98781073e-01 -3.95380687e-04 -4.29275130e-01] [-1.08881325e-02 -1.42232552e-04 9.99940712e-01 -1.09684741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824203822 meters 0.01999321430203032 Centerline is valid? [True, True] Translation: X:41.30, Y:-0.43, Z:-1.10 [[ 9.98764971e-01 4.83133215e-02 1.15911899e-02 4.12972861e+01] [-4.83116586e-02 9.98832220e-01 -4.23591455e-04 -4.32117292e-01] [-1.15981191e-02 -1.36921303e-04 9.99932730e-01 -1.09895175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854203822 meters 0.018123103981155332 Centerline is valid? [True, True] Translation: X:41.33, Y:-0.44, Z:-1.09 [[ 9.98746326e-01 4.83593515e-02 1.29286517e-02 4.13290638e+01] [-4.83572560e-02 9.98829991e-01 -4.74825785e-04 -4.36855329e-01] [-1.29364874e-02 -1.50963613e-04 9.99916309e-01 -1.09492094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884203822 meters 0.019577919229041885 Centerline is valid? [True, True] Translation: X:41.36, Y:-0.44, Z:-1.10 [[ 9.98675098e-01 4.98807547e-02 1.26475099e-02 4.13610589e+01] [-4.98788463e-02 9.98755167e-01 -4.66477217e-04 -4.37075467e-01] [-1.26550341e-02 -1.64984023e-04 9.99919908e-01 -1.09624097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.914203822000005 meters 0.020264771798955514 Centerline is valid? [True, True] Translation: X:41.39, Y:-0.44, Z:-1.10 [[ 9.98584435e-01 5.18291718e-02 1.19525509e-02 4.13928907e+01] [-5.18275877e-02 9.98655949e-01 -4.42449277e-04 -4.38505745e-01] [-1.19594178e-02 -1.77648917e-04 9.99928468e-01 -1.09720237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944203822000006 meters 0.023454275402033518 Centerline is valid? [True, True] Translation: X:41.42, Y:-0.44, Z:-1.10 [[ 9.98471988e-01 5.41478744e-02 1.10316267e-02 4.14240221e+01] [-5.41466476e-02 9.98532910e-01 -4.10067504e-04 -4.36351580e-01] [-1.10376466e-02 -1.87884689e-04 9.99939066e-01 -1.10118811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97420382200001 meters 0.02801145827812586 Centerline is valid? [True, True] Translation: X:41.46, Y:-0.43, Z:-1.10 [[ 9.98226299e-01 5.85447052e-02 1.08062030e-02 4.14557081e+01] [-5.85437434e-02 9.98284762e-01 -4.05580192e-04 -4.29413433e-01] [-1.08114124e-02 -2.27774764e-04 9.99941529e-01 -1.10342392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004203822 meters 0.03034647028848628 Centerline is valid? [True, True] Translation: X:41.49, Y:-0.43, Z:-1.10 [[ 9.98081566e-01 6.09283423e-02 1.09965606e-02 4.14880518e+01] [-6.09275147e-02 9.98142109e-01 -4.10569632e-04 -4.26709052e-01] [-1.10011455e-02 -2.60211127e-04 9.99939452e-01 -1.10401628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034203822 meters 0.0319628028915392 Centerline is valid? [True, True] Translation: X:41.52, Y:-0.43, Z:-1.10 [[ 9.97957667e-01 6.29242039e-02 1.10018245e-02 4.15198540e+01] [-6.29234749e-02 9.98018269e-01 -4.12734390e-04 -4.25296525e-01] [-1.10059928e-02 -2.80381580e-04 9.99939393e-01 -1.10480317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064203822 meters 0.03379542493457759 Centerline is valid? [True, True] Translation: X:41.55, Y:-0.42, Z:-1.11 [[ 9.97867535e-01 6.44579565e-02 1.02739933e-02 4.15511687e+01] [-6.44573887e-02 9.97920385e-01 -3.86725764e-04 -4.24335911e-01] [-1.02775549e-02 -2.76333697e-04 9.99947146e-01 -1.10717787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094203822000004 meters 0.035432434628220245 Centerline is valid? [True, True] Translation: X:41.58, Y:-0.42, Z:-1.11 [[ 9.97788314e-01 6.58919266e-02 8.75987391e-03 4.15832407e+01] [-6.58915449e-02 9.97826735e-01 -3.32490148e-04 -4.22626616e-01] [-8.76274481e-03 -2.45446841e-04 9.99961576e-01 -1.11095916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124203822000005 meters 0.035554644176361325 Centerline is valid? [True, True] Translation: X:41.61, Y:-0.42, Z:-1.11 [[ 9.97791296e-01 6.58799448e-02 8.50659855e-03 4.16149317e+01] [-6.58795774e-02 9.97827528e-01 -3.23699268e-04 -4.23139395e-01] [-8.50944349e-03 -2.37426805e-04 9.99963766e-01 -1.11248746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15420382200001 meters 0.03682882053878893 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.42, Z:-1.11 [[ 9.97788957e-01 6.57365085e-02 9.79330252e-03 4.16462318e+01] [-6.57360347e-02 9.97836979e-01 -3.70621518e-04 -4.21534368e-01] [-9.79648276e-03 -2.73970816e-04 9.99951976e-01 -1.11157502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18420382200001 meters 0.034772227850913544 Centerline is valid? [True, True] Translation: X:41.68, Y:-0.42, Z:-1.11 [[ 9.97782115e-01 6.58333718e-02 9.83965668e-03 4.16787369e+01] [-6.58328858e-02 9.97830593e-01 -3.73636471e-04 -4.23999080e-01] [-9.84290821e-03 -2.74965206e-04 9.99951520e-01 -1.11057360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214203822 meters 0.031856368153050846 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.43, Z:-1.11 [[ 9.97790022e-01 6.58496429e-02 8.88232873e-03 4.17104438e+01] [-6.58492398e-02 9.97829526e-01 -3.38143375e-04 -4.28444425e-01] [-8.88531649e-03 -2.47498509e-04 9.99960494e-01 -1.11072593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244203822 meters 0.03422953239446702 Centerline is valid? [True, True] Translation: X:41.74, Y:-0.43, Z:-1.12 [[ 9.97784381e-01 6.60563728e-02 7.93002768e-03 4.17413038e+01] [-6.60560384e-02 9.97815868e-01 -3.04354956e-04 -4.27325049e-01] [-7.93281204e-03 -2.20145592e-04 9.99968511e-01 -1.11523672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.274203822000004 meters 0.032878789651385944 Centerline is valid? [True, True] Translation: X:41.77, Y:-0.43, Z:-1.11 [[ 9.97820348e-01 6.53761739e-02 8.97266519e-03 4.17724910e+01] [-6.53756961e-02 9.97860661e-01 -3.46861954e-04 -4.27824765e-01] [-8.97614613e-03 -2.40488317e-04 9.99959685e-01 -1.11408877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304203822000005 meters 0.03354668873913483 Centerline is valid? [True, True] Translation: X:41.80, Y:-0.43, Z:-1.11 [[ 9.97844143e-01 6.48243322e-02 1.02407472e-02 4.18038994e+01] [-6.48237013e-02 9.97896654e-01 -3.93872330e-04 -4.25847711e-01] [-1.02447399e-02 -2.70819938e-04 9.99947485e-01 -1.11453644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334203822000006 meters 0.03287699161249597 Centerline is valid? [True, True] Translation: X:41.84, Y:-0.43, Z:-1.11 [[ 9.97892699e-01 6.39647681e-02 1.08935197e-02 4.18352051e+01] [-6.39639812e-02 9.97952119e-01 -4.20982264e-04 -4.26463518e-01] [-1.08981391e-02 -2.76697763e-04 9.99940575e-01 -1.11498675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36420382200001 meters 0.030791324074258157 Centerline is valid? [True, True] Translation: X:41.87, Y:-0.43, Z:-1.12 [[ 9.97967709e-01 6.27929564e-02 1.08395690e-02 4.18669029e+01] [-6.27920932e-02 9.98026541e-01 -4.20284618e-04 -4.30039612e-01] [-1.08445685e-02 -2.61208749e-04 9.99941162e-01 -1.11568849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394203822 meters 0.026142403013963575 Centerline is valid? [True, True] Translation: X:41.90, Y:-0.44, Z:-1.12 [[ 9.98191813e-01 5.91794005e-02 1.05310588e-02 4.18985634e+01] [-5.91783440e-02 9.98247341e-01 -4.12177793e-04 -4.37769293e-01] [-1.05369939e-02 -2.11778121e-04 9.99944462e-01 -1.11621462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424203822 meters 0.027436381926093448 Centerline is valid? [True, True] Translation: X:41.93, Y:-0.44, Z:-1.12 [[ 9.98281476e-01 5.75721181e-02 1.09337139e-02 4.19298393e+01] [-5.75709008e-02 9.98341329e-01 -4.26308021e-04 -4.38118538e-01] [-1.09401220e-02 -2.03888360e-04 9.99940134e-01 -1.12011189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454203822000004 meters 0.02146582155556682 Centerline is valid? [True, True] Translation: X:41.96, Y:-0.45, Z:-1.12 [[ 9.98352545e-01 5.61037070e-02 1.20237536e-02 4.19620147e+01] [-5.61021045e-02 9.98424926e-01 -4.70796201e-04 -4.46860884e-01] [-1.20312287e-02 -2.04537294e-04 9.99927601e-01 -1.11500219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484203822000005 meters 0.0208808199337158 Centerline is valid? [True, True] Translation: X:41.99, Y:-0.45, Z:-1.12 [[ 9.98473000e-01 5.37690240e-02 1.26712332e-02 4.19928470e+01] [-5.37670227e-02 9.98553383e-01 -4.98797528e-04 -4.49719135e-01] [-1.26797226e-02 -1.83258618e-04 9.99919592e-01 -1.11771668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514203822000006 meters 0.020327041611513424 Centerline is valid? [True, True] Translation: X:42.03, Y:-0.45, Z:-1.12 [[ 9.98530606e-01 5.29285362e-02 1.16275348e-02 4.20259688e+01] [-5.29267822e-02 9.98598290e-01 -4.58724281e-04 -4.53060002e-01] [-1.16355159e-02 -1.57357766e-04 9.99932293e-01 -1.12056094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54420382200001 meters 0.019488865782900808 Centerline is valid? [True, True] Translation: X:42.06, Y:-0.46, Z:-1.12 [[ 9.98573686e-01 5.22497168e-02 1.09799697e-02 4.20590250e+01] [-5.22480925e-02 9.98634041e-01 -4.34927641e-04 -4.56751738e-01] [-1.09876964e-02 -1.39375176e-04 9.99939624e-01 -1.12248582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574203822 meters 0.018819456026232997 Centerline is valid? [True, True] Translation: X:42.09, Y:-0.46, Z:-1.12 [[ 9.98591847e-01 5.19112228e-02 1.09338227e-02 4.20914565e+01] [-5.19095697e-02 9.98651695e-01 -4.35116627e-04 -4.60392026e-01] [-1.09416680e-02 -1.33066116e-04 9.99940129e-01 -1.12353051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604203822 meters 0.019174019365860863 Centerline is valid? [True, True] Translation: X:42.12, Y:-0.46, Z:-1.13 [[ 9.98615401e-01 5.18140025e-02 9.08792587e-03 4.21230862e+01] [-5.18128451e-02 9.98656747e-01 -3.62903136e-04 -4.64070027e-01] [-9.09452195e-03 -1.08470635e-04 9.99958638e-01 -1.12727728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.634203822 meters 0.02030206281338606 Centerline is valid? [True, True] Translation: X:42.15, Y:-0.46, Z:-1.13 [[ 9.98599748e-01 5.22689520e-02 8.15474750e-03 4.21539815e+01] [-5.22680261e-02 9.98633039e-01 -3.26758456e-04 -4.64694139e-01] [-8.16067960e-03 -9.99316437e-05 9.99966696e-01 -1.13036797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664203822000005 meters 0.02093985563776336 Centerline is valid? [True, True] Translation: X:42.19, Y:-0.47, Z:-1.13 [[ 9.98565012e-01 5.29944863e-02 7.71373529e-03 4.21860623e+01] [-5.29936736e-02 9.98594800e-01 -3.09853312e-04 -4.65456044e-01] [-7.71931647e-03 -9.93704942e-05 9.99970201e-01 -1.13222831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694203822000006 meters 0.021471095798538238 Centerline is valid? [True, True] Translation: X:42.22, Y:-0.47, Z:-1.13 [[ 9.98504184e-01 5.41159000e-02 7.80146993e-03 4.22181290e+01] [-5.41150929e-02 9.98534655e-01 -3.14668820e-04 -4.65919933e-01] [-7.80706668e-03 -1.07979137e-04 9.99969519e-01 -1.13282733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72420382200001 meters 0.02342462836258316 Centerline is valid? [True, True] Translation: X:42.25, Y:-0.47, Z:-1.13 [[ 9.98378833e-01 5.63965576e-02 7.68985002e-03 4.22506088e+01] [-5.63958318e-02 9.98408440e-01 -3.11360379e-04 -4.66290345e-01] [-7.69517081e-03 -1.22819876e-04 9.99970384e-01 -1.13360061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75420382200001 meters 0.024698097173134575 Centerline is valid? [True, True] Translation: X:42.28, Y:-0.47, Z:-1.13 [[ 9.98294888e-01 5.78820168e-02 7.54915380e-03 4.22823613e+01] [-5.78813510e-02 9.98323422e-01 -3.06829884e-04 -4.67411598e-01] [-7.55425699e-03 -1.30648516e-04 9.99971458e-01 -1.13387164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784203822 meters 0.024610741415379583 Centerline is valid? [True, True] Translation: X:42.31, Y:-0.47, Z:-1.13 [[ 9.98153469e-01 6.02632585e-02 7.61523195e-03 4.23146494e+01] [-6.02626416e-02 9.98182507e-01 -3.10644790e-04 -4.68599501e-01] [-7.62011178e-03 -1.48842819e-04 9.99970955e-01 -1.13119714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.814203822 meters 0.03013002531425964 Centerline is valid? [True, True] Translation: X:42.35, Y:-0.46, Z:-1.13 [[ 9.97772088e-01 6.61721252e-02 8.49172277e-03 4.23464723e+01] [-6.61715301e-02 9.97808201e-01 -3.51327781e-04 -4.58499155e-01] [-8.49635872e-03 -2.11365235e-04 9.99963883e-01 -1.13117334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844203822000004 meters 0.03286901996991989 Centerline is valid? [True, True] Translation: X:42.38, Y:-0.45, Z:-1.13 [[ 9.97542174e-01 6.94258524e-02 9.46901134e-03 4.23779717e+01] [-6.94252560e-02 9.97587079e-01 -3.92068944e-04 -4.53980894e-01] [-9.47338308e-03 -2.66283230e-04 9.99955091e-01 -1.13073777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874203822000005 meters 0.03633346893220722 Centerline is valid? [True, True] Translation: X:42.41, Y:-0.45, Z:-1.13 [[ 9.97315555e-01 7.24438618e-02 1.06569950e-02 4.24088727e+01] [-7.24432724e-02 9.97372436e-01 -4.41820948e-04 -4.49360695e-01] [-1.06610003e-02 -3.31392687e-04 9.99943115e-01 -1.13042710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90420382200001 meters 0.04165011321334586 Centerline is valid? [True, True] Translation: X:42.44, Y:-0.44, Z:-1.13 [[ 9.97103770e-01 7.51863451e-02 1.14492469e-02 4.24398065e+01] [-7.51858436e-02 9.97169426e-01 -4.74833931e-04 -4.42239590e-01] [-1.14525400e-02 -3.87362583e-04 9.99934342e-01 -1.13181816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93420382200001 meters 0.04609418058578011 Centerline is valid? [True, True] Translation: X:42.47, Y:-0.43, Z:-1.13 [[ 9.96750032e-01 7.96490477e-02 1.20583344e-02 4.24706402e+01] [-7.96488142e-02 9.96822861e-01 -5.00359084e-04 -4.31157261e-01] [-1.20598765e-02 -4.61699105e-04 9.99927170e-01 -1.13199846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964203822 meters 0.04456939243197293 Centerline is valid? [True, True] Translation: X:42.50, Y:-0.43, Z:-1.13 [[ 9.96678550e-01 8.06235978e-02 1.14762422e-02 4.25018032e+01] [-8.06234537e-02 9.96744517e-01 -4.75955521e-04 -4.31863644e-01] [-1.14772547e-02 -4.50879620e-04 9.99934032e-01 -1.13300671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.994203822 meters 0.047481567250779594 Centerline is valid? [True, True] Translation: X:42.53, Y:-0.43, Z:-1.14 [[ 9.96700923e-01 8.05223025e-02 1.01700453e-02 4.25321391e+01] [-8.05221779e-02 9.96752728e-01 -4.22381413e-04 -4.32119896e-01] [-1.01710316e-02 -3.97926258e-04 9.99948195e-01 -1.13515213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024203822000004 meters 0.043818666267496316 Centerline is valid? [True, True] Translation: X:42.56, Y:-0.43, Z:-1.14 [[ 9.96926148e-01 7.77265419e-02 9.84073663e-03 4.25614820e+01] [-7.77262870e-02 9.96974652e-01 -4.08926885e-04 -4.29459262e-01] [-9.84274945e-03 -3.57214015e-04 9.99951495e-01 -1.13942159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054203822000005 meters 0.04186495588992935 Centerline is valid? [True, True] Translation: X:42.59, Y:-0.43, Z:-1.14 [[ 9.97087876e-01 7.55762824e-02 1.01976583e-02 4.25915931e+01] [-7.55758979e-02 9.97139962e-01 -4.23617106e-04 -4.30858339e-01] [-1.02005080e-02 -3.48313701e-04 9.99947913e-01 -1.13972829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084203822000006 meters 0.03998572383776139 Centerline is valid? [True, True] Translation: X:42.62, Y:-0.43, Z:-1.14 [[ 9.97215050e-01 7.38344945e-02 1.05172159e-02 4.26221528e+01] [-7.38339922e-02 9.97270450e-01 -4.36551377e-04 -4.32214698e-01] [-1.05207412e-02 -3.41192437e-04 9.99944597e-01 -1.13961331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11420382200001 meters 0.041767712855093585 Centerline is valid? [True, True] Translation: X:42.65, Y:-0.43, Z:-1.14 [[ 9.97325636e-01 7.23075954e-02 1.06389196e-02 4.26516728e+01] [-7.23069925e-02 9.97382326e-01 -4.41809432e-04 -4.29073854e-01] [-1.06430165e-02 -3.28640404e-04 9.99943307e-01 -1.14235514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144203822 meters 0.032809008239657954 Centerline is valid? [True, True] Translation: X:42.68, Y:-0.44, Z:-1.14 [[ 9.97547422e-01 6.91176606e-02 1.10403287e-02 4.26828446e+01] [-6.91168246e-02 9.97608468e-01 -4.57714881e-04 -4.35274054e-01] [-1.10455616e-02 -3.06480163e-04 9.99938949e-01 -1.13886485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174203822 meters 0.03316915475972818 Centerline is valid? [True, True] Translation: X:42.71, Y:-0.43, Z:-1.14 [[ 9.97628808e-01 6.77639196e-02 1.20338463e-02 4.27128805e+01] [-6.77628188e-02 9.97701333e-01 -4.99656786e-04 -4.32596399e-01] [-1.20400432e-02 -3.16975345e-04 9.99927466e-01 -1.13957770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204203822000004 meters 0.03230917004710115 Centerline is valid? [True, True] Translation: X:42.74, Y:-0.43, Z:-1.14 [[ 9.97700047e-01 6.65354079e-02 1.29482132e-02 4.27435188e+01] [-6.65340325e-02 9.97784012e-01 -5.37441543e-04 -4.31970636e-01] [-1.29552790e-02 -3.25291382e-04 9.99916024e-01 -1.13942944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.234203822000005 meters 0.02950882017062922 Centerline is valid? [True, True] Translation: X:42.77, Y:-0.43, Z:-1.14 [[ 9.97898403e-01 6.36810194e-02 1.19793890e-02 4.27749740e+01] [-6.36796374e-02 9.97970268e-01 -4.97153419e-04 -4.30995854e-01] [-1.19867333e-02 -2.66734544e-04 9.99928121e-01 -1.14157698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264203822000006 meters 0.028042671747103086 Centerline is valid? [True, True] Translation: X:42.81, Y:-0.43, Z:-1.14 [[ 9.98004572e-01 6.20550851e-02 1.16636634e-02 4.28058712e+01] [-6.20536609e-02 9.98072697e-01 -4.84308403e-04 -4.31484459e-01] [-1.16712378e-02 -2.40431014e-04 9.99931860e-01 -1.14331230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29420382200001 meters 0.026328169562920577 Centerline is valid? [True, True] Translation: X:42.84, Y:-0.43, Z:-1.14 [[ 9.98090002e-01 6.06058536e-02 1.19698733e-02 4.28375306e+01] [-6.06042460e-02 9.98161749e-01 -4.97316558e-04 -4.32540203e-01] [-1.19780100e-02 -2.29058465e-04 9.99928235e-01 -1.14397526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324203822 meters 0.02562026061202477 Centerline is valid? [True, True] Translation: X:42.87, Y:-0.43, Z:-1.14 [[ 9.98141846e-01 5.96985816e-02 1.22038402e-02 4.28692288e+01] [-5.96968391e-02 9.98216424e-01 -5.07335490e-04 -4.32651546e-01] [-1.22123610e-02 -2.22137904e-04 9.99925402e-01 -1.14482482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354203822 meters 0.022199635303352963 Centerline is valid? [True, True] Translation: X:42.90, Y:-0.43, Z:-1.14 [[ 9.98154823e-01 5.92522406e-02 1.32710525e-02 4.29011994e+01] [-5.92501658e-02 9.98243014e-01 -5.49804492e-04 -4.32201712e-01] [-1.32803126e-02 -2.37522058e-04 9.99911785e-01 -1.14045587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384203822 meters 0.022728837581527776 Centerline is valid? [True, True] Translation: X:42.93, Y:-0.43, Z:-1.14 [[ 9.98143198e-01 5.92698659e-02 1.40442155e-02 4.29322050e+01] [-5.92675031e-02 9.98241965e-01 -5.84753075e-04 -4.29410904e-01] [-1.40541836e-02 -2.48698283e-04 9.99901204e-01 -1.14135036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414203822000005 meters 0.02369452005576899 Centerline is valid? [True, True] Translation: X:42.96, Y:-0.43, Z:-1.14 [[ 9.98154935e-01 5.91266933e-02 1.38115606e-02 4.29645707e+01] [-5.91243571e-02 9.98250458e-01 -5.77761069e-04 -4.27644487e-01] [-1.38215578e-02 -2.39904578e-04 9.99904449e-01 -1.14365239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444203822000006 meters 0.02538557571854782 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.42, Z:-1.15 [[ 9.98194366e-01 5.86240062e-02 1.30856463e-02 4.29963533e+01] [-5.86218537e-02 9.98280110e-01 -5.48329989e-04 -4.22479217e-01] [-1.30952858e-02 -2.19764939e-04 9.99914229e-01 -1.14756038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47420382200001 meters 0.02538557571854782 Centerline is valid? [True, True] Translation: X:43.03, Y:-0.42, Z:-1.15 [[ 9.98193064e-01 5.86462023e-02 1.30854804e-02 4.30271568e+01] [-5.86440003e-02 9.98278807e-01 -5.52258783e-04 -4.23825242e-01] [-1.30953457e-02 -2.16124030e-04 9.99914229e-01 -1.14843548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50420382200001 meters 0.021865635696797107 Centerline is valid? [True, True] Translation: X:43.06, Y:-0.43, Z:-1.14 [[ 9.98193908e-01 5.85278069e-02 1.35431914e-02 4.30587209e+01] [-5.85254332e-02 9.98285754e-01 -5.71869240e-04 -4.25541693e-01] [-1.35534453e-02 -2.21784753e-04 9.99908123e-01 -1.14455483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534203822 meters 0.02261311727497293 Centerline is valid? [True, True] Translation: X:43.09, Y:-0.42, Z:-1.15 [[ 9.98173438e-01 5.86364219e-02 1.45449924e-02 4.30902221e+01] [-5.86337163e-02 9.98279376e-01 -6.12749763e-04 -4.23193338e-01] [-1.45558954e-02 -2.41196420e-04 9.99894028e-01 -1.14506035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564203822 meters 0.02096510366215014 Centerline is valid? [True, True] Translation: X:43.12, Y:-0.43, Z:-1.14 [[ 9.98177741e-01 5.84256206e-02 1.50879160e-02 4.31219588e+01] [-5.84226498e-02 9.98291734e-01 -6.37967191e-04 -4.25088675e-01] [-1.50994154e-02 -2.44671381e-04 9.99885967e-01 -1.14356715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594203822000004 meters 0.021137271728424514 Centerline is valid? [True, True] Translation: X:43.15, Y:-0.42, Z:-1.14 [[ 9.98188546e-01 5.80741067e-02 1.57170250e-02 4.31533657e+01] [-5.80707918e-02 9.98312244e-01 -6.67587973e-04 -4.24879312e-01] [-1.57292680e-02 -2.46321416e-04 9.99876257e-01 -1.14443508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624203822000005 meters 0.020331585006370067 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.43, Z:-1.15 [[ 9.98198382e-01 5.79852909e-02 1.54174020e-02 4.31866682e+01] [-5.79820618e-02 9.98317409e-01 -6.56734302e-04 -4.27093690e-01] [-1.54295418e-02 -2.38381639e-04 9.99880929e-01 -1.14522010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65420382200001 meters 0.0206474973965117 Centerline is valid? [True, True] Translation: X:43.22, Y:-0.43, Z:-1.15 [[ 9.98211366e-01 5.77779308e-02 1.53551389e-02 4.32182618e+01] [-5.77746556e-02 9.98329433e-01 -6.57177528e-04 -4.27846479e-01] [-1.53674575e-02 -2.31135783e-04 9.99881887e-01 -1.14698483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68420382200001 meters 0.01905222256690122 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.43, Z:-1.15 [[ 9.98234194e-01 5.74160238e-02 1.52280522e-02 4.32507483e+01] [-5.74127176e-02 9.98350315e-01 -6.54550965e-04 -4.30319577e-01] [-1.52405124e-02 -2.20888703e-04 9.99883832e-01 -1.14673393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714203822 meters 0.018410018829214482 Centerline is valid? [True, True] Translation: X:43.28, Y:-0.43, Z:-1.15 [[ 9.98307501e-01 5.63978624e-02 1.41920540e-02 4.32842022e+01] [-5.63948628e-02 9.98408356e-01 -6.11789832e-04 -4.28821833e-01] [-1.42039689e-02 -1.89604560e-04 9.99899101e-01 -1.14956643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744203822 meters 0.02000015302778011 Centerline is valid? [True, True] Translation: X:43.32, Y:-0.43, Z:-1.15 [[ 9.98310606e-01 5.65412570e-02 1.33798088e-02 4.33151518e+01] [-5.65385659e-02 9.98400248e-01 -5.79606831e-04 -4.27027412e-01] [-1.33911761e-02 -1.77847552e-04 9.99910318e-01 -1.15403545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.774203822000004 meters 0.018487381696389995 Centerline is valid? [True, True] Translation: X:43.35, Y:-0.43, Z:-1.15 [[ 9.98313080e-01 5.66933221e-02 1.25244433e-02 4.33471335e+01] [-5.66909580e-02 9.98391626e-01 -5.43988757e-04 -4.30490996e-01] [-1.25351399e-02 -1.66951601e-04 9.99921418e-01 -1.15430713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804203822000005 meters 0.01951497974788842 Centerline is valid? [True, True] Translation: X:43.38, Y:-0.43, Z:-1.16 [[ 9.98274257e-01 5.74512990e-02 1.21596395e-02 4.33771979e+01] [-5.74490800e-02 9.98348296e-01 -5.31992161e-04 -4.31388862e-01] [-1.21701190e-02 -1.67486025e-04 9.99925927e-01 -1.15570052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834203822000006 meters 0.02028120782553477 Centerline is valid? [True, True] Translation: X:43.41, Y:-0.43, Z:-1.16 [[ 9.98236180e-01 5.79543795e-02 1.28770997e-02 4.34077304e+01] [-5.79519247e-02 9.98319216e-01 -5.64010540e-04 -4.30673799e-01] [-1.28881430e-02 -1.83236984e-04 9.99916928e-01 -1.15602444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86420382200001 meters 0.020631524668600115 Centerline is valid? [True, True] Translation: X:43.44, Y:-0.43, Z:-1.16 [[ 9.98213867e-01 5.81974230e-02 1.34957796e-02 4.34391088e+01] [-5.81947284e-02 9.98305075e-01 -5.92618487e-04 -4.29637856e-01] [-1.35073941e-02 -1.93823238e-04 9.99908752e-01 -1.15604970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894203822 meters 0.020883555398197418 Centerline is valid? [True, True] Translation: X:43.47, Y:-0.43, Z:-1.16 [[ 9.98192659e-01 5.84688266e-02 1.38856592e-02 4.34704840e+01] [-5.84659956e-02 9.98289214e-01 -6.10083588e-04 -4.29119007e-01] [-1.38975747e-02 -2.02857931e-04 9.99903403e-01 -1.15653663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924203822 meters 0.022006052806084652 Centerline is valid? [True, True] Translation: X:43.50, Y:-0.43, Z:-1.16 [[ 9.98175979e-01 5.89525758e-02 1.30118803e-02 4.35010597e+01] [-5.89501251e-02 9.98260765e-01 -5.72140096e-04 -4.28284631e-01] [-1.30229788e-02 -1.95955474e-04 9.99915178e-01 -1.16016903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.954203822000004 meters 0.02230634877464071 Centerline is valid? [True, True] Translation: X:43.53, Y:-0.43, Z:-1.16 [[ 9.98141807e-01 5.95677500e-02 1.28302516e-02 4.35318152e+01] [-5.95654138e-02 9.98224245e-01 -5.64482861e-04 -4.29265616e-01] [-1.28410932e-02 -2.00805302e-04 9.99917530e-01 -1.16098097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984203822000005 meters 0.022669269814011843 Centerline is valid? [True, True] Translation: X:43.56, Y:-0.43, Z:-1.16 [[ 9.98093543e-01 6.02877514e-02 1.32161777e-02 4.35624460e+01] [-6.02853357e-02 9.98181016e-01 -5.81462160e-04 -4.29537909e-01] [-1.32271928e-02 -2.16388083e-04 9.99912493e-01 -1.16062852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014203822000006 meters 0.02394346177355673 Centerline is valid? [True, True] Translation: X:43.59, Y:-0.43, Z:-1.16 [[ 9.98036824e-01 6.11443785e-02 1.35596240e-02 4.35921291e+01] [-6.11419123e-02 9.98128905e-01 -5.96746299e-04 -4.27705411e-01] [-1.35707403e-02 -2.33486559e-04 9.99907886e-01 -1.16089893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04420382200001 meters 0.026792298328552185 Centerline is valid? [True, True] Translation: X:43.62, Y:-0.42, Z:-1.16 [[ 9.97926084e-01 6.29134061e-02 1.36174027e-02 4.36219301e+01] [-6.29110856e-02 9.98018956e-01 -5.99125341e-04 -4.21678733e-01] [-1.36281190e-02 -2.58802779e-04 9.99907099e-01 -1.16206473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074203822 meters 0.025111167816373393 Centerline is valid? [True, True] Translation: X:43.65, Y:-0.42, Z:-1.16 [[ 9.97877612e-01 6.37365137e-02 1.33390132e-02 4.36520155e+01] [-6.37343649e-02 9.97966726e-01 -5.86555154e-04 -4.23301602e-01] [-1.33492763e-02 -2.64843279e-04 9.99910859e-01 -1.16079002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104203822 meters 0.02623745415821568 Centerline is valid? [True, True] Translation: X:43.68, Y:-0.42, Z:-1.16 [[ 9.97834495e-01 6.45274773e-02 1.27485424e-02 4.36830152e+01] [-6.45255790e-02 9.97915896e-01 -5.60590437e-04 -4.21100713e-01] [-1.27581466e-02 -2.63230604e-04 9.99918577e-01 -1.16308620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.134203822 meters 0.0298779922430002 Centerline is valid? [True, True] Translation: X:43.71, Y:-0.41, Z:-1.17 [[ 9.97739117e-01 6.63461644e-02 1.07163977e-02 4.37128349e+01] [-6.63449257e-02 9.97796637e-01 -4.71443178e-04 -4.12601317e-01] [-1.07240640e-02 -2.40601307e-04 9.99942467e-01 -1.16938815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164203822000005 meters 0.03031903440324764 Centerline is valid? [True, True] Translation: X:43.74, Y:-0.41, Z:-1.17 [[ 9.97717049e-01 6.68222652e-02 9.77114863e-03 4.37425896e+01] [-6.68212569e-02 9.97764869e-01 -4.29990928e-04 -4.11577900e-01] [-9.77804181e-03 -2.23911152e-04 9.99952169e-01 -1.17231895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194203822000006 meters 0.03277900868199086 Centerline is valid? [True, True] Translation: X:43.77, Y:-0.41, Z:-1.18 [[ 9.97725382e-01 6.67759300e-02 9.22154267e-03 4.37701915e+01] [-6.67750253e-02 9.97767974e-01 -4.06306117e-04 -4.09081640e-01] [-9.22809142e-03 -2.10386819e-04 9.99957398e-01 -1.17661037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22420382200001 meters 0.02648163428122064 Centerline is valid? [True, True] Translation: X:43.80, Y:-0.41, Z:-1.17 [[ 9.97887094e-01 6.41109443e-02 1.05420148e-02 4.37996426e+01] [-6.41096292e-02 9.97942754e-01 -4.62987806e-04 -4.14138923e-01] [-1.05500099e-02 -2.13835105e-04 9.99944324e-01 -1.17201605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25420382200001 meters 0.026259255532596757 Centerline is valid? [True, True] Translation: X:43.83, Y:-0.41, Z:-1.17 [[ 9.98017685e-01 6.20013412e-02 1.07951309e-02 4.38285479e+01] [-6.19998434e-02 9.98076047e-01 -4.73672193e-04 -4.13035716e-01] [-1.08037299e-02 -1.96563201e-04 9.99941619e-01 -1.17370469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284203822 meters 0.02106383916494555 Centerline is valid? [True, True] Translation: X:43.86, Y:-0.42, Z:-1.17 [[ 9.98187808e-01 5.91337747e-02 1.11488455e-02 4.38577806e+01] [-5.91319986e-02 9.98250053e-01 -4.89165258e-04 -4.18299911e-01] [-1.11582618e-02 -1.70974718e-04 9.99937730e-01 -1.17089337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.314203822 meters 0.018499440882666883 Centerline is valid? [True, True] Translation: X:43.89, Y:-0.42, Z:-1.17 [[ 9.98367655e-01 5.58280441e-02 1.20522124e-02 4.38868789e+01] [-5.58257319e-02 9.98440388e-01 -5.28446873e-04 -4.21892093e-01] [-1.20629177e-02 -1.45239310e-04 9.99927230e-01 -1.17060573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344203822000004 meters 0.012895579663027724 Centerline is valid? [True, True] Translation: X:43.92, Y:-0.43, Z:-1.17 [[ 9.98651441e-01 4.97636687e-02 1.47944543e-02 4.39170291e+01] [-4.97595316e-02 9.98761017e-01 -6.47836646e-04 -4.30021625e-01] [-1.48083630e-02 -8.92021172e-05 9.99890346e-01 -1.16584802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374203822000005 meters 0.011535215763497413 Centerline is valid? [True, True] Translation: X:43.95, Y:-0.43, Z:-1.17 [[ 9.98758201e-01 4.74017931e-02 1.53338051e-02 4.39477172e+01] [-4.73971012e-02 9.98875902e-01 -6.69452770e-04 -4.33692893e-01] [-1.53483017e-02 -5.81564700e-05 9.99882206e-01 -1.16574195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40420382200001 meters 0.01140391171560741 Centerline is valid? [True, True] Translation: X:43.98, Y:-0.44, Z:-1.17 [[ 9.98848887e-01 4.55859463e-02 1.49272329e-02 4.39793387e+01] [-4.55812572e-02 9.98960420e-01 -6.54372622e-04 -4.38405468e-01] [-1.49415451e-02 -2.67826796e-05 9.99888369e-01 -1.16910913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43420382200001 meters 0.011346434208639223 Centerline is valid? [True, True] Translation: X:44.01, Y:-0.44, Z:-1.17 [[ 9.98915965e-01 4.43843808e-02 1.40328671e-02 4.40113711e+01] [-4.43801072e-02 9.99014528e-01 -6.15954695e-04 -4.43801475e-01] [-1.40463768e-02 -7.49316562e-06 9.99901345e-01 -1.17100009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464203822 meters 0.02148841780736361 Centerline is valid? [True, True] Translation: X:44.04, Y:-0.45, Z:-1.17 [[ 9.98919723e-01 4.39584030e-02 1.50680603e-02 4.40435271e+01] [-4.39533860e-02 9.99033362e-01 -6.64116465e-04 -4.47033729e-01] [-1.50826885e-02 1.10676191e-06 9.99886250e-01 -1.16890706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494203822 meters 0.010460831304821892 Centerline is valid? [True, True] Translation: X:44.08, Y:-0.45, Z:-1.17 [[ 9.98861973e-01 4.49611148e-02 1.59140318e-02 4.40751096e+01] [-4.49555963e-02 9.98988738e-01 -7.04513253e-04 -4.47064708e-01] [-1.59296142e-02 -1.17132897e-05 9.99873116e-01 -1.16840614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524203822000004 meters 0.01184661192968662 Centerline is valid? [True, True] Translation: X:44.11, Y:-0.44, Z:-1.17 [[ 9.98701681e-01 4.86000343e-02 1.52639746e-02 4.41066413e+01] [-4.85953483e-02 9.98818318e-01 -6.77964647e-04 -4.42565704e-01] [-1.52788865e-02 -6.46737277e-05 9.99883269e-01 -1.17023552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554203822000005 meters 0.013172723539293713 Centerline is valid? [True, True] Translation: X:44.14, Y:-0.44, Z:-1.17 [[ 9.98589365e-01 5.09924823e-02 1.48002099e-02 4.41392599e+01] [-5.09883102e-02 9.98699032e-01 -6.59344169e-04 -4.40363718e-01] [-1.48145769e-02 -9.62236165e-05 9.99890254e-01 -1.17166322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584203822000006 meters 0.01498776402152508 Centerline is valid? [True, True] Translation: X:44.17, Y:-0.44, Z:-1.17 [[ 9.98460726e-01 5.34416989e-02 1.48379161e-02 4.41705464e+01] [-5.34377368e-02 9.98570963e-01 -6.63658255e-04 -4.38050907e-01] [-1.48521792e-02 -1.30267954e-04 9.99889692e-01 -1.17275116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61420382200001 meters 0.016950127770512725 Centerline is valid? [True, True] Translation: X:44.20, Y:-0.44, Z:-1.17 [[ 9.98339834e-01 5.55287285e-02 1.53014998e-02 4.42012043e+01] [-5.55247021e-02 9.98457077e-01 -6.88170814e-04 -4.35625206e-01] [-1.53161040e-02 -1.62582882e-04 9.99882688e-01 -1.17362590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644203822 meters 0.01903931537130031 Centerline is valid? [True, True] Translation: X:44.23, Y:-0.43, Z:-1.17 [[ 9.98185167e-01 5.83335897e-02 1.49521112e-02 4.42319499e+01] [-5.83300388e-02 9.98297126e-01 -6.73853357e-04 -4.33132071e-01] [-1.49659580e-02 -1.99526802e-04 9.99887984e-01 -1.17438372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674203822 meters 0.020942575449915915 Centerline is valid? [True, True] Translation: X:44.26, Y:-0.43, Z:-1.18 [[ 9.98143512e-01 5.92155889e-02 1.42493275e-02 4.42612269e+01] [-5.92124514e-02 9.98245197e-01 -6.42345946e-04 -4.31991827e-01] [-1.42623597e-02 -2.02584175e-04 9.99898267e-01 -1.17756852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704203822000004 meters 0.021684304972005578 Centerline is valid? [True, True] Translation: X:44.29, Y:-0.43, Z:-1.18 [[ 9.98097386e-01 6.00804026e-02 1.38547359e-02 4.42918741e+01] [-6.00775242e-02 9.98193519e-01 -6.24235108e-04 -4.32493157e-01] [-1.38672118e-02 -2.09310799e-04 9.99903824e-01 -1.17899904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.734203822000005 meters 0.023041018943025463 Centerline is valid? [True, True] Translation: X:44.32, Y:-0.43, Z:-1.18 [[ 9.98052528e-01 6.08241198e-02 1.38411814e-02 4.43201882e+01] [-6.08213139e-02 9.98148475e-01 -6.23958770e-04 -4.32490371e-01] [-1.38535058e-02 -2.19095209e-04 9.99904012e-01 -1.18054746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764203822000006 meters 0.02330038143159601 Centerline is valid? [True, True] Translation: X:44.35, Y:-0.43, Z:-1.18 [[ 9.98024448e-01 6.13156215e-02 1.36965660e-02 4.43499688e+01] [-6.13129245e-02 9.98118402e-01 -6.17133025e-04 -4.34435892e-01] [-1.37086344e-02 -2.23862667e-04 9.99906007e-01 -1.18115875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79420382200001 meters 0.023225534992151856 Centerline is valid? [True, True] Translation: X:44.38, Y:-0.44, Z:-1.18 [[ 9.98031942e-01 6.12589506e-02 1.34009180e-02 4.43795166e+01] [-6.12563675e-02 9.98121883e-01 -6.03515061e-04 -4.35864350e-01] [-1.34127202e-02 -2.18564251e-04 9.99910022e-01 -1.18159835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824203822 meters 0.023984322319381572 Centerline is valid? [True, True] Translation: X:44.41, Y:-0.44, Z:-1.18 [[ 9.98027142e-01 6.13262889e-02 1.34502994e-02 4.44079036e+01] [-6.13236949e-02 9.98117747e-01 -6.05595240e-04 -4.35528788e-01] [-1.34621215e-02 -2.20421570e-04 9.99909357e-01 -1.18308631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854203822 meters 0.02073279474351045 Centerline is valid? [True, True] Translation: X:44.44, Y:-0.44, Z:-1.18 [[ 9.98064732e-01 6.06723163e-02 1.36257189e-02 4.44376729e+01] [-6.06696019e-02 9.98157715e-01 -6.12859021e-04 -4.40494009e-01] [-1.36378000e-02 -2.14993967e-04 9.99906978e-01 -1.18061339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884203822 meters 0.021748097826518063 Centerline is valid? [True, True] Translation: X:44.47, Y:-0.44, Z:-1.18 [[ 9.98118053e-01 5.96223260e-02 1.43363019e-02 4.44675954e+01] [-5.96192233e-02 9.98220984e-01 -6.44089077e-04 -4.40656590e-01] [-1.43491995e-02 -2.11842246e-04 9.99897022e-01 -1.18329316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914203822000005 meters 0.021096597202712883 Centerline is valid? [True, True] Translation: X:44.50, Y:-0.44, Z:-1.18 [[ 9.98188433e-01 5.84820382e-02 1.41316548e-02 4.44973860e+01] [-5.84789069e-02 9.98288442e-01 -6.35056867e-04 -4.43167002e-01] [-1.41446071e-02 -1.92497305e-04 9.99899942e-01 -1.18493079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944203822000006 meters 0.020394392833534766 Centerline is valid? [True, True] Translation: X:44.53, Y:-0.45, Z:-1.19 [[ 9.98254136e-01 5.74641634e-02 1.36583316e-02 4.45263515e+01] [-5.74611499e-02 9.98347555e-01 -6.13288689e-04 -4.45766246e-01] [-1.36710040e-02 -1.72605467e-04 9.99906533e-01 -1.18729721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97420382200001 meters 0.017307688981334595 Centerline is valid? [True, True] Translation: X:44.56, Y:-0.45, Z:-1.19 [[ 9.98307614e-01 5.66423106e-02 1.31741136e-02 4.45568161e+01] [-5.66394309e-02 9.98394523e-01 -5.91891534e-04 -4.52089782e-01] [-1.31864890e-02 -1.55284471e-04 9.99913042e-01 -1.18591025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00420382200001 meters 0.018305578635962782 Centerline is valid? [True, True] Translation: X:44.59, Y:-0.46, Z:-1.19 [[ 9.98405998e-01 5.49254776e-02 1.29867386e-02 4.45862254e+01] [-5.49225370e-02 9.98490448e-01 -5.83235228e-04 -4.55988523e-01] [-1.29991689e-02 -1.30959081e-04 9.99915499e-01 -1.19134661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034203822 meters 0.017205695824078854 Centerline is valid? [True, True] Translation: X:44.62, Y:-0.46, Z:-1.19 [[ 9.98430767e-01 5.45446555e-02 1.26840285e-02 4.46166422e+01] [-5.45418143e-02 9.98511325e-01 -5.70069167e-04 -4.60283151e-01] [-1.26962404e-02 -1.22635333e-04 9.99919392e-01 -1.19063840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064203822 meters 0.01736703486863564 Centerline is valid? [True, True] Translation: X:44.65, Y:-0.46, Z:-1.19 [[ 9.98418115e-01 5.47240771e-02 1.29051569e-02 4.46472863e+01] [-5.47211509e-02 9.98501507e-01 -5.80007530e-04 -4.61354126e-01] [-1.29175590e-02 -1.27095016e-04 9.99916557e-01 -1.19075809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094203822000004 meters 0.018295627800770087 Centerline is valid? [True, True] Translation: X:44.68, Y:-0.46, Z:-1.19 [[ 9.98271884e-01 5.68993502e-02 1.46870569e-02 4.46783076e+01] [-5.68957955e-02 9.98379904e-01 -6.60092985e-04 -4.55065108e-01] [-1.47008213e-02 -1.76679516e-04 9.99891921e-01 -1.18662111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124203822000005 meters 0.02025392659431257 Centerline is valid? [True, True] Translation: X:44.71, Y:-0.45, Z:-1.19 [[ 9.98172610e-01 5.84747991e-02 1.52360776e-02 4.47081145e+01] [-5.84711548e-02 9.98288863e-01 -6.84919398e-04 -4.49887286e-01] [-1.52500571e-02 -2.07203271e-04 9.99883690e-01 -1.18690811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15420382200001 meters 0.02182314140876162 Centerline is valid? [True, True] Translation: X:44.74, Y:-0.45, Z:-1.19 [[ 9.98070814e-01 5.98947333e-02 1.63484332e-02 4.47379616e+01] [-5.98907315e-02 9.98204669e-01 -7.34709371e-04 -4.46078249e-01] [-1.63630875e-02 -2.45827640e-04 9.99866086e-01 -1.18602770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18420382200001 meters 0.021290708428668634 Centerline is valid? [True, True] Translation: X:44.77, Y:-0.45, Z:-1.18 [[ 9.97996410e-01 6.07563120e-02 1.76588763e-02 4.47681171e+01] [-6.07517838e-02 9.98152589e-01 -7.93253771e-04 -4.47446228e-01] [-1.76744483e-02 -2.81143818e-04 9.99843755e-01 -1.18430179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214203822 meters 0.02014784322721257 Centerline is valid? [True, True] Translation: X:44.80, Y:-0.45, Z:-1.19 [[ 9.98038759e-01 6.03121007e-02 1.67656283e-02 4.47997225e+01] [-6.03079611e-02 9.98179534e-01 -7.52849266e-04 -4.51117683e-01] [-1.67805129e-02 -2.59728110e-04 9.99859164e-01 -1.18612734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244203822 meters 0.02079015392437146 Centerline is valid? [True, True] Translation: X:44.83, Y:-0.45, Z:-1.19 [[ 9.98087342e-01 5.98688861e-02 1.54069739e-02 4.48296870e+01] [-5.98653385e-02 9.98206223e-01 -6.91766956e-04 -4.51501715e-01] [-1.54207525e-02 -2.31899866e-04 9.99881066e-01 -1.19036680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.274203822000004 meters 0.020892369025431665 Centerline is valid? [True, True] Translation: X:44.86, Y:-0.45, Z:-1.19 [[ 9.98150424e-01 5.91400758e-02 1.40777633e-02 4.48594280e+01] [-5.91370194e-02 9.98249674e-01 -6.33652993e-04 -4.51696766e-01] [-1.40905969e-02 -2.00035960e-04 9.99900703e-01 -1.19376830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304203822000005 meters 0.018435835234701232 Centerline is valid? [True, True] Translation: X:44.89, Y:-0.45, Z:-1.19 [[ 9.98226074e-01 5.79884880e-02 1.34922387e-02 4.48901616e+01] [-5.79855796e-02 9.98317236e-01 -6.06981956e-04 -4.54461573e-01] [-1.35047324e-02 -1.76450068e-04 9.99908791e-01 -1.19418547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334203822000006 meters 0.015905305331612017 Centerline is valid? [True, True] Translation: X:44.92, Y:-0.46, Z:-1.20 [[ 9.98402313e-01 5.46911385e-02 1.42021127e-02 4.49200526e+01] [-5.46875825e-02 9.98503310e-01 -6.38917405e-04 -4.57622564e-01] [-1.42157997e-02 -1.38782595e-04 9.99898941e-01 -1.19512609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36420382200001 meters 0.014697971347724307 Centerline is valid? [True, True] Translation: X:44.95, Y:-0.46, Z:-1.19 [[ 9.98472501e-01 5.32424410e-02 1.47617000e-02 4.49506562e+01] [-5.32384536e-02 9.98581608e-01 -6.63228725e-04 -4.61197994e-01] [-1.47760741e-02 -1.23674439e-04 9.99890820e-01 -1.19469847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394203822 meters 0.014697971347724307 Centerline is valid? [True, True] Translation: X:44.98, Y:-0.46, Z:-1.20 [[ 9.98471253e-01 5.32658491e-02 1.47616334e-02 4.49814531e+01] [-5.32618425e-02 9.98580359e-01 -6.64707572e-04 -4.62629039e-01] [-1.47760834e-02 -1.22540391e-04 9.99890820e-01 -1.19557362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424203822 meters 0.012053533758047609 Centerline is valid? [True, True] Translation: X:45.01, Y:-0.47, Z:-1.19 [[ 9.98630655e-01 4.98318368e-02 1.59249390e-02 4.50130298e+01] [-4.98267326e-02 9.98757619e-01 -7.17366804e-04 -4.69086590e-01] [-1.59409019e-02 -7.71031976e-05 9.99872933e-01 -1.19475300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.454203822000004 meters 0.011153295858666992 Centerline is valid? [True, True] Translation: X:45.04, Y:-0.47, Z:-1.20 [[ 9.98732814e-01 4.76828013e-02 1.60970769e-02 4.50441759e+01] [-4.76773092e-02 9.98862527e-01 -7.24988538e-04 -4.73892916e-01] [-1.61133364e-02 -4.33954704e-05 9.99870171e-01 -1.19581049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484203822000005 meters 0.010823511228174128 Centerline is valid? [True, True] Translation: X:45.08, Y:-0.48, Z:-1.20 [[ 9.98829444e-01 4.56725162e-02 1.59299129e-02 4.50756489e+01] [-4.56668742e-02 9.98956466e-01 -7.17946890e-04 -4.78752170e-01] [-1.59460799e-02 -1.03628348e-05 9.99872853e-01 -1.19740006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514203822000006 meters 0.010622635587620739 Centerline is valid? [True, True] Translation: X:45.11, Y:-0.48, Z:-1.20 [[ 9.98911714e-01 4.40514461e-02 1.53250987e-02 4.51080485e+01] [-4.40459952e-02 9.99029264e-01 -6.93187501e-04 -4.83042581e-01] [-1.53407580e-02 1.74238892e-05 9.99882323e-01 -1.19725309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54420382200001 meters 0.01127127840113127 Centerline is valid? [True, True] Translation: X:45.14, Y:-0.49, Z:-1.20 [[ 9.98983901e-01 4.24326284e-02 1.51867750e-02 4.51399953e+01] [-4.24270520e-02 9.99099329e-01 -6.89325010e-04 -4.86740214e-01] [-1.52023466e-02 4.42944950e-05 9.99884437e-01 -1.19896917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574203822 meters 0.011523895831573195 Centerline is valid? [True, True] Translation: X:45.17, Y:-0.49, Z:-1.20 [[ 9.98987194e-01 4.23356018e-02 1.52408025e-02 4.51717671e+01] [-4.23299316e-02 9.99103445e-01 -6.94581441e-04 -4.88530931e-01] [-1.52565438e-02 4.87358392e-05 9.99883611e-01 -1.20056430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604203822 meters 0.012212400904830856 Centerline is valid? [True, True] Translation: X:45.20, Y:-0.49, Z:-1.20 [[ 9.99005981e-01 4.21357624e-02 1.45473872e-02 4.52029260e+01] [-4.21305353e-02 9.99111893e-01 -6.65719991e-04 -4.90518546e-01] [-1.45625182e-02 5.21690410e-05 9.99893960e-01 -1.20319779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.634203822 meters 0.012768885864237543 Centerline is valid? [True, True] Translation: X:45.23, Y:-0.49, Z:-1.21 [[ 9.99028719e-01 4.17917260e-02 1.39667213e-02 4.52339341e+01] [-4.17868468e-02 9.99126343e-01 -6.41115783e-04 -4.92735112e-01] [-1.39813125e-02 5.68678353e-05 9.99902255e-01 -1.20522880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664203822000005 meters 0.013376450621528136 Centerline is valid? [True, True] Translation: X:45.27, Y:-0.50, Z:-1.21 [[ 9.99099209e-01 4.01463654e-02 1.37491577e-02 4.52663768e+01] [-4.01414571e-02 9.99193806e-01 -6.32883642e-04 -4.97493553e-01] [-1.37634812e-02 8.04023243e-05 9.99905276e-01 -1.20553340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694203822000006 meters 0.014736695867421505 Centerline is valid? [True, True] Translation: X:45.30, Y:-0.50, Z:-1.21 [[ 9.99145698e-01 3.90857961e-02 1.34229221e-02 4.52976559e+01] [-3.90809920e-02 9.99235854e-01 -6.20118616e-04 -5.02667730e-01] [-1.34369028e-02 9.50077376e-05 9.99909716e-01 -1.20809117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72420382200001 meters 0.015506749242481034 Centerline is valid? [True, True] Translation: X:45.33, Y:-0.51, Z:-1.21 [[ 9.99196677e-01 3.77808241e-02 1.33644884e-02 4.53295799e+01] [-3.77759208e-02 9.99286043e-01 -6.19226775e-04 -5.08208504e-01] [-1.33783416e-02 1.13873481e-04 9.99910499e-01 -1.20865413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75420382200001 meters 0.016895996536663356 Centerline is valid? [True, True] Translation: X:45.36, Y:-0.52, Z:-1.21 [[ 9.99266777e-01 3.54753396e-02 1.44016797e-02 4.53617558e+01] [-3.54693680e-02 9.99370539e-01 -6.69934995e-04 -5.19394195e-01] [-1.44163806e-02 1.58625307e-04 9.99896066e-01 -1.20669287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784203822 meters 0.017143400527835192 Centerline is valid? [True, True] Translation: X:45.39, Y:-0.53, Z:-1.21 [[ 9.99288702e-01 3.47243664e-02 1.47074156e-02 4.53944018e+01] [-3.47180258e-02 9.99396912e-01 -6.86295364e-04 -5.25460544e-01] [-1.47223770e-02 1.75194767e-04 9.99891605e-01 -1.20689211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.814203822 meters 0.02952557089224127 Centerline is valid? [True, True] Translation: X:45.43, Y:-0.53, Z:-1.21 [[ 9.99303065e-01 3.45132586e-02 1.42203728e-02 4.54257570e+01] [-3.45072666e-02 9.99404225e-01 -6.66588676e-04 -5.31130384e-01] [-1.42349068e-02 1.75417912e-04 9.99898663e-01 -1.20940012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.844203822000004 meters 0.016447825143794198 Centerline is valid? [True, True] Translation: X:45.46, Y:-0.54, Z:-1.21 [[ 9.99246649e-01 3.62082817e-02 1.39676196e-02 4.54578195e+01] [-3.62026401e-02 9.99344254e-01 -6.56624036e-04 -5.35613860e-01] [-1.39822356e-02 1.50464665e-04 9.99902232e-01 -1.21038957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874203822000005 meters 0.014852072804542964 Centerline is valid? [True, True] Translation: X:45.49, Y:-0.54, Z:-1.21 [[ 9.99192335e-01 3.76837116e-02 1.39505006e-02 4.54897339e+01] [-3.76781810e-02 9.99289708e-01 -6.59152804e-04 -5.38178983e-01] [-1.39654310e-02 1.32990943e-04 9.99902470e-01 -1.20993640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90420382200001 meters 0.01471858911981132 Centerline is valid? [True, True] Translation: X:45.52, Y:-0.54, Z:-1.21 [[ 9.99120305e-01 3.94760640e-02 1.41511824e-02 4.55204557e+01] [-3.94705349e-02 9.99220510e-01 -6.69910454e-04 -5.42821548e-01] [-1.41665972e-02 1.10766398e-04 9.99899643e-01 -1.21280078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93420382200001 meters 0.013313974280829964 Centerline is valid? [True, True] Translation: X:45.55, Y:-0.55, Z:-1.21 [[ 9.99050127e-01 4.12872795e-02 1.39357021e-02 4.55525040e+01] [-4.12820890e-02 9.99147313e-01 -6.60040725e-04 -5.45720665e-01] [-1.39510706e-02 8.41188753e-05 9.99902676e-01 -1.21332205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964203822 meters 0.011967046104377224 Centerline is valid? [True, True] Translation: X:45.59, Y:-0.55, Z:-1.21 [[ 9.98911488e-01 4.48892307e-02 1.26805759e-02 4.55853781e+01] [-4.48852074e-02 9.98991970e-01 -6.01841395e-04 -5.50096409e-01] [-1.26948097e-02 3.20160029e-05 9.99919417e-01 -1.21446405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.994203822 meters 0.012870614442033329 Centerline is valid? [True, True] Translation: X:45.62, Y:-0.55, Z:-1.22 [[ 9.98818627e-01 4.69714157e-02 1.24513895e-02 4.56169506e+01] [-4.69676673e-02 9.98896234e-01 -5.93451103e-04 -5.51975248e-01] [-1.24655213e-02 7.93729794e-06 9.99922302e-01 -1.21922268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024203822000004 meters 0.01268782277663747 Centerline is valid? [True, True] Translation: X:45.65, Y:-0.55, Z:-1.22 [[ 9.98714307e-01 4.90441244e-02 1.28221114e-02 4.56490096e+01] [-4.90402839e-02 9.98796613e-01 -6.13952347e-04 -5.52314325e-01] [-1.28367922e-02 -1.56369905e-05 9.99917605e-01 -1.21889293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054203822000005 meters 0.01142353729662005 Centerline is valid? [True, True] Translation: X:45.68, Y:-0.55, Z:-1.21 [[ 9.98599549e-01 5.09403809e-02 1.42834746e-02 4.56814878e+01] [-5.09357723e-02 9.98701695e-01 -6.86487290e-04 -5.54040556e-01] [-1.42999002e-02 -4.20139128e-05 9.99897750e-01 -1.21397722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084203822000006 meters 0.011594799918097053 Centerline is valid? [True, True] Translation: X:45.71, Y:-0.56, Z:-1.21 [[ 9.98437007e-01 5.33068009e-02 1.67907165e-02 4.57122936e+01] [-5.33007029e-02 9.98578178e-01 -8.10799197e-04 -5.59524278e-01] [-1.68100642e-02 -8.54250660e-05 9.99858697e-01 -1.21063443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11420382200001 meters 0.01201253268482073 Centerline is valid? [True, True] Translation: X:45.74, Y:-0.56, Z:-1.21 [[ 9.98416053e-01 5.38817296e-02 1.61908714e-02 4.57437647e+01] [-5.38760966e-02 9.98547320e-01 -7.84208497e-04 -5.63865173e-01] [-1.62096058e-02 -8.93346012e-05 9.99868612e-01 -1.21255410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144203822 meters 0.012708170869663167 Centerline is valid? [True, True] Translation: X:45.78, Y:-0.57, Z:-1.22 [[ 9.98417995e-01 5.41157018e-02 1.52642775e-02 4.57751321e+01] [-5.41106898e-02 9.98534668e-01 -7.41460462e-04 -5.67964371e-01] [-1.52820349e-02 -8.56731179e-05 9.99883219e-01 -1.21628873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174203822 meters 0.013010901580439153 Centerline is valid? [True, True] Translation: X:45.81, Y:-0.58, Z:-1.22 [[ 9.98384441e-01 5.47916768e-02 1.50459196e-02 4.58077754e+01] [-5.47868565e-02 9.98497803e-01 -7.32677513e-04 -5.75586358e-01] [-1.50634623e-02 -9.28248085e-05 9.99886535e-01 -1.21816596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204203822000004 meters 0.013237899187644082 Centerline is valid? [True, True] Translation: X:45.84, Y:-0.58, Z:-1.22 [[ 9.98355060e-01 5.53040248e-02 1.51208239e-02 4.58401116e+01] [-5.52991716e-02 9.98469556e-01 -7.39197623e-04 -5.80475791e-01] [-1.51385629e-02 -9.81873487e-05 9.99885401e-01 -1.21934095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.234203822000005 meters 0.013311121066865316 Centerline is valid? [True, True] Translation: X:45.87, Y:-0.59, Z:-1.22 [[ 9.98342915e-01 5.56536536e-02 1.46320061e-02 4.58716190e+01] [-5.56491020e-02 9.98450130e-01 -7.18348713e-04 -5.85188027e-01] [-1.46493071e-02 -9.70996523e-05 9.99892688e-01 -1.22006428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264203822000006 meters 0.013222227546678284 Centerline is valid? [True, True] Translation: X:45.90, Y:-0.59, Z:-1.22 [[ 9.98339791e-01 5.58710971e-02 1.40029017e-02 4.59037990e+01] [-5.58669254e-02 9.98437986e-01 -6.89216648e-04 -5.89774455e-01] [-1.40195363e-02 -9.42266615e-05 9.99901717e-01 -1.22097535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29420382200001 meters 0.01351328499825159 Centerline is valid? [True, True] Translation: X:45.94, Y:-0.60, Z:-1.22 [[ 9.98335697e-01 5.59617900e-02 1.39324567e-02 4.59357886e+01] [-5.59576387e-02 9.98432907e-01 -6.87920813e-04 -5.96987884e-01] [-1.39491205e-02 -9.28514712e-05 9.99902702e-01 -1.22289405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32420382200001 meters 0.013802671410309428 Centerline is valid? [True, True] Translation: X:45.97, Y:-0.60, Z:-1.22 [[ 9.98313988e-01 5.63097881e-02 1.40850437e-02 4.59677679e+01] [-5.63055425e-02 9.98413341e-01 -6.98113712e-04 -6.02449230e-01] [-1.41020061e-02 -9.61293404e-05 9.99900557e-01 -1.22391218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354203822 meters 0.01383809302087207 Centerline is valid? [True, True] Translation: X:46.00, Y:-0.61, Z:-1.23 [[ 9.98296576e-01 5.66120370e-02 1.41075616e-02 4.60000888e+01] [-5.66077745e-02 9.98396248e-01 -7.01600016e-04 -6.08463872e-01] [-1.41246556e-02 -9.81927709e-05 9.99900237e-01 -1.22517864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384203822 meters 0.014589955748017894 Centerline is valid? [True, True] Translation: X:46.03, Y:-0.61, Z:-1.23 [[ 9.98279672e-01 5.70711404e-02 1.34380249e-02 4.60310705e+01] [-5.70672765e-02 9.98370110e-01 -6.71127900e-04 -6.13464226e-01] [-1.34544244e-02 -9.68981408e-05 9.99909480e-01 -1.22778395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414203822000005 meters 0.016395332401212236 Centerline is valid? [True, True] Translation: X:46.06, Y:-0.62, Z:-1.23 [[ 9.98180654e-01 5.91487309e-02 1.16965690e-02 4.60630755e+01] [-5.91459342e-02 9.98249175e-01 -5.85174825e-04 -6.18136318e-01] [-1.17107027e-02 -1.07694309e-04 9.99931422e-01 -1.23061621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444203822000006 meters 0.017581564061391292 Centerline is valid? [True, True] Translation: X:46.09, Y:-0.62, Z:-1.23 [[ 9.98088398e-01 6.06835452e-02 1.17071620e-02 4.60938389e+01] [-6.06808240e-02 9.98157048e-01 -5.87840638e-04 -6.19778637e-01] [-1.17212585e-02 -1.23683318e-04 9.99931296e-01 -1.23204731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47420382200001 meters 0.020165056166361238 Centerline is valid? [True, True] Translation: X:46.13, Y:-0.62, Z:-1.23 [[ 9.97957870e-01 6.27410086e-02 1.19856093e-02 4.61251773e+01] [-6.27382814e-02 9.98029831e-01 -6.03768909e-04 -6.20566608e-01] [-1.19998767e-02 -1.49420596e-04 9.99927988e-01 -1.23403427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50420382200001 meters 0.021556097678698437 Centerline is valid? [True, True] Translation: X:46.16, Y:-0.62, Z:-1.24 [[ 9.97886810e-01 6.39174795e-02 1.16820480e-02 4.61562461e+01] [-6.39149490e-02 9.97955175e-01 -5.90212613e-04 -6.21832779e-01] [-1.16958852e-02 -1.57692121e-04 9.99931588e-01 -1.23542939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534203822 meters 0.02287921473038171 Centerline is valid? [True, True] Translation: X:46.19, Y:-0.62, Z:-1.24 [[ 9.97820718e-01 6.49966747e-02 1.13686639e-02 4.61870116e+01] [-6.49943302e-02 9.97885467e-01 -5.75952088e-04 -6.23526583e-01] [-1.13820595e-02 -1.64201773e-04 9.99935209e-01 -1.23707462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564203822 meters 0.022203949344752023 Centerline is valid? [True, True] Translation: X:46.22, Y:-0.63, Z:-1.24 [[ 9.97739426e-01 6.61594960e-02 1.17880709e-02 4.62190397e+01] [-6.61570378e-02 9.97809044e-01 -5.98780186e-04 -6.27389380e-01] [-1.18018588e-02 -1.82437254e-04 9.99930339e-01 -1.23513809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594203822000004 meters 0.021592255416436217 Centerline is valid? [True, True] Translation: X:46.25, Y:-0.63, Z:-1.23 [[ 9.97656347e-01 6.73325888e-02 1.21711430e-02 4.62512875e+01] [-6.73300305e-02 9.97730566e-01 -6.20286354e-04 -6.30432602e-01] [-1.21852869e-02 -2.00650812e-04 9.99925737e-01 -1.23297383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624203822000005 meters 0.023590914995703493 Centerline is valid? [True, True] Translation: X:46.28, Y:-0.63, Z:-1.23 [[ 9.97548681e-01 6.85733857e-02 1.39398618e-02 4.62828284e+01] [-6.85700935e-02 9.97646045e-01 -7.14554197e-04 -6.31774397e-01] [-1.39560474e-02 -2.43055026e-04 9.99902580e-01 -1.23289653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65420382200001 meters 0.021966637721956735 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.64, Z:-1.23 [[ 9.97524642e-01 6.87074745e-02 1.49623637e-02 4.63149935e+01] [-6.87036874e-02 9.97636815e-01 -7.67586522e-04 -6.37012716e-01] [-1.49797438e-02 -2.62283087e-04 9.99887763e-01 -1.23079226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68420382200001 meters 0.02129355151726584 Centerline is valid? [True, True] Translation: X:46.35, Y:-0.64, Z:-1.23 [[ 9.97516449e-01 6.86299312e-02 1.58387707e-02 4.63468989e+01] [-6.86256308e-02 9.97642149e-01 -8.15497183e-04 -6.40592911e-01] [-1.58573927e-02 -2.73473775e-04 9.99874226e-01 -1.22999503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714203822 meters 0.02152282802036972 Centerline is valid? [True, True] Translation: X:46.38, Y:-0.64, Z:-1.23 [[ 9.97576016e-01 6.77562848e-02 1.58485979e-02 4.63775414e+01] [-6.77518232e-02 9.97701869e-01 -8.18884789e-04 -6.43463722e-01] [-1.58676604e-02 -2.56871580e-04 9.99874068e-01 -1.23244405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744203822 meters 0.021173652407006548 Centerline is valid? [True, True] Translation: X:46.41, Y:-0.65, Z:-1.23 [[ 9.97607033e-01 6.74254060e-02 1.52978099e-02 4.64104182e+01] [-6.74211813e-02 9.97724289e-01 -7.92311887e-04 -6.47996939e-01] [-1.53164185e-02 -2.40980507e-04 9.99882668e-01 -1.23439370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.774203822000004 meters 0.0210872753356362 Centerline is valid? [True, True] Translation: X:46.44, Y:-0.65, Z:-1.24 [[ 9.97621136e-01 6.73292089e-02 1.47934464e-02 4.64432122e+01] [-6.73252086e-02 9.97730788e-01 -7.68820331e-04 -6.53124436e-01] [-1.48116410e-02 -2.28980456e-04 9.99890275e-01 -1.23652540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804203822000005 meters 0.02128210828243012 Centerline is valid? [True, True] Translation: X:46.47, Y:-0.66, Z:-1.24 [[ 9.97664323e-01 6.72036526e-02 1.22297887e-02 4.64746005e+01] [-6.72008854e-02 9.97739262e-01 -6.37531883e-04 -6.58093214e-01] [-1.22449848e-02 -1.85809812e-04 9.99925010e-01 -1.24142570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834203822000006 meters 0.022182622265919646 Centerline is valid? [True, True] Translation: X:46.51, Y:-0.66, Z:-1.24 [[ 9.97660502e-01 6.74434015e-02 1.11763740e-02 4.65056795e+01] [-6.74410903e-02 9.97723087e-01 -5.83979751e-04 -6.59282105e-01] [-1.11903119e-02 -1.71133313e-04 9.99937372e-01 -1.24496646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86420382200001 meters 0.022422657129673316 Centerline is valid? [True, True] Translation: X:46.54, Y:-0.66, Z:-1.25 [[ 9.97642256e-01 6.77940823e-02 1.06719877e-02 4.65377526e+01] [-6.77919819e-02 9.97699321e-01 -5.58857145e-04 -6.61614215e-01] [-1.06853221e-02 -1.65935691e-04 9.99942897e-01 -1.24635156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894203822 meters 0.022395494205939767 Centerline is valid? [True, True] Translation: X:46.57, Y:-0.66, Z:-1.25 [[ 9.97605618e-01 6.83231637e-02 1.07227118e-02 4.65705573e+01] [-6.83210595e-02 9.97663228e-01 -5.62838992e-04 -6.64227461e-01] [-1.07361102e-02 -1.71095693e-04 9.99942352e-01 -1.24670069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924203822 meters 0.02350250378481425 Centerline is valid? [True, True] Translation: X:46.60, Y:-0.67, Z:-1.25 [[ 9.97545138e-01 6.91506363e-02 1.10402582e-02 4.66026845e+01] [-6.91484180e-02 9.97606213e-01 -5.82979151e-04 -6.65056033e-01] [-1.10541436e-02 -1.81868372e-04 9.99938885e-01 -1.24811063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.954203822000004 meters 0.023726348925933092 Centerline is valid? [True, True] Translation: X:46.63, Y:-0.67, Z:-1.25 [[ 9.97378371e-01 7.14521983e-02 1.14441358e-02 4.66349212e+01] [-7.14499595e-02 9.97444002e-01 -6.04881599e-04 -6.67701447e-01] [-1.14581047e-02 -2.14387215e-04 9.99934331e-01 -1.24601689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.984203822000005 meters 0.026037076554699463 Centerline is valid? [True, True] Translation: X:46.67, Y:-0.67, Z:-1.25 [[ 9.97294276e-01 7.25491467e-02 1.18637509e-02 4.66663020e+01] [-7.25467896e-02 9.97364811e-01 -6.29479916e-04 -6.68071005e-01] [-1.18781559e-02 -2.32900325e-04 9.99929425e-01 -1.24817448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014203822000006 meters 0.026894552255993937 Centerline is valid? [True, True] Translation: X:46.70, Y:-0.67, Z:-1.25 [[ 9.97198794e-01 7.36886600e-02 1.28275997e-02 4.66987483e+01] [-7.36859693e-02 9.97281260e-01 -6.82903306e-04 -6.69495579e-01] [-1.28430470e-02 -2.64223765e-04 9.99917490e-01 -1.24636067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04420382200001 meters 0.026413984505921615 Centerline is valid? [True, True] Translation: X:46.73, Y:-0.67, Z:-1.25 [[ 9.97165534e-01 7.39978913e-02 1.36091528e-02 4.67306174e+01] [-7.39948577e-02 9.97258358e-01 -7.26991490e-04 -6.71369107e-01] [-1.36256372e-02 -2.82076469e-04 9.99907127e-01 -1.24594427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07420382200001 meters 0.026636053712633154 Centerline is valid? [True, True] Translation: X:46.76, Y:-0.67, Z:-1.25 [[ 9.97138209e-01 7.43767024e-02 1.35461488e-02 4.67640279e+01] [-7.43737064e-02 9.97230177e-01 -7.25496439e-04 -6.72730633e-01] [-1.35625884e-02 -2.84057075e-04 9.99907984e-01 -1.24675467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104203822 meters 0.026389564317456198 Centerline is valid? [True, True] Translation: X:46.80, Y:-0.68, Z:-1.25 [[ 9.97144297e-01 7.43456541e-02 1.32655628e-02 4.67966773e+01] [-7.43427463e-02 9.97232494e-01 -7.12863201e-04 -6.75494535e-01] [-1.32818486e-02 -2.75370896e-04 9.99911754e-01 -1.24853035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.134203822 meters 0.022937052352204793 Centerline is valid? [True, True] Translation: X:46.83, Y:-0.68, Z:-1.25 [[ 9.97244163e-01 7.30988106e-02 1.26745381e-02 4.68285494e+01] [-7.30960252e-02 9.97324673e-01 -6.83496177e-04 -6.84012325e-01] [-1.26905924e-02 -2.44845786e-04 9.99919441e-01 -1.24900334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164203822000005 meters 0.031267382925332134 Centerline is valid? [True, True] Translation: X:46.86, Y:-0.68, Z:-1.25 [[ 9.97285753e-01 7.25569821e-02 1.25144670e-02 4.68593286e+01] [-7.25541825e-02 9.97364242e-01 -6.78168503e-04 -6.84520095e-01] [-1.25306878e-02 -2.31649137e-04 9.99921461e-01 -1.25252963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194203822000006 meters 0.024270103891488856 Centerline is valid? [True, True] Translation: X:46.89, Y:-0.69, Z:-1.25 [[ 9.97307339e-01 7.23160100e-02 1.21847133e-02 4.68924724e+01] [-7.23133422e-02 9.97381745e-01 -6.59959835e-04 -6.88173255e-01] [-1.22005363e-02 -2.22934557e-04 9.99925546e-01 -1.25416012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22420382200001 meters 0.022811503358899938 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.69, Z:-1.25 [[ 9.97306913e-01 7.23220709e-02 1.21835290e-02 4.69257588e+01] [-7.23193774e-02 9.97381306e-01 -6.62078223e-04 -6.92749830e-01] [-1.21995069e-02 -2.20810039e-04 9.99925559e-01 -1.25390878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25420382200001 meters 0.024143542068615055 Centerline is valid? [True, True] Translation: X:46.96, Y:-0.70, Z:-1.26 [[ 9.97292847e-01 7.24901645e-02 1.23350521e-02 4.69578155e+01] [-7.24873834e-02 9.97369102e-01 -6.72994514e-04 -6.95401684e-01] [-1.23513853e-02 -2.22963035e-04 9.99923694e-01 -1.25504617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284203822 meters 0.024143542068615055 Centerline is valid? [True, True] Translation: X:46.99, Y:-0.70, Z:-1.26 [[ 9.97279354e-01 7.26755708e-02 1.23349332e-02 4.69902730e+01] [-7.26727770e-02 9.97355609e-01 -6.75162993e-04 -6.97380049e-01] [-1.23513826e-02 -2.23087734e-04 9.99923694e-01 -1.25596940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.314203822 meters 0.02445340219880226 Centerline is valid? [True, True] Translation: X:47.02, Y:-0.70, Z:-1.26 [[ 9.97268337e-01 7.28475184e-02 1.22107780e-02 4.70229346e+01] [-7.28447661e-02 9.97343066e-01 -6.70600123e-04 -7.00350353e-01] [-1.22271863e-02 -2.20723000e-04 9.99925221e-01 -1.25716040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344203822000004 meters 0.024518267733147 Centerline is valid? [True, True] Translation: X:47.06, Y:-0.70, Z:-1.26 [[ 9.97244316e-01 7.31744780e-02 1.22176156e-02 4.70554973e+01] [-7.31717195e-02 9.97319130e-01 -6.73234810e-04 -7.03247170e-01] [-1.22341254e-02 -2.22604356e-04 9.99925136e-01 -1.25779329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374203822000005 meters 0.024509483582581544 Centerline is valid? [True, True] Translation: X:47.09, Y:-0.71, Z:-1.26 [[ 9.97244266e-01 7.32548433e-02 1.17303745e-02 4.70879246e+01] [-7.32522829e-02 9.97313232e-01 -6.48356766e-04 -7.06543746e-01] [-1.17463529e-02 -2.12706641e-04 9.99930987e-01 -1.25986880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40420382200001 meters 0.02436070421045055 Centerline is valid? [True, True] Translation: X:47.12, Y:-0.71, Z:-1.26 [[ 9.97217788e-01 7.37029673e-02 1.11604355e-02 4.71201307e+01] [-7.37006531e-02 9.97280217e-01 -6.19053764e-04 -7.08902701e-01] [-1.11757076e-02 -2.05199960e-04 9.99937529e-01 -1.26080507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43420382200001 meters 0.02462450558913848 Centerline is valid? [True, True] Translation: X:47.15, Y:-0.71, Z:-1.26 [[ 9.97142872e-01 7.46946091e-02 1.12608876e-02 4.71526411e+01] [-7.46922950e-02 9.97206432e-01 -6.26511576e-04 -7.10239321e-01] [-1.12762266e-02 -2.16379986e-04 9.99936398e-01 -1.26137021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464203822 meters 0.025260133337772956 Centerline is valid? [True, True] Translation: X:47.18, Y:-0.71, Z:-1.26 [[ 9.97041453e-01 7.59461376e-02 1.18542903e-02 4.71844564e+01] [-7.59436351e-02 9.97111893e-01 -6.61752483e-04 -7.10808509e-01] [-1.18703114e-02 -2.40463243e-04 9.99929516e-01 -1.26133694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.494203822 meters 0.026044120206331945 Centerline is valid? [True, True] Translation: X:47.22, Y:-0.71, Z:-1.26 [[ 9.96864380e-01 7.81152392e-02 1.26260220e-02 4.72161092e+01] [-7.81125417e-02 9.96944297e-01 -7.07406489e-04 -7.12744560e-01] [-1.26426998e-02 -2.81062338e-04 9.99920038e-01 -1.25986284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524203822000004 meters 0.027244589967271148 Centerline is valid? [True, True] Translation: X:47.25, Y:-0.71, Z:-1.26 [[ 9.96800492e-01 7.89938720e-02 1.21961849e-02 4.72468492e+01] [-7.89913986e-02 9.96875062e-01 -6.85135048e-04 -7.13525038e-01] [-1.22121940e-02 -2.80450750e-04 9.99925389e-01 -1.26148324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554203822000005 meters 0.029932144662265205 Centerline is valid? [True, True] Translation: X:47.28, Y:-0.71, Z:-1.27 [[ 9.96744525e-01 7.97706578e-02 1.17044120e-02 4.72780001e+01] [-7.97684133e-02 9.96813205e-01 -6.59221544e-04 -7.12027069e-01] [-1.17196990e-02 -2.76566913e-04 9.99931284e-01 -1.26506676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584203822000006 meters 0.030119680763441608 Centerline is valid? [True, True] Translation: X:47.31, Y:-0.71, Z:-1.27 [[ 9.96713278e-01 8.02056727e-02 1.13882482e-02 4.73102788e+01] [-8.02035582e-02 9.96778298e-01 -6.42993072e-04 -7.12858446e-01] [-1.14031304e-02 -2.72498299e-04 9.99934945e-01 -1.26633229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61420382200001 meters 0.030969223761167897 Centerline is valid? [True, True] Translation: X:47.34, Y:-0.71, Z:-1.27 [[ 9.96701454e-01 8.04839587e-02 1.04184758e-02 4.73413551e+01] [-8.04821882e-02 9.96755873e-01 -5.89771056e-04 -7.11731376e-01] [-1.04321441e-02 -2.50676064e-04 9.99945552e-01 -1.26989761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644203822 meters 0.031229946566724603 Centerline is valid? [True, True] Translation: X:47.37, Y:-0.71, Z:-1.27 [[ 9.96692507e-01 8.06058888e-02 1.03314038e-02 4.73725225e+01] [-8.06041146e-02 9.96746021e-01 -5.88687329e-04 -7.12771592e-01] [-1.03452373e-02 -2.46013402e-04 9.99946456e-01 -1.27120909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.674203822 meters 0.030855934843141128 Centerline is valid? [True, True] Translation: X:47.40, Y:-0.71, Z:-1.27 [[ 9.96665246e-01 8.08816338e-02 1.07957910e-02 4.74038858e+01] [-8.08797096e-02 9.96723680e-01 -6.15425069e-04 -7.14734191e-01] [-1.08101972e-02 -2.59787666e-04 9.99941534e-01 -1.27099669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704203822000004 meters 0.031213602285249747 Centerline is valid? [True, True] Translation: X:47.43, Y:-0.72, Z:-1.27 [[ 9.96601375e-01 8.15411908e-02 1.16933490e-02 4.74349624e+01] [-8.15389749e-02 9.96669931e-01 -6.66919027e-04 -7.16514843e-01] [-1.17087907e-02 -2.88811270e-04 9.99931408e-01 -1.27087289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.734203822000005 meters 0.031186283872223913 Centerline is valid? [True, True] Translation: X:47.47, Y:-0.72, Z:-1.27 [[ 9.96633401e-01 8.12109936e-02 1.12533605e-02 4.74659999e+01] [-8.12089425e-02 9.96696894e-01 -6.39858910e-04 -7.19493655e-01] [-1.12681531e-02 -2.76168746e-04 9.99936474e-01 -1.27292178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764203822000006 meters 0.03146980062601676 Centerline is valid? [True, True] Translation: X:47.50, Y:-0.72, Z:-1.27 [[ 9.96656766e-01 8.10109553e-02 1.06073363e-02 4.74970006e+01] [-8.10091064e-02 9.96713178e-01 -6.04547146e-04 -7.21530607e-01] [-1.06214468e-02 -2.56764830e-04 9.99943558e-01 -1.27485830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79420382200001 meters 0.03029419785365283 Centerline is valid? [True, True] Translation: X:47.53, Y:-0.72, Z:-1.27 [[ 9.96678727e-01 8.07417924e-02 1.05961341e-02 4.75282928e+01] [-8.07398917e-02 9.96735020e-01 -6.07735125e-04 -7.24027856e-01] [-1.06106075e-02 -2.49814047e-04 9.99943675e-01 -1.27468123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82420382200001 meters 0.02976940494733857 Centerline is valid? [True, True] Translation: X:47.56, Y:-0.73, Z:-1.27 [[ 9.96686042e-01 8.06320906e-02 1.07423787e-02 4.75594989e+01] [-8.06301279e-02 9.96743900e-01 -6.16381369e-04 -7.27100895e-01] [-1.07571006e-02 -2.51820663e-04 9.99942109e-01 -1.27492087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854203822 meters 0.0296984780105334 Centerline is valid? [True, True] Translation: X:47.59, Y:-0.73, Z:-1.28 [[ 9.96689698e-01 8.05552603e-02 1.09770492e-02 4.75913217e+01] [-8.05532301e-02 9.96750111e-01 -6.27670707e-04 -7.30056396e-01] [-1.09919372e-02 -2.58643846e-04 9.99939553e-01 -1.27523258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884203822 meters 0.02995795366922267 Centerline is valid? [True, True] Translation: X:47.62, Y:-0.73, Z:-1.28 [[ 9.96669070e-01 8.07820424e-02 1.11815381e-02 4.76221236e+01] [-8.07799262e-02 9.96731755e-01 -6.41505877e-04 -7.32775858e-01] [-1.11968163e-02 -2.63874761e-04 9.99937279e-01 -1.27574819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914203822000005 meters 0.030803731738170522 Centerline is valid? [True, True] Translation: X:47.65, Y:-0.74, Z:-1.28 [[ 9.96590029e-01 8.16907517e-02 1.16161866e-02 4.76544016e+01] [-8.16885090e-02 9.96657685e-01 -6.68198192e-04 -7.35674571e-01] [-1.16319473e-02 -2.82989311e-04 9.99932307e-01 -1.27606097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944203822000006 meters 0.03081011293554673 Centerline is valid? [True, True] Translation: X:47.69, Y:-0.74, Z:-1.28 [[ 9.96510360e-01 8.26069616e-02 1.19662955e-02 4.76860577e+01] [-8.26046231e-02 9.96582159e-01 -6.90394130e-04 -7.38474612e-01] [-1.19824279e-02 -3.00486422e-04 9.99928163e-01 -1.27588920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97420382200001 meters 0.03326797390052432 Centerline is valid? [True, True] Translation: X:47.72, Y:-0.74, Z:-1.28 [[ 9.96386822e-01 8.41313024e-02 1.16286653e-02 4.77173868e+01] [-8.41291618e-02 9.96454630e-01 -6.73996227e-04 -7.37810641e-01] [-1.16441416e-02 -3.06748905e-04 9.99932158e-01 -1.27799833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00420382200001 meters 0.037745969507403034 Centerline is valid? [True, True] Translation: X:47.75, Y:-0.73, Z:-1.28 [[ 9.96020445e-01 8.85510402e-02 1.00988603e-02 4.77485957e+01] [-8.85496319e-02 9.96071593e-01 -5.87387982e-04 -7.29967738e-01] [-1.01112017e-02 -3.09199922e-04 9.99948833e-01 -1.28127919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034203822 meters 0.039643728149648706 Centerline is valid? [True, True] Translation: X:47.78, Y:-0.73, Z:-1.28 [[ 9.95838087e-01 9.05951416e-02 9.95116788e-03 4.77793530e+01] [-9.05938745e-02 9.95887752e-01 -5.78949770e-04 -7.27196185e-01] [-9.96269625e-03 -3.24974624e-04 9.99950318e-01 -1.28278439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064203822 meters 0.04150550456747137 Centerline is valid? [True, True] Translation: X:47.81, Y:-0.73, Z:-1.28 [[ 9.95735132e-01 9.17630732e-02 9.54381477e-03 4.78086939e+01] [-9.17619593e-02 9.95780816e-01 -5.55470250e-04 -7.26166490e-01] [-9.55451932e-03 -3.22657900e-04 9.99954302e-01 -1.28428813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094203822000004 meters 0.043424614207477834 Centerline is valid? [True, True] Translation: X:47.84, Y:-0.73, Z:-1.28 [[ 9.95526565e-01 9.40190649e-02 9.34206479e-03 4.78393490e+01] [-9.40180998e-02 9.95570340e-01 -5.43403357e-04 -7.27080737e-01] [-9.35177289e-03 -3.37350702e-04 9.99956214e-01 -1.28469720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124203822000005 meters 0.04551075768016044 Centerline is valid? [True, True] Translation: X:47.87, Y:-0.73, Z:-1.29 [[ 9.95448708e-01 9.48791124e-02 8.93437685e-03 4.78684177e+01] [-9.48782701e-02 9.95488747e-01 -5.19040230e-04 -7.26056159e-01] [-8.94331769e-03 -3.31000294e-04 9.99959953e-01 -1.28700854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15420382200001 meters 0.050157813435302935 Centerline is valid? [True, True] Translation: X:47.90, Y:-0.72, Z:-1.29 [[ 9.95395802e-01 9.54597247e-02 8.63940401e-03 4.78967856e+01] [-9.54589513e-02 9.95433240e-01 -5.02780104e-04 -7.20821345e-01] [-8.64794518e-03 -3.24243242e-04 9.99962553e-01 -1.29063319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18420382200001 meters 0.04273793409628903 Centerline is valid? [True, True] Translation: X:47.93, Y:-0.73, Z:-1.29 [[ 9.95329011e-01 9.60925635e-02 9.29403692e-03 4.79266565e+01] [-9.60916911e-02 9.95372339e-01 -5.41400883e-04 -7.28217944e-01] [-9.30305187e-03 -3.54207720e-04 9.99956663e-01 -1.28620254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214203822 meters 0.0445859040270274 Centerline is valid? [True, True] Translation: X:47.96, Y:-0.73, Z:-1.29 [[ 9.95325532e-01 9.60709748e-02 9.87183889e-03 4.79559832e+01] [-9.60699924e-02 9.95374415e-01 -5.74774887e-04 -7.26363096e-01] [-9.88139505e-03 -3.76299367e-04 9.99951107e-01 -1.28719992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244203822 meters 0.04528822916948068 Centerline is valid? [True, True] Translation: X:47.98, Y:-0.73, Z:-1.29 [[ 9.95368716e-01 9.55997814e-02 1.00896125e-02 4.79845691e+01] [-9.55987314e-02 9.95419780e-01 -5.87404663e-04 -7.25491107e-01] [-1.00995557e-02 -3.79869935e-04 9.99948926e-01 -1.28876348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.274203822000004 meters 0.046700594831016816 Centerline is valid? [True, True] Translation: X:48.01, Y:-0.72, Z:-1.29 [[ 9.95460917e-01 9.46744417e-02 9.71152257e-03 4.80131009e+01] [-9.46734308e-02 9.95508223e-01 -5.64796343e-04 -7.24181054e-01] [-9.72137235e-03 -3.57190475e-04 9.99952683e-01 -1.29145429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304203822000005 meters 0.04374417531452852 Centerline is valid? [True, True] Translation: X:48.04, Y:-0.73, Z:-1.29 [[ 9.95766348e-01 9.14748531e-02 9.04051085e-03 4.80428257e+01] [-9.14738481e-02 9.95807340e-01 -5.25463589e-04 -7.29174015e-01] [-9.05067377e-03 -3.03731356e-04 9.99958996e-01 -1.29468898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334203822000006 meters 0.03911669835505553 Centerline is valid? [True, True] Translation: X:48.07, Y:-0.74, Z:-1.29 [[ 9.95940281e-01 8.95955165e-02 8.69484082e-03 4.80724245e+01] [-8.95945141e-02 9.95978196e-01 -5.05524419e-04 -7.36613710e-01] [-8.70516460e-03 -2.75537906e-04 9.99962071e-01 -1.29431930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36420382200001 meters 0.03805852642840205 Centerline is valid? [True, True] Translation: X:48.10, Y:-0.74, Z:-1.30 [[ 9.96087200e-01 8.79551300e-02 8.61309589e-03 4.81019132e+01] [-8.79540887e-02 9.96124404e-01 -5.00344191e-04 -7.39446557e-01] [-8.62372285e-03 -2.59170556e-04 9.99962781e-01 -1.29514286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394203822 meters 0.03321135412020131 Centerline is valid? [True, True] Translation: X:48.13, Y:-0.74, Z:-1.29 [[ 9.96381349e-01 8.44770446e-02 9.37211841e-03 4.81326404e+01] [-8.44756634e-02 9.96425394e-01 -5.43853028e-04 -7.44471310e-01] [-9.38455988e-03 -2.49830907e-04 9.99955933e-01 -1.29298674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424203822 meters 0.0324371497956885 Centerline is valid? [True, True] Translation: X:48.16, Y:-0.75, Z:-1.29 [[ 9.96543978e-01 8.24786993e-02 9.86732779e-03 4.81623600e+01] [-8.24770647e-02 9.96592798e-01 -5.73159879e-04 -7.45593688e-01] [-9.88098130e-03 -2.42649207e-04 9.99951152e-01 -1.29454106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.454203822000004 meters 0.02993873204097613 Centerline is valid? [True, True] Translation: X:48.19, Y:-0.75, Z:-1.30 [[ 9.96733689e-01 8.01412681e-02 9.96641739e-03 4.81930899e+01] [-8.01394913e-02 9.96783491e-01 -5.78151683e-04 -7.50504454e-01] [-9.98069413e-03 -2.22440360e-04 9.99950167e-01 -1.29551240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.484203822000005 meters 0.02322726426070648 Centerline is valid? [True, True] Translation: X:48.22, Y:-0.77, Z:-1.30 [[ 9.97196562e-01 7.42204668e-02 9.50472614e-03 4.82236911e+01] [-7.42185821e-02 9.97241845e-01 -5.51337098e-04 -7.65190930e-01] [-9.51943113e-03 -1.55635839e-04 9.99954677e-01 -1.29697071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514203822000006 meters 0.020446776478901522 Centerline is valid? [True, True] Translation: X:48.25, Y:-0.77, Z:-1.30 [[ 9.97426929e-01 7.10728217e-02 9.39012808e-03 4.82549795e+01] [-7.10708631e-02 9.97471121e-01 -5.42533539e-04 -7.72815143e-01] [-9.40494098e-03 -1.26226946e-04 9.99955765e-01 -1.29849956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54420382200001 meters 0.017936666441083975 Centerline is valid? [True, True] Translation: X:48.29, Y:-0.78, Z:-1.30 [[ 9.97616978e-01 6.83398154e-02 9.48863834e-03 4.82870707e+01] [-6.83376764e-02 9.97662097e-01 -5.49844016e-04 -7.79564246e-01] [-9.50403106e-03 -9.98977704e-05 9.99954831e-01 -1.29957950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57420382200001 meters 0.016326291861010218 Centerline is valid? [True, True] Translation: X:48.32, Y:-0.79, Z:-1.30 [[ 9.97774900e-01 6.59908725e-02 9.51067861e-03 4.83175788e+01] [-6.59885996e-02 9.97820224e-01 -5.52938215e-04 -7.85467414e-01] [-9.52643633e-03 -7.58884899e-05 9.99954620e-01 -1.30091811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604203822 meters 0.014586037775838839 Centerline is valid? [True, True] Translation: X:48.35, Y:-0.79, Z:-1.30 [[ 9.97939133e-01 6.33959913e-02 9.92144157e-03 4.83494327e+01] [-6.33933745e-02 9.97988450e-01 -5.78326205e-04 -7.92042385e-01] [-9.93814766e-03 -5.18193100e-05 9.99950614e-01 -1.30046158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.634203822 meters 0.0143633535928079 Centerline is valid? [True, True] Translation: X:48.38, Y:-0.79, Z:-1.30 [[ 9.97906093e-01 6.39057728e-02 9.97407363e-03 4.83819644e+01] [-6.39031420e-02 9.97955935e-01 -5.82561711e-04 -7.93585081e-01] [-9.99091504e-03 -5.60327627e-05 9.99950088e-01 -1.30008089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664203822000005 meters 0.015564500303825744 Centerline is valid? [True, True] Translation: X:48.41, Y:-0.79, Z:-1.30 [[ 9.97800425e-01 6.55843078e-02 9.64423552e-03 4.84129842e+01] [-6.55819039e-02 9.97847029e-01 -5.65646282e-04 -7.93554313e-01] [-9.66056929e-03 -6.80852270e-05 9.99953333e-01 -1.30172768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694203822000006 meters 0.018619253653982037 Centerline is valid? [True, True] Translation: X:48.44, Y:-0.79, Z:-1.30 [[ 9.97465329e-01 7.06710752e-02 8.27746726e-03 4.84447733e+01] [-7.06694746e-02 9.97499669e-01 -4.86064718e-04 -7.90546006e-01] [-8.29112157e-03 -1.00131558e-04 9.99965623e-01 -1.30291132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72420382200001 meters 0.022151071739336083 Centerline is valid? [True, True] Translation: X:48.48, Y:-0.79, Z:-1.31 [[ 9.97217365e-01 7.41194732e-02 7.98941492e-03 4.84758801e+01] [-7.41180836e-02 9.97249361e-01 -4.70280154e-04 -7.86165608e-01] [-8.00229584e-03 -1.23188586e-04 9.99967974e-01 -1.30531794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75420382200001 meters 0.024287804399429437 Centerline is valid? [True, True] Translation: X:48.51, Y:-0.78, Z:-1.30 [[ 9.96933056e-01 7.78308546e-02 8.17558966e-03 4.85067348e+01] [-7.78294865e-02 9.96966567e-01 -4.85842263e-04 -7.82879409e-01] [-8.18860307e-03 -1.51949733e-04 9.99966461e-01 -1.30377120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784203822 meters 0.03616422838439763 Centerline is valid? [True, True] Translation: X:48.54, Y:-0.77, Z:-1.31 [[ 9.96284535e-01 8.55866130e-02 9.59462066e-03 4.85371364e+01] [-8.55850889e-02 9.96330702e-01 -5.70085425e-04 -7.65821752e-01] [-9.60820681e-03 -2.53189169e-04 9.99953808e-01 -1.30564695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.814203822 meters 0.03623728183016963 Centerline is valid? [True, True] Translation: X:48.57, Y:-0.77, Z:-1.30 [[ 9.96033898e-01 8.84570401e-02 9.58260289e-03 4.85674947e+01] [-8.84556509e-02 9.96079953e-01 -5.69534714e-04 -7.65130934e-01] [-9.59541799e-03 -2.80359495e-04 9.99953924e-01 -1.30400206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844203822000004 meters 0.039551041545368676 Centerline is valid? [True, True] Translation: X:48.60, Y:-0.76, Z:-1.31 [[ 9.95839967e-01 9.06281361e-02 9.44992735e-03 4.85973886e+01] [-9.06268832e-02 9.95884759e-01 -5.61592000e-04 -7.60888403e-01] [-9.46193465e-03 -2.97161704e-04 9.99955191e-01 -1.30589379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874203822000005 meters 0.04356241421766701 Centerline is valid? [True, True] Translation: X:48.63, Y:-0.76, Z:-1.31 [[ 9.95731198e-01 9.17899656e-02 9.69448322e-03 4.86260071e+01] [-9.17886964e-02 9.95778340e-01 -5.76715703e-04 -7.56026636e-01] [-9.70649313e-03 -3.15590159e-04 9.99952841e-01 -1.30868157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90420382200001 meters 0.04099371250708418 Centerline is valid? [True, True] Translation: X:48.66, Y:-0.76, Z:-1.31 [[ 9.95720968e-01 9.17889938e-02 1.07020512e-02 4.86559561e+01] [-9.17874532e-02 9.95778419e-01 -6.36081037e-04 -7.59586038e-01] [-1.07152569e-02 -3.48954797e-04 9.99942529e-01 -1.30637891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93420382200001 meters 0.039564348202075196 Centerline is valid? [True, True] Translation: X:48.69, Y:-0.76, Z:-1.31 [[ 9.95777957e-01 9.11285005e-02 1.10388385e-02 4.86859038e+01] [-9.11268239e-02 9.95839079e-01 -6.55823688e-04 -7.62752229e-01] [-1.10526710e-02 -3.52879515e-04 9.99938855e-01 -1.30596507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964203822 meters 0.03595144950450484 Centerline is valid? [True, True] Translation: X:48.72, Y:-0.77, Z:-1.31 [[ 9.95893100e-01 8.98430585e-02 1.11873759e-02 4.87164516e+01] [-8.98412629e-02 9.95955876e-01 -6.63979710e-04 -7.69341901e-01] [-1.12017867e-02 -3.43835167e-04 9.99937199e-01 -1.30565176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.994203822 meters 0.03512104242357068 Centerline is valid? [True, True] Translation: X:48.75, Y:-0.77, Z:-1.31 [[ 9.96152673e-01 8.68963825e-02 1.13521645e-02 4.87455925e+01] [-8.68943400e-02 9.96217305e-01 -6.73963456e-04 -7.74427878e-01] [-1.13677877e-02 -3.15068343e-04 9.99935335e-01 -1.30793950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024203822000004 meters 0.032915009931174806 Centerline is valid? [True, True] Translation: X:48.78, Y:-0.78, Z:-1.31 [[ 9.96289480e-01 8.53237671e-02 1.12750223e-02 4.87763530e+01] [-8.53216577e-02 9.96353234e-01 -6.68846129e-04 -7.79894140e-01] [-1.12909734e-02 -2.95639230e-04 9.99936211e-01 -1.30839249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054203822000005 meters 0.03122753049027125 Centerline is valid? [True, True] Translation: X:48.81, Y:-0.78, Z:-1.31 [[ 9.96420193e-01 8.37947972e-02 1.11906686e-02 4.88077179e+01] [-8.37926237e-02 9.96482993e-01 -6.63769676e-04 -7.84800580e-01] [-1.12069314e-02 -2.76301976e-04 9.99937162e-01 -1.30959326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084203822000006 meters 0.028013029920076284 Centerline is valid? [True, True] Translation: X:48.84, Y:-0.79, Z:-1.31 [[ 9.96533157e-01 8.24877758e-02 1.08367309e-02 4.88386670e+01] [-8.24856581e-02 9.96592044e-01 -6.42994184e-04 -7.91910834e-01] [-1.08528389e-02 -2.53109854e-04 9.99941074e-01 -1.30974780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11420382200001 meters 0.02875362882316406 Centerline is valid? [True, True] Translation: X:48.87, Y:-0.80, Z:-1.31 [[ 9.96665957e-01 8.09521984e-02 1.01838680e-02 4.88690955e+01] [-8.09502458e-02 9.96717960e-01 -6.04465841e-04 -7.96848680e-01] [-1.01993769e-02 -2.21936088e-04 9.99947960e-01 -1.31419718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144203822 meters 0.028997481786980795 Centerline is valid? [True, True] Translation: X:48.90, Y:-0.80, Z:-1.31 [[ 9.96675522e-01 8.08141297e-02 1.03431678e-02 4.88991283e+01] [-8.08121031e-02 9.96729164e-01 -6.14409431e-04 -7.99642749e-01] [-1.03589900e-02 -2.23486306e-04 9.99946319e-01 -1.31493287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.174203822 meters 0.028540378732548354 Centerline is valid? [True, True] Translation: X:48.93, Y:-0.80, Z:-1.31 [[ 9.96653466e-01 8.10948691e-02 1.02709140e-02 4.89307407e+01] [-8.10928866e-02 9.96706362e-01 -6.10017946e-04 -8.03080599e-01] [-1.02865547e-02 -2.24921566e-04 9.99947067e-01 -1.31472265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.204203822000004 meters 0.028540378732548354 Centerline is valid? [True, True] Translation: X:48.96, Y:-0.80, Z:-1.32 [[ 9.96651549e-01 8.11184263e-02 1.02708996e-02 4.89615197e+01] [-8.11164426e-02 9.96704445e-01 -6.10259723e-04 -8.04955967e-01] [-1.02865546e-02 -2.24922543e-04 9.99947067e-01 -1.31559820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.234203822000005 meters 0.029092010460821084 Centerline is valid? [True, True] Translation: X:48.99, Y:-0.81, Z:-1.32 [[ 9.96623788e-01 8.14765902e-02 1.01287221e-02 4.89913995e+01] [-8.14746749e-02 9.96675230e-01 -6.02259890e-04 -8.07492139e-01] [-1.01441165e-02 -2.25007810e-04 9.99948522e-01 -1.31665836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264203822000006 meters 0.028226263595865355 Centerline is valid? [True, True] Translation: X:49.02, Y:-0.81, Z:-1.32 [[ 9.96547222e-01 8.24253348e-02 9.98488963e-03 4.90221801e+01] [-8.24235224e-02 9.96597216e-01 -5.93590872e-04 -8.14882649e-01] [-9.99984013e-03 -2.31448439e-04 9.99949974e-01 -1.31532180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29420382200001 meters 0.030786645590811824 Centerline is valid? [True, True] Translation: X:49.05, Y:-0.82, Z:-1.32 [[ 9.96529699e-01 8.26834573e-02 9.59188065e-03 4.90523828e+01] [-8.26817925e-02 9.96575835e-01 -5.70661798e-04 -8.15230126e-01] [-9.60622076e-03 -2.24392456e-04 9.99953834e-01 -1.31886792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32420382200001 meters 0.031130481751752016 Centerline is valid? [True, True] Translation: X:49.08, Y:-0.82, Z:-1.32 [[ 9.96519005e-01 8.29045666e-02 8.75820767e-03 4.90834980e+01] [-8.29031884e-02 9.96557469e-01 -5.20918730e-04 -8.18160920e-01] [-8.77124382e-03 -2.06977926e-04 9.99961510e-01 -1.32090178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354203822 meters 0.031627365864152136 Centerline is valid? [True, True] Translation: X:49.12, Y:-0.82, Z:-1.32 [[ 9.96453250e-01 8.35478897e-02 1.00334405e-02 4.91151227e+01] [-8.35461102e-02 9.96503734e-01 -5.97100334e-04 -8.20541987e-01] [-1.00482474e-02 -2.43272358e-04 9.99949485e-01 -1.32055914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384203822 meters 0.0348425644105127 Centerline is valid? [True, True] Translation: X:49.15, Y:-0.82, Z:-1.32 [[ 9.96399210e-01 8.40975575e-02 1.07803532e-02 4.91459060e+01] [-8.40955299e-02 9.96457490e-01 -6.42054871e-04 -8.20439277e-01] [-1.07961589e-02 -2.66836547e-04 9.99941684e-01 -1.32172847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414203822000005 meters 0.03348248085434427 Centerline is valid? [True, True] Translation: X:49.18, Y:-0.83, Z:-1.32 [[ 9.96223067e-01 8.61274003e-02 1.10305245e-02 4.91765892e+01] [-8.61254069e-02 9.96284088e-01 -6.56498785e-04 -8.27433355e-01] [-1.10460785e-02 -2.95989175e-04 9.99938946e-01 -1.31912829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444203822000006 meters 0.03570092391607404 Centerline is valid? [True, True] Translation: X:49.21, Y:-0.83, Z:-1.32 [[ 9.96098105e-01 8.75541565e-02 1.10830802e-02 4.92066115e+01] [-8.75522200e-02 9.96159712e-01 -6.60728029e-04 -8.27211360e-01] [-1.10983675e-02 -3.12198338e-04 9.99938362e-01 -1.32037247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47420382200001 meters 0.03803335678391507 Centerline is valid? [True, True] Translation: X:49.24, Y:-0.83, Z:-1.32 [[ 9.95909525e-01 8.96778474e-02 1.10499699e-02 4.92382075e+01] [-8.96760538e-02 9.95970768e-01 -6.58681019e-04 -8.25730715e-01] [-1.10645161e-02 -3.34930998e-04 9.99938730e-01 -1.32062624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50420382200001 meters 0.04342037750104604 Centerline is valid? [True, True] Translation: X:49.27, Y:-0.82, Z:-1.32 [[ 9.95446162e-01 9.47825059e-02 1.01594642e-02 4.92687397e+01] [-9.47812501e-02 9.95497939e-01 -6.06096810e-04 -8.18419677e-01] [-1.01711731e-02 -3.59589975e-04 9.99948208e-01 -1.32342841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534203822 meters 0.045545092337303555 Centerline is valid? [True, True] Translation: X:49.30, Y:-0.82, Z:-1.33 [[ 9.95226472e-01 9.72044076e-02 8.69320192e-03 4.92988641e+01] [-9.72035780e-02 9.95264385e-01 -5.18890488e-04 -8.16377219e-01] [-8.70247271e-03 -3.28596781e-04 9.99962079e-01 -1.32627797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.564203822 meters 0.05327974327531029 Centerline is valid? [True, True] Translation: X:49.33, Y:-0.81, Z:-1.33 [[ 9.95032964e-01 9.92739002e-02 7.35477742e-03 4.93289367e+01] [-9.92733622e-02 9.95060102e-01 -4.39092389e-04 -8.08029987e-01] [-7.36203599e-03 -2.93222082e-04 9.99972857e-01 -1.33267163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.594203822000004 meters 0.050572792866715156 Centerline is valid? [True, True] Translation: X:49.36, Y:-0.81, Z:-1.33 [[ 9.94877718e-01 1.00864062e-01 6.69075230e-03 4.93583369e+01] [-1.00863652e-01 9.94900178e-01 -3.99650408e-04 -8.12231691e-01] [-6.69694102e-03 -2.77250423e-04 9.99977537e-01 -1.33121933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624203822000005 meters 0.05190353282361183 Centerline is valid? [True, True] Translation: X:49.39, Y:-0.81, Z:-1.33 [[ 9.94705185e-01 1.02479730e-01 7.71359298e-03 4.93886746e+01] [-1.02479235e-01 9.94735037e-01 -4.60468202e-04 -8.08615217e-01] [-7.72016986e-03 -3.32452998e-04 9.99970144e-01 -1.32971870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65420382200001 meters 0.04666387673806169 Centerline is valid? [True, True] Translation: X:49.42, Y:-0.82, Z:-1.33 [[ 9.94729457e-01 1.02235340e-01 7.82574138e-03 4.94167840e+01] [-1.02234820e-01 9.94760184e-01 -4.67495772e-04 -8.15365553e-01] [-7.83253052e-03 -3.35031447e-04 9.99969269e-01 -1.32704813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68420382200001 meters 0.04978625384645478 Centerline is valid? [True, True] Translation: X:49.45, Y:-0.81, Z:-1.33 [[ 9.94827247e-01 1.01250502e-01 8.19052023e-03 4.94458425e+01] [-1.01249905e-01 9.94860904e-01 -4.88574646e-04 -8.12627371e-01] [-8.19789679e-03 -3.43242023e-04 9.99966338e-01 -1.32948309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714203822 meters 0.05052026447075767 Centerline is valid? [True, True] Translation: X:49.48, Y:-0.81, Z:-1.33 [[ 9.95122590e-01 9.80458969e-02 1.08642709e-02 4.94755428e+01] [-9.80446681e-02 9.95181805e-01 -6.46940494e-04 -8.06992576e-01] [-1.08753546e-02 -4.21398736e-04 9.99940773e-01 -1.32758033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744203822 meters 0.04516692941486282 Centerline is valid? [True, True] Translation: X:49.51, Y:-0.81, Z:-1.32 [[ 9.95286505e-01 9.62212277e-02 1.20933189e-02 4.95057555e+01] [-9.62195738e-02 9.95359872e-01 -7.19871339e-04 -8.12092308e-01] [-1.21064713e-02 -4.47135760e-04 9.99926614e-01 -1.32497698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.774203822000004 meters 0.0409850555088549 Centerline is valid? [True, True] Translation: X:49.54, Y:-0.82, Z:-1.32 [[ 9.95479835e-01 9.41297640e-02 1.26287247e-02 4.95359695e+01] [-9.41277967e-02 9.95559839e-01 -7.51400373e-04 -8.17504730e-01] [-1.26433802e-02 -4.40710108e-04 9.99919972e-01 -1.32396912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804203822000005 meters 0.040288207211423954 Centerline is valid? [True, True] Translation: X:49.57, Y:-0.82, Z:-1.32 [[ 9.95673002e-01 9.19398566e-02 1.35031540e-02 4.95658697e+01] [-9.19374062e-02 9.95764464e-01 -8.03428313e-04 -8.19453040e-01] [-1.35198280e-02 -4.41493075e-04 9.99908505e-01 -1.32442558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834203822000006 meters 0.035760314516313806 Centerline is valid? [True, True] Translation: X:49.60, Y:-0.82, Z:-1.32 [[ 9.95957748e-01 8.84648049e-02 1.55609266e-02 4.95962500e+01] [-8.84611270e-02 9.96079200e-01 -9.25864354e-04 -8.24296000e-01] [-1.55818217e-02 -4.54415322e-04 9.99878493e-01 -1.32083739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86420382200001 meters 0.03373212728645868 Centerline is valid? [True, True] Translation: X:49.63, Y:-0.83, Z:-1.32 [[ 9.96051112e-01 8.74776517e-02 1.51605911e-02 4.96280623e+01] [-8.74740793e-02 9.96166390e-01 -8.99867015e-04 -8.27226006e-01] [-1.51811895e-02 -4.29845207e-04 9.99884667e-01 -1.32207070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89420382200001 meters 0.03591944741159995 Centerline is valid? [True, True] Translation: X:49.66, Y:-0.82, Z:-1.33 [[ 9.96163280e-01 8.64320851e-02 1.37191126e-02 4.96592085e+01] [-8.64290331e-02 9.96257675e-01 -8.16306736e-04 -8.24825805e-01] [-1.37383264e-02 -3.72554845e-04 9.99905555e-01 -1.32791023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924203822 meters 0.030690860145508266 Centerline is valid? [True, True] Translation: X:49.69, Y:-0.83, Z:-1.33 [[ 9.96413030e-01 8.37336853e-02 1.22369694e-02 4.96907321e+01] [-8.37310386e-02 9.96488124e-01 -7.29358900e-04 -8.31624643e-01] [-1.22550665e-02 -2.97871442e-04 9.99924859e-01 -1.33012957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.954203822000004 meters 0.03261823910636582 Centerline is valid? [True, True] Translation: X:49.72, Y:-0.83, Z:-1.33 [[ 9.96525775e-01 8.23420163e-02 1.24968843e-02 4.97206323e+01] [-8.23390897e-02 9.96604090e-01 -7.49396627e-04 -8.32510642e-01] [-1.25161528e-02 -2.82189021e-04 9.99921630e-01 -1.33344017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.984203822000005 meters 0.030455051127380513 Centerline is valid? [True, True] Translation: X:49.75, Y:-0.84, Z:-1.33 [[ 9.96613149e-01 8.13549252e-02 1.19836486e-02 4.97514385e+01] [-8.13521633e-02 9.96685161e-01 -7.18569423e-04 -8.39103059e-01] [-1.20023839e-02 -2.58760004e-04 9.99927935e-01 -1.33317149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014203822000006 meters 0.02838010174928189 Centerline is valid? [True, True] Translation: X:49.78, Y:-0.84, Z:-1.34 [[ 9.96718065e-01 8.04212369e-02 9.24784586e-03 4.97821549e+01] [-8.04195515e-02 9.96760948e-01 -5.54572753e-04 -8.43281796e-01] [-9.26249104e-03 -1.90954935e-04 9.99957084e-01 -1.33615436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04420382200001 meters 0.027847273192010153 Centerline is valid? [True, True] Translation: X:49.81, Y:-0.84, Z:-1.34 [[ 9.96737973e-01 8.03398385e-02 7.67614326e-03 4.98129766e+01] [-8.03386726e-02 9.96767518e-01 -4.60622551e-04 -8.43379022e-01] [-7.68833661e-03 -1.57571172e-04 9.99970432e-01 -1.33889171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07420382200001 meters 0.029265667012874252 Centerline is valid? [True, True] Translation: X:49.84, Y:-0.84, Z:-1.34 [[ 9.96747231e-01 8.03196890e-02 6.61103165e-03 4.98421760e+01] [-8.03188218e-02 9.96769145e-01 -3.96996017e-04 -8.40914320e-01] [-6.62155897e-03 -1.35285593e-04 9.99978068e-01 -1.34276082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104203822 meters 0.027668451583407267 Centerline is valid? [True, True] Translation: X:49.87, Y:-0.84, Z:-1.34 [[ 9.96821432e-01 7.93134536e-02 7.51051869e-03 4.98724911e+01] [-7.93123009e-02 9.96849715e-01 -4.51671241e-04 -8.40986356e-01] [-7.52268202e-03 -1.45440945e-04 9.99971694e-01 -1.34232834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.134203822 meters 0.02731604076554635 Centerline is valid? [True, True] Translation: X:49.90, Y:-0.84, Z:-1.34 [[ 9.96883829e-01 7.84416766e-02 8.33880739e-03 4.99015717e+01] [-7.84402315e-02 9.96918692e-01 -5.00717217e-04 -8.43435423e-01] [-8.35239006e-03 -1.54941086e-04 9.99965106e-01 -1.34248479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.164203822000005 meters 0.023507363951583416 Centerline is valid? [True, True] Translation: X:49.93, Y:-0.85, Z:-1.34 [[ 9.96930957e-01 7.77606781e-02 9.05230777e-03 4.99316753e+01] [-7.77589503e-02 9.96972041e-01 -5.43203651e-04 -8.50468730e-01] [-9.06713763e-03 -1.62361414e-04 9.99958879e-01 -1.33778520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194203822000006 meters 0.02520887847992273 Centerline is valid? [True, True] Translation: X:49.96, Y:-0.85, Z:-1.34 [[ 9.96969236e-01 7.69345137e-02 1.15508798e-02 4.99619428e+01] [-7.69316474e-02 9.97036128e-01 -6.92928977e-04 -8.49192560e-01] [-1.15699547e-02 -1.97799342e-04 9.99933046e-01 -1.33731738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22420382200001 meters 0.0236447549111869 Centerline is valid? [True, True] Translation: X:49.99, Y:-0.85, Z:-1.34 [[ 9.96974387e-01 7.67530059e-02 1.22901128e-02 4.99928477e+01] [-7.67497472e-02 9.97050115e-01 -7.37272321e-04 -8.51255448e-01] [-1.23104463e-02 -2.08221432e-04 9.99924202e-01 -1.33566661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25420382200001 meters 0.023792542656927394 Centerline is valid? [True, True] Translation: X:50.02, Y:-0.85, Z:-1.34 [[ 9.96951203e-01 7.70517223e-02 1.23016939e-02 5.00243981e+01] [-7.70484767e-02 9.97027074e-01 -7.38252649e-04 -8.51071697e-01] [-1.23220055e-02 -2.11824909e-04 9.99924059e-01 -1.33640434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284203822 meters 0.022547766693099477 Centerline is valid? [True, True] Translation: X:50.06, Y:-0.85, Z:-1.34 [[ 9.96926463e-01 7.73945295e-02 1.21537615e-02 5.00561379e+01] [-7.73913838e-02 9.97000522e-01 -7.29635589e-04 -8.52131239e-01] [-1.21737764e-02 -2.13203396e-04 9.99925874e-01 -1.33594948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.314203822 meters 0.02604774399501781 Centerline is valid? [True, True] Translation: X:50.09, Y:-0.85, Z:-1.34 [[ 9.96839901e-01 7.85510039e-02 1.18301288e-02 5.00871227e+01] [-7.85480993e-02 9.96910072e-01 -7.10682344e-04 -8.47691519e-01] [-1.18493993e-02 -2.20797612e-04 9.99929769e-01 -1.34032392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344203822000004 meters 0.025848772457927008 Centerline is valid? [True, True] Translation: X:50.12, Y:-0.85, Z:-1.34 [[ 9.96823156e-01 7.88570724e-02 1.11874122e-02 5.01184088e+01] [-7.88544949e-02 9.96885910e-01 -6.71996064e-04 -8.50107382e-01] [-1.12055652e-02 -2.12316500e-04 9.99937193e-01 -1.34139158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374203822000005 meters 0.02485838261779525 Centerline is valid? [True, True] Translation: X:50.15, Y:-0.85, Z:-1.34 [[ 9.96844178e-01 7.86328556e-02 1.08884889e-02 5.01499317e+01] [-7.86303981e-02 9.96903622e-01 -6.54271864e-04 -8.52611572e-01] [-1.09062213e-02 -2.03959121e-04 9.99940505e-01 -1.34180630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40420382200001 meters 0.023894624952458022 Centerline is valid? [True, True] Translation: X:50.18, Y:-0.85, Z:-1.35 [[ 9.96996731e-01 7.67936631e-02 1.00125975e-02 5.01797716e+01] [-7.67914883e-02 9.97046992e-01 -6.02045509e-04 -8.53937536e-01] [-1.00292635e-02 -1.68644859e-04 9.99949691e-01 -1.34535838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43420382200001 meters 0.02280011319378716 Centerline is valid? [True, True] Translation: X:50.21, Y:-0.86, Z:-1.35 [[ 9.97144332e-01 7.50045194e-02 8.80355092e-03 5.02101140e+01] [-7.50027678e-02 9.97183185e-01 -5.29411565e-04 -8.58389225e-01] [-8.81846121e-03 -1.32390944e-04 9.99961108e-01 -1.34904174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464203822 meters 0.020635552438722348 Centerline is valid? [True, True] Translation: X:50.24, Y:-0.87, Z:-1.35 [[ 9.97338057e-01 7.24860534e-02 7.91028838e-03 5.02400750e+01] [-7.24845576e-02 9.97369421e-01 -4.75995211e-04 -8.65661274e-01] [-7.92398276e-03 -9.86456157e-05 9.99968600e-01 -1.35155793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.494203822 meters 0.019299885838884954 Centerline is valid? [True, True] Translation: X:50.27, Y:-0.87, Z:-1.35 [[ 9.97532748e-01 6.96768218e-02 8.57655558e-03 5.02701581e+01] [-6.96749617e-02 9.97569613e-01 -5.15854572e-04 -8.72768153e-01] [-8.59165434e-03 -8.29893522e-05 9.99963088e-01 -1.35403928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524203822000004 meters 0.014259213544455055 Centerline is valid? [True, True] Translation: X:50.30, Y:-0.89, Z:-1.35 [[ 9.97881023e-01 6.42497992e-02 1.02677500e-02 5.03007121e+01] [-6.42468460e-02 9.97933846e-01 -6.17549821e-04 -8.86751589e-01] [-1.02862127e-02 -4.34293059e-05 9.99947095e-01 -1.34991397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554203822000005 meters 0.01340689042978618 Centerline is valid? [True, True] Translation: X:50.33, Y:-0.89, Z:-1.35 [[ 9.98017311e-01 6.20649314e-02 1.04589903e-02 5.03329863e+01] [-6.20617707e-02 9.98072113e-01 -6.26804662e-04 -8.92983062e-01] [-1.04777291e-02 -2.35415518e-05 9.99945107e-01 -1.34989587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584203822000006 meters 0.013805604366000005 Centerline is valid? [True, True] Translation: X:50.36, Y:-0.90, Z:-1.35 [[ 9.98201202e-01 5.92828220e-02 8.93910442e-03 5.03642088e+01] [-5.92803947e-02 9.98241227e-01 -5.36485799e-04 -9.02921319e-01] [-8.95518695e-03 5.60713110e-06 9.99959901e-01 -1.35263438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61420382200001 meters 0.013501205730551089 Centerline is valid? [True, True] Translation: X:50.40, Y:-0.91, Z:-1.35 [[ 9.98198208e-01 5.94149651e-02 8.37851166e-03 5.03964220e+01] [-5.94128292e-02 9.98233370e-01 -5.03807368e-04 -9.08757491e-01] [-8.39364363e-03 5.10852907e-06 9.99964773e-01 -1.35301201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64420382200001 meters 0.013877399715027756 Centerline is valid? [True, True] Translation: X:50.43, Y:-0.91, Z:-1.36 [[ 9.98130555e-01 6.05476751e-02 8.32914466e-03 5.04286031e+01] [-6.05455941e-02 9.98165306e-01 -5.01998828e-04 -9.13633532e-01] [-8.34425809e-03 -3.23264325e-06 9.99965186e-01 -1.35559735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.674203822 meters 0.014905610277015625 Centerline is valid? [True, True] Translation: X:50.46, Y:-0.92, Z:-1.36 [[ 9.98012879e-01 6.23909931e-02 8.81229308e-03 5.04594413e+01] [-6.23887036e-02 9.98051784e-01 -5.34737792e-04 -9.16467057e-01] [-8.82848765e-03 -1.61123366e-05 9.99961028e-01 -1.35884318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704203822000004 meters 0.014084589400288672 Centerline is valid? [True, True] Translation: X:50.49, Y:-0.92, Z:-1.35 [[ 9.97857665e-01 6.47434246e-02 9.40049508e-03 5.04929382e+01] [-6.47409307e-02 9.97901943e-01 -5.69685359e-04 -9.18312670e-01] [-9.41765568e-03 -4.01318983e-05 9.99955652e-01 -1.35489467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.734203822000005 meters 0.01677628086076791 Centerline is valid? [True, True] Translation: X:50.53, Y:-0.92, Z:-1.35 [[ 9.97480596e-01 7.02286101e-02 1.00201328e-02 5.05251092e+01] [-7.02260259e-02 9.97530918e-01 -6.09951224e-04 -9.15167868e-01] [-1.00382283e-02 -9.52595973e-05 9.99949611e-01 -1.35343667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764203822000006 meters 0.01951584538507489 Centerline is valid? [True, True] Translation: X:50.56, Y:-0.91, Z:-1.36 [[ 9.97273513e-01 7.31649651e-02 9.61398745e-03 5.05560683e+01] [-7.31627066e-02 9.97319845e-01 -5.86886033e-04 -9.13247462e-01] [-9.63115998e-03 -1.18099447e-04 9.99953612e-01 -1.35552500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79420382200001 meters 0.025085800151612093 Centerline is valid? [True, True] Translation: X:50.59, Y:-0.91, Z:-1.36 [[ 9.96826501e-01 7.90436654e-02 9.43535849e-03 5.05874151e+01] [-7.90417145e-02 9.96871141e-01 -5.80071192e-04 -9.08004245e-01] [-9.45168754e-03 -1.67556576e-04 9.99955318e-01 -1.35725001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82420382200001 meters 0.0274548533135276 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.91, Z:-1.36 [[ 9.96600172e-01 8.17602919e-02 1.01662492e-02 5.06187052e+01] [-8.17581690e-02 9.96652001e-01 -6.24937773e-04 -9.07955767e-01] [-1.01833077e-02 -2.08360829e-04 9.99948127e-01 -1.35670866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854203822 meters 0.030167443050195242 Centerline is valid? [True, True] Translation: X:50.65, Y:-0.91, Z:-1.36 [[ 9.96382144e-01 8.43036263e-02 1.07481194e-02 5.06486646e+01] [-8.43014047e-02 9.96440082e-01 -6.60384715e-04 -9.08862249e-01] [-1.07655298e-02 -2.48086028e-04 9.99942019e-01 -1.35707253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884203822 meters 0.03477010938494633 Centerline is valid? [True, True] Translation: X:50.68, Y:-0.91, Z:-1.36 [[ 9.96049302e-01 8.83662704e-02 8.78582412e-03 5.06790346e+01] [-8.83649340e-02 9.96088021e-01 -5.40940607e-04 -9.10783293e-01] [-8.79925507e-03 -2.37555255e-04 9.99961258e-01 -1.36165416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914203822000005 meters 0.03668882817204322 Centerline is valid? [True, True] Translation: X:50.71, Y:-0.91, Z:-1.36 [[ 9.95901955e-01 9.01400820e-02 7.35263675e-03 5.07096525e+01] [-9.01391923e-02 9.95929074e-01 -4.52976247e-04 -9.11551850e-01] [-7.36353603e-03 -2.11640808e-04 9.99972866e-01 -1.36495974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944203822000006 meters 0.03863956331523926 Centerline is valid? [True, True] Translation: X:50.74, Y:-0.91, Z:-1.37 [[ 9.95731959e-01 9.20775232e-02 6.29248613e-03 5.07399660e+01] [-9.20769086e-02 9.95751823e-01 -3.87921740e-04 -9.10380818e-01] [-6.30147341e-03 -1.93126596e-04 9.99980127e-01 -1.36744019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97420382200001 meters 0.04555219270195472 Centerline is valid? [True, True] Translation: X:50.77, Y:-0.90, Z:-1.37 [[ 9.95317930e-01 9.65100372e-02 5.29435177e-03 5.07696047e+01] [-9.65096642e-02 9.95331994e-01 -3.26470560e-04 -9.00832412e-01] [-5.30114539e-03 -1.86014110e-04 9.99985932e-01 -1.37199998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00420382200001 meters 0.044614577236565416 Centerline is valid? [True, True] Translation: X:50.80, Y:-0.90, Z:-1.37 [[ 9.95077114e-01 9.89391660e-02 5.70784886e-03 5.07993891e+01] [-9.89387722e-02 9.95093461e-01 -3.52028006e-04 -9.03596861e-01] [-5.71467243e-03 -2.14432546e-04 9.99983648e-01 -1.37002649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034203822 meters 0.04854847305678038 Centerline is valid? [True, True] Translation: X:50.83, Y:-0.90, Z:-1.37 [[ 9.94835750e-01 1.01326668e-01 5.89376954e-03 5.08283021e+01] [-1.01326289e-01 9.94853181e-01 -3.63655155e-04 -9.01392177e-01] [-5.90028334e-03 -2.35416647e-04 9.99982565e-01 -1.37159825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064203822 meters 0.05351012850159119 Centerline is valid? [True, True] Translation: X:50.86, Y:-0.90, Z:-1.37 [[ 9.94502200e-01 1.04531188e-01 6.21334288e-03 5.08575193e+01] [-1.04530835e-01 9.94521573e-01 -3.82397136e-04 -8.98862041e-01] [-6.21927596e-03 -2.69191129e-04 9.99980624e-01 -1.37232521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094203822000004 meters 0.05351012850159119 Centerline is valid? [True, True] Translation: X:50.89, Y:-0.90, Z:-1.37 [[ 9.94506981e-01 1.04485690e-01 6.21329370e-03 5.08858207e+01] [-1.04485332e-01 9.94526354e-01 -3.83197129e-04 -9.00512223e-01] [-6.21932295e-03 -2.68105833e-04 9.99980624e-01 -1.37313019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124203822000005 meters 0.051525477115590794 Centerline is valid? [True, True] Translation: X:50.91, Y:-0.90, Z:-1.37 [[ 9.94428706e-01 1.05186335e-01 6.88356980e-03 5.09143938e+01] [-1.05185914e-01 9.94452484e-01 -4.24103933e-04 -9.03681947e-01] [-6.88999303e-03 -3.02313457e-04 9.99976218e-01 -1.37047146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15420382200001 meters 0.05488761922820001 Centerline is valid? [True, True] Translation: X:50.94, Y:-0.90, Z:-1.37 [[ 9.94377049e-01 1.05571210e-01 8.30688678e-03 5.09427297e+01] [-1.05570615e-01 9.94411677e-01 -5.11356424e-04 -8.98222342e-01] [-8.31444973e-03 -3.68482055e-04 9.99965366e-01 -1.37090680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18420382200001 meters 0.05537564202057935 Centerline is valid? [True, True] Translation: X:50.97, Y:-0.90, Z:-1.37 [[ 9.94336277e-01 1.05899469e-01 8.98166758e-03 5.09716068e+01] [-1.05898795e-01 9.94376760e-01 -5.51983235e-04 -8.96077871e-01] [-8.98961624e-03 -4.02290818e-04 9.99959512e-01 -1.37080194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214203822 meters 0.051164185996052707 Centerline is valid? [True, True] Translation: X:51.00, Y:-0.90, Z:-1.37 [[ 9.94430573e-01 1.05045866e-01 8.55576674e-03 5.10006564e+01] [-1.05045225e-01 9.94467307e-01 -5.25510609e-04 -8.98279911e-01] [-8.56363302e-03 -3.76158628e-04 9.99963261e-01 -1.37134753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.244203822 meters 0.05200369624117443 Centerline is valid? [True, True] Translation: X:51.03, Y:-0.90, Z:-1.37 [[ 9.94540818e-01 1.04027002e-01 8.18197907e-03 5.10289988e+01] [-1.04026385e-01 9.94574411e-01 -5.02222042e-04 -8.98788946e-01] [-8.18983167e-03 -3.51661381e-04 9.99966401e-01 -1.37430882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.274203822000004 meters 0.05312191622884661 Centerline is valid? [True, True] Translation: X:51.06, Y:-0.90, Z:-1.38 [[ 9.94679982e-01 1.02739543e-01 7.50469238e-03 5.10568270e+01] [-1.02738987e-01 9.94708243e-01 -4.60634088e-04 -8.99398884e-01] [-7.51230470e-03 -3.12840986e-04 9.99971733e-01 -1.37789565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304203822000005 meters 0.05009489427057932 Centerline is valid? [True, True] Translation: X:51.09, Y:-0.91, Z:-1.39 [[ 9.95066984e-01 9.91259182e-02 3.96869925e-03 5.10850919e+01] [-9.91257330e-02 9.95074886e-01 -2.43833167e-04 -9.05782091e-01] [-3.97332314e-03 -1.50769888e-04 9.99992095e-01 -1.38522043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334203822000006 meters 0.045755212173796536 Centerline is valid? [True, True] Translation: X:51.11, Y:-0.91, Z:-1.39 [[ 9.95293695e-01 9.68604952e-02 2.91629408e-03 5.11139036e+01] [-9.68603856e-02 9.95297962e-01 -1.79115287e-04 -9.11850713e-01] [-2.91993075e-03 -1.04201053e-04 9.99995732e-01 -1.38633316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36420382200001 meters 0.042939215912236685 Centerline is valid? [True, True] Translation: X:51.14, Y:-0.92, Z:-1.39 [[ 9.95492347e-01 9.47997287e-02 2.82814490e-03 5.11423681e+01] [-9.47996167e-02 9.95496360e-01 -1.73934625e-04 -9.15004175e-01] [-2.83189691e-03 -9.49564647e-05 9.99995986e-01 -1.38662521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39420382200001 meters 0.03594973301156706 Centerline is valid? [True, True] Translation: X:51.17, Y:-0.92, Z:-1.38 [[ 9.95887823e-01 9.05194377e-02 3.69790744e-03 5.11731040e+01] [-9.05192238e-02 9.95894683e-01 -2.25506355e-04 -9.17930476e-01] [-3.70313907e-03 -1.10152678e-04 9.99993137e-01 -1.38321664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424203822 meters 0.03641913004470095 Centerline is valid? [True, True] Translation: X:51.20, Y:-0.92, Z:-1.38 [[ 9.96083129e-01 8.82857744e-02 4.90122414e-03 5.12023437e+01] [-8.82853674e-02 9.96095178e-01 -2.99752136e-04 -9.15436267e-01] [-4.90854959e-03 -1.34128329e-04 9.99987944e-01 -1.38460469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.454203822000004 meters 0.030988481312610585 Centerline is valid? [True, True] Translation: X:51.23, Y:-0.92, Z:-1.38 [[ 9.96262549e-01 8.61353573e-02 6.45244294e-03 5.12323699e+01] [-8.61346109e-02 9.96283430e-01 -3.93988596e-04 -9.21684583e-01] [-6.46239834e-03 -1.63262579e-04 9.99979105e-01 -1.38021348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.484203822000005 meters 0.0323678544476014 Centerline is valid? [True, True] Translation: X:51.26, Y:-0.92, Z:-1.38 [[ 9.96515748e-01 8.29976747e-02 8.23106677e-03 5.12617329e+01] [-8.29963528e-02 9.96549724e-01 -5.02637978e-04 -9.22188887e-01] [-8.24438510e-03 -1.82261861e-04 9.99965998e-01 -1.38320008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514203822000006 meters 0.02906140201076239 Centerline is valid? [True, True] Translation: X:51.29, Y:-0.93, Z:-1.38 [[ 9.96645524e-01 8.13666378e-02 8.78458552e-03 5.12915814e+01] [-8.13650733e-02 9.96684222e-01 -5.35928896e-04 -9.27857573e-01] [-8.79906451e-03 -1.80627309e-04 9.99961271e-01 -1.38144666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54420382200001 meters 0.02632730151048172 Centerline is valid? [True, True] Translation: X:51.32, Y:-0.93, Z:-1.38 [[ 9.96802078e-01 7.93719661e-02 9.25792018e-03 5.13221314e+01] [-7.93701456e-02 9.96845054e-01 -5.64460572e-04 -9.31659915e-01] [-9.27351429e-03 -1.72147002e-04 9.99956985e-01 -1.38082159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57420382200001 meters 0.02096938981538014 Centerline is valid? [True, True] Translation: X:51.35, Y:-0.94, Z:-1.38 [[ 9.97167572e-01 7.45770515e-02 9.75179586e-03 5.13530604e+01] [-7.45748045e-02 9.97215245e-01 -5.94351813e-04 -9.35879764e-01] [-9.76896450e-03 -1.34569916e-04 9.99952273e-01 -1.38064706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604203822 meters 0.01863580649979422 Centerline is valid? [True, True] Translation: X:51.38, Y:-0.94, Z:-1.38 [[ 9.97350970e-01 7.21032026e-02 9.60053208e-03 5.13840381e+01] [-7.21009113e-02 9.97397171e-01 -5.85015034e-04 -9.39488470e-01] [-9.61772500e-03 -1.08741800e-04 9.99953743e-01 -1.38142351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.634203822 meters 0.016522925103599817 Centerline is valid? [True, True] Translation: X:51.42, Y:-0.94, Z:-1.38 [[ 9.97515650e-01 6.98559963e-02 9.09215226e-03 5.14152656e+01] [-6.98538464e-02 9.97557083e-01 -5.54206056e-04 -9.43676287e-01] [-9.10865550e-03 -8.22925925e-05 9.99958512e-01 -1.38169659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664203822000005 meters 0.015419571007909295 Centerline is valid? [True, True] Translation: X:51.45, Y:-0.95, Z:-1.38 [[ 9.97650891e-01 6.79161436e-02 8.94973702e-03 5.14462131e+01] [-6.79139805e-02 9.97691031e-01 -5.45734641e-04 -9.47650665e-01] [-8.96613655e-03 -6.33596153e-05 9.99959801e-01 -1.38321898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694203822000006 meters 0.01614855879457492 Centerline is valid? [True, True] Translation: X:51.48, Y:-0.95, Z:-1.39 [[ 9.97829061e-01 6.55257349e-02 6.59871072e-03 5.14767918e+01] [-6.55245163e-02 9.97850879e-01 -4.00913698e-04 -9.53658401e-01] [-6.61079945e-03 -3.23339895e-05 9.99978148e-01 -1.39031068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72420382200001 meters 0.016516094922281673 Centerline is valid? [True, True] Translation: X:51.51, Y:-0.96, Z:-1.39 [[ 9.97854974e-01 6.52347976e-02 5.46544531e-03 5.15074179e+01] [-6.52339472e-02 9.97869942e-01 -3.33925081e-04 -9.57042721e-01] [-5.47558712e-03 -2.33237671e-05 9.99985009e-01 -1.39233780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75420382200001 meters 0.015717557597357282 Centerline is valid? [True, True] Translation: X:51.54, Y:-0.96, Z:-1.39 [[ 9.97826152e-01 6.56704642e-02 5.51012320e-03 5.15381699e+01] [-6.56696046e-02 9.97841365e-01 -3.36989623e-04 -9.58562654e-01] [-5.52035912e-03 -2.55905533e-05 9.99984762e-01 -1.39016284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784203822 meters 0.017363322533573144 Centerline is valid? [True, True] Translation: X:51.57, Y:-0.95, Z:-1.39 [[ 9.97644843e-01 6.83006087e-02 6.30817982e-03 5.15683770e+01] [-6.82995329e-02 9.97664786e-01 -3.86064785e-04 -9.53106072e-01] [-6.31981733e-03 -4.56901926e-05 9.99980029e-01 -1.39141505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.814203822 meters 0.018178660987474175 Centerline is valid? [True, True] Translation: X:51.60, Y:-0.95, Z:-1.39 [[ 9.97527285e-01 6.98666220e-02 7.61383634e-03 5.15979819e+01] [-6.98651016e-02 9.97556340e-01 -4.65801151e-04 -9.51879727e-01] [-7.62777466e-03 -6.72920922e-05 9.99970906e-01 -1.39062377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844203822000004 meters 0.019189117610001485 Centerline is valid? [True, True] Translation: X:51.63, Y:-0.95, Z:-1.39 [[ 9.97405656e-01 7.14707833e-02 8.59560484e-03 5.16273099e+01] [-7.14689064e-02 9.97442690e-01 -5.25717685e-04 -9.51573453e-01] [-8.61119667e-03 -8.99646854e-05 9.99962919e-01 -1.38952249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874203822000005 meters 0.018998048526690185 Centerline is valid? [True, True] Translation: X:51.66, Y:-0.95, Z:-1.38 [[ 9.97218226e-01 7.37625340e-02 1.07190324e-02 5.16580640e+01] [-7.37597520e-02 9.97275824e-01 -6.55175124e-04 -9.50076719e-01] [-1.07381593e-02 -1.37280598e-04 9.99942335e-01 -1.38371045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90420382200001 meters 0.018915328119861064 Centerline is valid? [True, True] Translation: X:51.69, Y:-0.95, Z:-1.38 [[ 9.97149722e-01 7.45537737e-02 1.15830711e-02 5.16882656e+01] [-7.45505785e-02 9.97216982e-01 -7.07987414e-04 -9.49968580e-01] [-1.16036183e-02 -1.57555198e-04 9.99932663e-01 -1.38230296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93420382200001 meters 0.021879846952683937 Centerline is valid? [True, True] Translation: X:51.72, Y:-0.95, Z:-1.39 [[ 9.97069152e-01 7.56126038e-02 1.16550303e-02 5.17183607e+01] [-7.56094517e-02 9.97137255e-01 -7.11468033e-04 -9.48274443e-01] [-1.16754609e-02 -1.71847625e-04 9.99931825e-01 -1.38618456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964203822 meters 0.022584115468753725 Centerline is valid? [True, True] Translation: X:51.75, Y:-0.95, Z:-1.39 [[ 9.96984661e-01 7.67869786e-02 1.11957442e-02 5.17498530e+01] [-7.67841319e-02 9.97047506e-01 -6.84523636e-04 -9.49747492e-01] [-1.12152514e-02 -1.77195936e-04 9.99937091e-01 -1.38729921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.994203822 meters 0.02641503855743587 Centerline is valid? [True, True] Translation: X:51.78, Y:-0.94, Z:-1.39 [[ 9.96787554e-01 7.94585309e-02 1.00455714e-02 5.17798893e+01] [-7.94563665e-02 9.96838155e-01 -6.15017191e-04 -9.44566367e-01] [-1.00626772e-02 -1.85143119e-04 9.99949353e-01 -1.39102113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024203822000004 meters 0.027608308155673087 Centerline is valid? [True, True] Translation: X:51.81, Y:-0.94, Z:-1.39 [[ 9.96695506e-01 8.05558925e-02 1.04314999e-02 5.18093397e+01] [-8.05536179e-02 9.96750072e-01 -6.38714379e-04 -9.43320094e-01] [-1.04490505e-02 -2.03691308e-04 9.99945386e-01 -1.39183384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054203822000005 meters 0.028184159281854606 Centerline is valid? [True, True] Translation: X:51.84, Y:-0.94, Z:-1.39 [[ 9.96613595e-01 8.15220568e-02 1.07469066e-02 5.18392326e+01] [-8.15197016e-02 9.96671513e-01 -6.57759014e-04 -9.44418544e-01] [-1.07647575e-02 -2.20553041e-04 9.99942034e-01 -1.39185066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084203822000006 meters 0.028497246834975395 Centerline is valid? [True, True] Translation: X:51.87, Y:-0.95, Z:-1.39 [[ 9.96569188e-01 8.22117733e-02 9.54347660e-03 5.18693667e+01] [-8.22099532e-02 9.96614862e-01 -5.83517235e-04 -9.46913679e-01] [-9.55914260e-03 -2.03053467e-04 9.99954290e-01 -1.39340710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11420382200001 meters 0.02626618955416522 Centerline is valid? [True, True] Translation: X:51.90, Y:-0.95, Z:-1.39 [[ 9.96569308e-01 8.22517578e-02 9.17950642e-03 5.18985669e+01] [-8.22500713e-02 9.96611564e-01 -5.61735945e-04 -9.50068687e-01] [-9.19460602e-03 -1.95206256e-04 9.99957710e-01 -1.39183976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14420382200001 meters 0.027322678778671228 Centerline is valid? [True, True] Translation: X:51.93, Y:-0.95, Z:-1.39 [[ 9.96634139e-01 8.12815651e-02 1.06629984e-02 5.19273048e+01] [-8.12792389e-02 9.96691156e-01 -6.52046656e-04 -9.50312841e-01] [-1.06807155e-02 -2.16828434e-04 9.99942936e-01 -1.39319454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.174203822 meters 0.026239412716608998 Centerline is valid? [True, True] Translation: X:51.96, Y:-0.96, Z:-1.39 [[ 9.96679106e-01 8.05911134e-02 1.16547195e-02 5.19574160e+01] [-8.05882942e-02 9.96747220e-01 -7.12091571e-04 -9.55357012e-01] [-1.16741975e-02 -2.29507173e-04 9.99931828e-01 -1.39212927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204203822000004 meters 0.025035882227243882 Centerline is valid? [True, True] Translation: X:51.99, Y:-0.96, Z:-1.39 [[ 9.96750581e-01 7.95817972e-02 1.24505933e-02 5.19881263e+01] [-7.95785011e-02 9.96828312e-01 -7.60718654e-04 -9.59687331e-01] [-1.24716432e-02 -2.32552790e-04 9.99922199e-01 -1.39115992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.234203822000005 meters 0.02430064643310233 Centerline is valid? [True, True] Translation: X:52.02, Y:-0.96, Z:-1.39 [[ 9.96818881e-01 7.84803240e-02 1.38908966e-02 5.20180809e+01] [-7.84761166e-02 9.96915633e-01 -8.48550296e-04 -9.62153685e-01] [-1.39146465e-02 -2.44252665e-04 9.99903157e-01 -1.39052126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264203822000006 meters 0.020121399383092344 Centerline is valid? [True, True] Translation: X:52.05, Y:-0.97, Z:-1.39 [[ 9.97001378e-01 7.59359559e-02 1.48990852e-02 5.20497335e+01] [-7.59308599e-02 9.97112671e-01 -9.08233487e-04 -9.70835422e-01] [-1.49250342e-02 -2.25790315e-04 9.99888590e-01 -1.38847823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29420382200001 meters 0.01857018798050366 Centerline is valid? [True, True] Translation: X:52.08, Y:-0.98, Z:-1.39 [[ 9.97123046e-01 7.45550375e-02 1.36813025e-02 5.20826792e+01] [-7.45505900e-02 9.97216883e-01 -8.35503216e-04 -9.78029894e-01] [-1.37055168e-02 -1.86849662e-04 9.99906058e-01 -1.39100753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32420382200001 meters 0.016743924122790417 Centerline is valid? [True, True] Translation: X:52.11, Y:-0.99, Z:-1.40 [[ 9.97317165e-01 7.22080612e-02 1.20194815e-02 5.21146212e+01] [-7.22044379e-02 9.97389582e-01 -7.35686681e-04 -9.89003166e-01] [-1.20412281e-02 -1.34146949e-04 9.99927493e-01 -1.39518447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354203822 meters 0.01726677407828495 Centerline is valid? [True, True] Translation: X:52.15, Y:-0.99, Z:-1.40 [[ 9.97347527e-01 7.17861763e-02 1.20272314e-02 5.21453799e+01] [-7.17824816e-02 9.97420036e-01 -7.39158474e-04 -9.92339867e-01] [-1.20492629e-02 -1.26146637e-04 9.99927397e-01 -1.39765483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384203822 meters 0.01655005392333789 Centerline is valid? [True, True] Translation: X:52.18, Y:-1.00, Z:-1.40 [[ 9.97333183e-01 7.19987997e-02 1.19455392e-02 5.21786502e+01] [-7.19951552e-02 9.97404711e-01 -7.35399087e-04 -9.97454532e-01] [-1.19674849e-02 -1.26583035e-04 9.99928379e-01 -1.39722235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.414203822000005 meters 0.016928321149473152 Centerline is valid? [True, True] Translation: X:52.21, Y:-1.00, Z:-1.40 [[ 9.97308465e-01 7.24174901e-02 1.14687960e-02 5.22107697e+01] [-7.24141301e-02 9.97374399e-01 -7.08503056e-04 -1.00149103e+00] [-1.14899916e-02 -1.23906793e-04 9.99933980e-01 -1.39878731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444203822000006 meters 0.018392964092135953 Centerline is valid? [True, True] Translation: X:52.24, Y:-1.00, Z:-1.40 [[ 9.97248315e-01 7.33089210e-02 1.10272218e-02 5.22416291e+01] [-7.33058481e-02 9.97309273e-01 -6.83146320e-04 -1.00303072e+00] [-1.10476313e-02 -1.27093332e-04 9.99938965e-01 -1.40165469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47420382200001 meters 0.020043418441932772 Centerline is valid? [True, True] Translation: X:52.27, Y:-1.00, Z:-1.40 [[ 9.97049857e-01 7.61087475e-02 9.95197901e-03 5.22734006e+01] [-7.61063601e-02 9.97099513e-01 -6.18933569e-04 -1.00382599e+00] [-9.97021968e-03 -1.40301273e-04 9.99950286e-01 -1.40304964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50420382200001 meters 0.021547157448358084 Centerline is valid? [True, True] Translation: X:52.30, Y:-1.01, Z:-1.40 [[ 9.96937737e-01 7.75854315e-02 9.78000293e-03 5.23043525e+01] [-7.75831772e-02 9.96985696e-01 -6.10249297e-04 -1.00614102e+00] [-9.79786948e-03 -1.50383147e-04 9.99951988e-01 -1.40473608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534203822 meters 0.027379736791471314 Centerline is valid? [True, True] Translation: X:52.33, Y:-1.01, Z:-1.41 [[ 9.96699590e-01 8.06248714e-02 9.46348461e-03 5.23348332e+01] [-8.06228935e-02 9.96744501e-01 -5.90938204e-04 -1.00591218e+00] [-9.48032056e-03 -1.73985646e-04 9.99955046e-01 -1.41068813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564203822 meters 0.027602464057014827 Centerline is valid? [True, True] Translation: X:52.37, Y:-1.01, Z:-1.41 [[ 9.96565631e-01 8.22934910e-02 9.20456451e-03 5.23656013e+01] [-8.22916879e-02 9.96608121e-01 -5.75104184e-04 -1.00840158e+00] [-9.22067107e-03 -1.84330085e-04 9.99957472e-01 -1.41037692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.594203822000004 meters 0.028789328901741268 Centerline is valid? [True, True] Translation: X:52.40, Y:-1.01, Z:-1.41 [[ 9.96449185e-01 8.37447492e-02 8.70851126e-03 5.23962305e+01] [-8.37431906e-02 9.96487221e-01 -5.44110616e-04 -1.00985358e+00] [-8.72348659e-03 -1.87099939e-04 9.99961932e-01 -1.41206044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624203822000005 meters 0.02907193447808807 Centerline is valid? [True, True] Translation: X:52.43, Y:-1.01, Z:-1.41 [[ 9.96270725e-01 8.59740601e-02 7.28722951e-03 5.24267538e+01] [-8.59730302e-02 9.96297361e-01 -4.55049289e-04 -1.01448401e+00] [-7.29936996e-03 -1.73152917e-04 9.99973344e-01 -1.41272435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65420382200001 meters 0.03319389736659381 Centerline is valid? [True, True] Translation: X:52.46, Y:-1.01, Z:-1.42 [[ 9.96153652e-01 8.73622405e-02 6.76319920e-03 5.24564512e+01] [-8.73613814e-02 9.96176596e-01 -4.22914078e-04 -1.01158400e+00] [-6.77428748e-03 -1.69555021e-04 9.99977040e-01 -1.41706115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68420382200001 meters 0.03470247898628452 Centerline is valid? [True, True] Translation: X:52.49, Y:-1.01, Z:-1.42 [[ 9.96049885e-01 8.85722919e-02 6.29091202e-03 5.24862148e+01] [-8.85715715e-02 9.96069737e-01 -3.93574139e-04 -1.01066849e+00] [-6.30104685e-03 -1.65176488e-04 9.99980135e-01 -1.41808412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714203822 meters 0.03869717476027742 Centerline is valid? [True, True] Translation: X:52.51, Y:-1.01, Z:-1.42 [[ 9.95777316e-01 9.14947209e-02 7.50015724e-03 5.25149664e+01] [-9.14937783e-02 9.95805537e-01 -4.69407414e-04 -1.00517249e+00] [-7.51164641e-03 -2.18792468e-04 9.99971763e-01 -1.41743770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.744203822 meters 0.038841736689726625 Centerline is valid? [True, True] Translation: X:52.54, Y:-1.01, Z:-1.42 [[ 9.95660414e-01 9.26657329e-02 8.56751014e-03 5.25441473e+01] [-9.26645513e-02 9.95697240e-01 -5.35621396e-04 -1.00564688e+00] [-8.58027995e-03 -2.60607462e-04 9.99963155e-01 -1.41519497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.774203822000004 meters 0.03905659600674793 Centerline is valid? [True, True] Translation: X:52.57, Y:-1.01, Z:-1.42 [[ 9.95580829e-01 9.34484470e-02 9.28447790e-03 5.25734460e+01] [-9.34471026e-02 9.95624077e-01 -5.79461346e-04 -1.00692372e+00] [-9.29799951e-03 -2.90706953e-04 9.99956730e-01 -1.41529644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804203822000005 meters 0.036268110120481555 Centerline is valid? [True, True] Translation: X:52.60, Y:-1.01, Z:-1.41 [[ 9.95570924e-01 9.35855025e-02 8.96042838e-03 5.26028557e+01] [-9.35842573e-02 9.95611206e-01 -5.59071015e-04 -1.01240192e+00] [-8.97342385e-03 -2.81960189e-04 9.99959698e-01 -1.41421065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834203822000006 meters 0.03929295089968035 Centerline is valid? [True, True] Translation: X:52.63, Y:-1.01, Z:-1.42 [[ 9.95665303e-01 9.26011651e-02 8.69642431e-03 5.26319911e+01] [-9.25999568e-02 9.95703246e-01 -5.42355167e-04 -1.00818095e+00] [-8.70928063e-03 -2.65284293e-04 9.99962038e-01 -1.41853452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86420382200001 meters 0.037398800847356174 Centerline is valid? [True, True] Translation: X:52.66, Y:-1.01, Z:-1.42 [[ 9.95722151e-01 9.19609395e-02 8.97679626e-03 5.26618737e+01] [-9.19596277e-02 9.95762579e-01 -5.59655636e-04 -1.01065821e+00] [-8.99022426e-03 -2.68241329e-04 9.99959551e-01 -1.41841801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89420382200001 meters 0.034676376302778436 Centerline is valid? [True, True] Translation: X:52.69, Y:-1.01, Z:-1.42 [[ 9.95829447e-01 9.07759761e-02 9.13422660e-03 5.26919316e+01] [-9.07745722e-02 9.95871304e-01 -5.69025343e-04 -1.01443727e+00] [-9.14816798e-03 -2.62503319e-04 9.99958120e-01 -1.41771340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.924203822 meters 0.03276115745919968 Centerline is valid? [True, True] Translation: X:52.72, Y:-1.02, Z:-1.42 [[ 9.96141797e-01 8.72959900e-02 8.99616619e-03 5.27216847e+01] [-8.72944894e-02 9.96182392e-01 -5.60090662e-04 -1.01678684e+00] [-9.01071603e-03 -2.27386016e-04 9.99959377e-01 -1.42040062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.954203822000004 meters 0.029943633447416393 Centerline is valid? [True, True] Translation: X:52.75, Y:-1.02, Z:-1.42 [[ 9.96325861e-01 8.52043373e-02 8.66023285e-03 5.27517681e+01] [-8.52028676e-02 9.96363478e-01 -5.39175850e-04 -1.02223715e+00] [-8.67467985e-03 -2.00681830e-04 9.99962354e-01 -1.42156558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.984203822000005 meters 0.029737779313591346 Centerline is valid? [True, True] Translation: X:52.78, Y:-1.02, Z:-1.42 [[ 9.96470985e-01 8.35454861e-02 8.10729355e-03 5.27816442e+01] [-8.35441432e-02 9.96503949e-01 -5.04750503e-04 -1.02472813e+00] [-8.12111966e-03 -1.74347662e-04 9.99967008e-01 -1.42475900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014203822000006 meters 0.029737779313591346 Centerline is valid? [True, True] Translation: X:52.81, Y:-1.03, Z:-1.43 [[ 9.96472912e-01 8.35224946e-02 8.10726449e-03 5.28107554e+01] [-8.35211472e-02 9.96505877e-01 -5.05217285e-04 -1.02649435e+00] [-8.12113372e-03 -1.73692691e-04 9.99967008e-01 -1.42558712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04420382200001 meters 0.027431842425560345 Centerline is valid? [True, True] Translation: X:52.84, Y:-1.03, Z:-1.43 [[ 9.96624198e-01 8.17495517e-02 7.56435523e-03 5.28407162e+01] [-8.17483305e-02 9.96652893e-01 -4.71016597e-04 -1.03037187e+00] [-7.57754191e-03 -1.48946873e-04 9.99971279e-01 -1.42698401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07420382200001 meters 0.024553139132485087 Centerline is valid? [True, True] Translation: X:52.87, Y:-1.04, Z:-1.43 [[ 9.96699679e-01 8.08629937e-02 7.13628019e-03 5.28700388e+01] [-8.08618825e-02 9.96725217e-01 -4.44571266e-04 -1.03583088e+00] [-7.14885978e-03 -1.33949012e-04 9.99974438e-01 -1.42622178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104203822 meters 0.02596351859530362 Centerline is valid? [True, True] Translation: X:52.90, Y:-1.04, Z:-1.43 [[ 9.96790430e-01 7.98332797e-02 5.95699139e-03 5.28993462e+01] [-7.98324921e-02 9.96808224e-01 -3.70250526e-04 -1.03662277e+00] [-5.96753632e-03 -1.06499288e-04 9.99982188e-01 -1.43173756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.134203822 meters 0.025607652244711315 Centerline is valid? [True, True] Translation: X:52.93, Y:-1.04, Z:-1.44 [[ 9.96914078e-01 7.83407550e-02 5.00470780e-03 5.29287009e+01] [-7.83401805e-02 9.96926637e-01 -3.11022396e-04 -1.03761411e+00] [-5.01369224e-03 -8.20071075e-05 9.99987428e-01 -1.43591451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164203822000005 meters 0.02280672266207391 Centerline is valid? [True, True] Translation: X:52.96, Y:-1.04, Z:-1.43 [[ 9.96950957e-01 7.78366777e-02 5.49918089e-03 5.29582816e+01] [-7.78359709e-02 9.96966120e-01 -3.42748616e-04 -1.04117755e+00] [-5.50917545e-03 -8.63305229e-05 9.99984821e-01 -1.43226879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194203822000006 meters 0.024089760793336204 Centerline is valid? [True, True] Translation: X:52.99, Y:-1.04, Z:-1.43 [[ 9.96957985e-01 7.76892134e-02 6.25798111e-03 5.29870368e+01] [-7.76882952e-02 9.96977621e-01 -3.90058575e-04 -1.04047835e+00] [-6.26937047e-03 -9.72998730e-05 9.99980343e-01 -1.43417203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22420382200001 meters 0.024439650295549776 Centerline is valid? [True, True] Translation: X:53.02, Y:-1.04, Z:-1.43 [[ 9.96937817e-01 7.79497522e-02 6.23106128e-03 5.30169499e+01] [-7.79488501e-02 9.96957284e-01 -3.87868293e-04 -1.04049067e+00] [-6.24233617e-03 -9.90234925e-05 9.99980512e-01 -1.43401066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25420382200001 meters 0.02503417997301958 Centerline is valid? [True, True] Translation: X:53.05, Y:-1.04, Z:-1.43 [[ 9.96909673e-01 7.82712867e-02 6.68646578e-03 5.30464878e+01] [-7.82702620e-02 9.96932091e-01 -4.15193863e-04 -1.04056827e+00] [-6.69845007e-03 -1.09440650e-04 9.99977559e-01 -1.43453607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284203822 meters 0.02386155314131966 Centerline is valid? [True, True] Translation: X:53.08, Y:-1.04, Z:-1.43 [[ 9.96890312e-01 7.84467572e-02 7.47071063e-03 5.30764727e+01] [-7.84454759e-02 9.96918297e-01 -4.64837980e-04 -1.04267287e+00] [-7.48415315e-03 -1.22650972e-04 9.99971986e-01 -1.43266292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.314203822 meters 0.022678775134426964 Centerline is valid? [True, True] Translation: X:53.11, Y:-1.04, Z:-1.43 [[ 9.96886117e-01 7.85175221e-02 7.28482838e-03 5.31058600e+01] [-7.85163067e-02 9.96912727e-01 -4.53131776e-04 -1.04326365e+00] [-7.29791691e-03 -1.20257043e-04 9.99973363e-01 -1.43125946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344203822000004 meters 0.024910132012736983 Centerline is valid? [True, True] Translation: X:53.14, Y:-1.04, Z:-1.44 [[ 9.96889972e-01 7.85307626e-02 6.58054388e-03 5.31350474e+01] [-7.85297700e-02 9.96911685e-01 -4.09493617e-04 -1.04070233e+00] [-6.59237894e-03 -1.08548517e-04 9.99978264e-01 -1.43614791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374203822000005 meters 0.02325940189904168 Centerline is valid? [True, True] Translation: X:53.16, Y:-1.04, Z:-1.44 [[ 9.96885659e-01 7.86066219e-02 6.32316875e-03 5.31641690e+01] [-7.86057082e-02 9.96905707e-01 -3.93287715e-04 -1.04265183e+00] [-6.33451803e-03 -1.04974275e-04 9.99979931e-01 -1.43524086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40420382200001 meters 0.02285857118804604 Centerline is valid? [True, True] Translation: X:53.19, Y:-1.04, Z:-1.44 [[ 9.96916112e-01 7.81832105e-02 6.75659081e-03 5.31940207e+01] [-7.81821614e-02 9.96939002e-01 -4.19655562e-04 -1.04487949e+00] [-6.76871892e-03 -1.09883483e-04 9.99977086e-01 -1.43576326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43420382200001 meters 0.023418401262279422 Centerline is valid? [True, True] Translation: X:53.22, Y:-1.05, Z:-1.44 [[ 9.96948280e-01 7.77391692e-02 7.12374312e-03 5.32228065e+01] [-7.77379937e-02 9.96973725e-01 -4.42188778e-04 -1.04547754e+00] [-7.13656011e-03 -1.12946156e-04 9.99974528e-01 -1.43678302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46420382200001 meters 0.022393616822332395 Centerline is valid? [True, True] Translation: X:53.25, Y:-1.05, Z:-1.44 [[ 9.96998516e-01 7.70041093e-02 8.02032963e-03 5.32528618e+01] [-7.70025972e-02 9.97030768e-01 -4.97628323e-04 -1.04686581e+00] [-8.03483484e-03 -1.21451512e-04 9.99967713e-01 -1.43583179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.494203822 meters 0.022050579986636225 Centerline is valid? [True, True] Translation: X:53.28, Y:-1.05, Z:-1.44 [[ 9.97060743e-01 7.60510197e-02 9.27990014e-03 5.32826174e+01] [-7.60489592e-02 9.97103919e-01 -5.75215095e-04 -1.04775324e+00] [-9.29677049e-03 -1.32202358e-04 9.99956775e-01 -1.43572521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524203822000004 meters 0.019995921676204224 Centerline is valid? [True, True] Translation: X:53.31, Y:-1.05, Z:-1.44 [[ 9.97311104e-01 7.25715384e-02 1.01948155e-02 5.33125335e+01] [-7.25688758e-02 9.97363203e-01 -6.31339450e-04 -1.05175139e+00] [-1.02137512e-02 -1.10184459e-04 9.99947832e-01 -1.43749127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554203822000005 meters 0.016590751327763 Centerline is valid? [True, True] Translation: X:53.34, Y:-1.06, Z:-1.44 [[ 9.97472185e-01 7.03507049e-02 1.00009416e-02 5.33440907e+01] [-7.03480343e-02 9.97522316e-01 -6.19001568e-04 -1.05812103e+00] [-1.00197097e-02 -8.61097397e-05 9.99949798e-01 -1.43531879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584203822000006 meters 0.015217894881751388 Centerline is valid? [True, True] Translation: X:53.38, Y:-1.06, Z:-1.44 [[ 9.97620313e-01 6.81475992e-02 1.04697578e-02 5.33750760e+01] [-6.81445689e-02 9.97675248e-01 -6.46314358e-04 -1.06291581e+00] [-1.04894629e-02 -6.86807967e-05 9.99944982e-01 -1.43647657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61420382200001 meters 0.013012410094328223 Centerline is valid? [True, True] Translation: X:53.41, Y:-1.08, Z:-1.44 [[ 9.98019361e-01 6.19353785e-02 1.10165232e-02 5.34067037e+01] [-6.19316253e-02 9.98080162e-01 -6.81837540e-04 -1.07583352e+00] [-1.10376031e-02 -1.78411949e-06 9.99939084e-01 -1.43659502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64420382200001 meters 0.013805896002634066 Centerline is valid? [True, True] Translation: X:53.44, Y:-1.08, Z:-1.44 [[ 9.98215401e-01 5.88340772e-02 1.02256779e-02 5.34379023e+01] [-5.88306650e-02 9.98267775e-01 -6.34432538e-04 -1.08366251e+00] [-1.02452909e-02 3.17169014e-05 9.99947515e-01 -1.43796371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.674203822 meters 0.0164180775616899 Centerline is valid? [True, True] Translation: X:53.47, Y:-1.09, Z:-1.44 [[ 9.98463041e-01 5.45189112e-02 9.96217708e-03 5.34680050e+01] [-5.45154304e-02 9.98512735e-01 -6.20822245e-04 -1.09336623e+00] [-9.98120724e-03 7.67756952e-05 9.99950184e-01 -1.44012906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704203822000004 meters 0.016639027863886987 Centerline is valid? [True, True] Translation: X:53.50, Y:-1.10, Z:-1.44 [[ 9.98525220e-01 5.32916344e-02 1.03627201e-02 5.35003865e+01] [-5.32878125e-02 9.98578987e-01 -6.44775251e-04 -1.09847553e+00] [-1.03823556e-02 9.16176663e-05 9.99946098e-01 -1.43925389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734203822000005 meters 0.017998330676247603 Centerline is valid? [True, True] Translation: X:53.53, Y:-1.10, Z:-1.44 [[ 9.98568628e-01 5.24629974e-02 1.04081738e-02 5.35308957e+01] [-5.24590690e-02 9.98622863e-01 -6.50271736e-04 -1.10466528e+00] [-1.04279555e-02 1.03337849e-04 9.99945622e-01 -1.44082114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764203822000006 meters 0.016887232703518388 Centerline is valid? [True, True] Translation: X:53.56, Y:-1.11, Z:-1.44 [[ 9.98544935e-01 5.31047231e-02 9.37558343e-03 5.35632860e+01] [-5.31015571e-02 9.98588945e-01 -5.86468439e-04 -1.10685639e+00] [-9.39349821e-03 8.77570097e-05 9.99955876e-01 -1.43991905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79420382200001 meters 0.017332220320436596 Centerline is valid? [True, True] Translation: X:53.59, Y:-1.11, Z:-1.44 [[ 9.98503914e-01 5.40031475e-02 8.57873556e-03 5.35944634e+01] [-5.40005187e-02 9.98540763e-01 -5.37931696e-04 -1.10931256e+00] [-8.59526715e-03 7.38707330e-05 9.99963057e-01 -1.44381031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82420382200001 meters 0.016488269394338218 Centerline is valid? [True, True] Translation: X:53.63, Y:-1.11, Z:-1.45 [[ 9.98457787e-01 5.50009406e-02 7.54608868e-03 5.36262300e+01] [-5.49989322e-02 9.98486301e-01 -4.73560410e-04 -1.11120022e+00] [-7.56071244e-03 5.78032592e-05 9.99971416e-01 -1.44510173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854203822 meters 0.015727524769988937 Centerline is valid? [True, True] Translation: X:53.66, Y:-1.11, Z:-1.45 [[ 9.98383654e-01 5.63658830e-02 7.27788045e-03 5.36585859e+01] [-5.63640435e-02 9.98410179e-01 -4.57772077e-04 -1.11335112e+00] [-7.29211265e-03 4.68213880e-05 9.99973411e-01 -1.44598224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884203822 meters 0.014914118406169696 Centerline is valid? [True, True] Translation: X:53.69, Y:-1.11, Z:-1.45 [[ 9.98149119e-01 6.02807371e-02 8.03545005e-03 5.36902922e+01] [-6.02786061e-02 9.98181463e-01 -5.07344094e-04 -1.11415215e+00] [-8.05142036e-03 2.20393317e-05 9.99967587e-01 -1.44822230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914203822000005 meters 0.013924807239064863 Centerline is valid? [True, True] Translation: X:53.72, Y:-1.12, Z:-1.45 [[ 9.98021846e-01 6.23489860e-02 8.06219766e-03 5.37227098e+01] [-6.23468968e-02 9.98054409e-01 -5.10449684e-04 -1.11556077e+00] [-8.07833794e-03 6.78693129e-06 9.99967370e-01 -1.44728960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944203822000006 meters 0.01529069513588329 Centerline is valid? [True, True] Translation: X:53.75, Y:-1.12, Z:-1.45 [[ 9.97885338e-01 6.44996600e-02 8.04027329e-03 5.37547377e+01] [-6.44976430e-02 9.97917729e-01 -5.10180578e-04 -1.11765494e+00] [-8.05643774e-03 -9.47695809e-06 9.99967546e-01 -1.45313780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97420382200001 meters 0.015561755142482554 Centerline is valid? [True, True] Translation: X:53.79, Y:-1.12, Z:-1.45 [[ 9.97590737e-01 6.88868798e-02 8.20485770e-03 5.37871499e+01] [-6.88849118e-02 9.97624476e-01 -5.22555858e-04 -1.11778913e+00] [-8.22136411e-03 -4.38940159e-05 9.99966203e-01 -1.45070948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00420382200001 meters 0.016183109570912773 Centerline is valid? [True, True] Translation: X:53.82, Y:-1.12, Z:-1.45 [[ 9.97441040e-01 7.08881435e-02 9.28674834e-03 5.38184099e+01] [-7.08856643e-02 9.97484269e-01 -5.96261400e-04 -1.11774711e+00] [-9.30565325e-03 -6.35617348e-05 9.99956699e-01 -1.45015682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034203822 meters 0.018723106886582713 Centerline is valid? [True, True] Translation: X:53.85, Y:-1.12, Z:-1.45 [[ 9.97108841e-01 7.53177633e-02 1.00595368e-02 5.38499450e+01] [-7.53150768e-02 9.97159577e-01 -6.46162419e-04 -1.11556448e+00] [-1.00796310e-02 -1.13340526e-04 9.99949193e-01 -1.44791952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.064203822 meters 0.021972387500983334 Centerline is valid? [True, True] Translation: X:53.88, Y:-1.11, Z:-1.45 [[ 9.96927477e-01 7.77211934e-02 9.74786496e-03 5.38812850e+01] [-7.77188071e-02 9.96975124e-01 -6.23948907e-04 -1.11325233e+00] [-9.76687293e-03 -1.35560626e-04 9.99952294e-01 -1.45164038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094203822000004 meters 0.02354565854489544 Centerline is valid? [True, True] Translation: X:53.91, Y:-1.11, Z:-1.45 [[ 9.96762015e-01 7.98599104e-02 9.37441644e-03 5.39124489e+01] [-7.98577629e-02 9.96806086e-01 -6.03775224e-04 -1.11356072e+00] [-9.39269280e-03 -1.46799717e-04 9.99955877e-01 -1.45223568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124203822000005 meters 0.026397523084478083 Centerline is valid? [True, True] Translation: X:53.94, Y:-1.12, Z:-1.45 [[ 9.96486823e-01 8.31812658e-02 9.74104485e-03 5.39433619e+01] [-8.31791011e-02 9.96534416e-01 -6.27857713e-04 -1.11557271e+00] [-9.75951244e-03 -1.84599417e-04 9.99952358e-01 -1.45277854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15420382200001 meters 0.02781145352421964 Centerline is valid? [True, True] Translation: X:53.97, Y:-1.12, Z:-1.45 [[ 9.96380586e-01 8.44552128e-02 9.64601397e-03 5.39749066e+01] [-8.44531507e-02 9.96427257e-01 -6.21627173e-04 -1.11739674e+00] [-9.66405090e-03 -1.95259026e-04 9.99953283e-01 -1.45379788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18420382200001 meters 0.028847871607255337 Centerline is valid? [True, True] Translation: X:54.01, Y:-1.12, Z:-1.45 [[ 9.96269831e-01 8.57320310e-02 9.82047667e-03 5.40054194e+01] [-8.57299491e-02 9.96318209e-01 -6.33540225e-04 -1.11782266e+00] [-9.83863442e-03 -2.10731952e-04 9.99951577e-01 -1.45403950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21420382200001 meters 0.02866588188834467 Centerline is valid? [True, True] Translation: X:54.04, Y:-1.12, Z:-1.45 [[ 9.96194326e-01 8.66214486e-02 9.67417224e-03 5.40354950e+01] [-8.66194702e-02 9.96241275e-01 -6.24101809e-04 -1.11911235e+00] [-9.69187029e-03 -2.16244993e-04 9.99953009e-01 -1.45393490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244203822 meters 0.030126898093770223 Centerline is valid? [True, True] Translation: X:54.07, Y:-1.12, Z:-1.46 [[ 9.96221949e-01 8.64352135e-02 8.41318390e-03 5.40655839e+01] [-8.64337126e-02 9.96257456e-01 -5.42516334e-04 -1.12051595e+00] [-8.42858970e-03 -1.86716038e-04 9.99964461e-01 -1.45807544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.274203822000004 meters 0.029454788175328952 Centerline is valid? [True, True] Translation: X:54.10, Y:-1.12, Z:-1.46 [[ 9.96277792e-01 8.57265334e-02 9.02897574e-03 5.40960003e+01] [-8.57247724e-02 9.96318686e-01 -5.82586008e-04 -1.12409910e+00] [-9.04568032e-03 -1.93589388e-04 9.99959068e-01 -1.45821432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304203822000005 meters 0.03005213381935647 Centerline is valid? [True, True] Translation: X:54.13, Y:-1.13, Z:-1.46 [[ 9.96360016e-01 8.46805257e-02 9.79425365e-03 5.41256899e+01] [-8.46784009e-02 9.96408134e-01 -6.32178858e-04 -1.12642689e+00] [-9.81260724e-03 -1.99484000e-04 9.99951835e-01 -1.46039562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334203822000006 meters 0.0260044904264576 Centerline is valid? [True, True] Translation: X:54.16, Y:-1.14, Z:-1.46 [[ 9.96526102e-01 8.27006378e-02 9.81495585e-03 5.41568364e+01] [-8.26984197e-02 9.96574418e-01 -6.32318985e-04 -1.13706826e+00] [-9.83362710e-03 -1.81558965e-04 9.99951632e-01 -1.45882986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36420382200001 meters 0.0237155053966725 Centerline is valid? [True, True] Translation: X:54.19, Y:-1.14, Z:-1.46 [[ 9.96550888e-01 8.22890652e-02 1.07162550e-02 5.41883800e+01] [-8.22863885e-02 9.96608485e-01 -6.91196818e-04 -1.14324051e+00] [-1.07367886e-02 -1.92989119e-04 9.99942340e-01 -1.45567773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39420382200001 meters 0.023735047294080405 Centerline is valid? [True, True] Translation: X:54.22, Y:-1.15, Z:-1.45 [[ 9.96558332e-01 8.20074405e-02 1.20942726e-02 5.42192085e+01] [-8.20040155e-02 9.96631694e-01 -7.79665671e-04 -1.14576690e+00] [-1.21174738e-02 -2.14796598e-04 9.99926558e-01 -1.45484579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.424203822 meters 0.023751413626653665 Centerline is valid? [True, True] Translation: X:54.25, Y:-1.15, Z:-1.46 [[ 9.96597898e-01 8.15322351e-02 1.20467686e-02 5.42505425e+01] [-8.15287877e-02 9.96670684e-01 -7.77807978e-04 -1.14864517e+00] [-1.20700776e-02 -2.06996646e-04 9.99927133e-01 -1.45694860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.454203822000004 meters 0.023445539227111043 Centerline is valid? [True, True] Translation: X:54.28, Y:-1.15, Z:-1.46 [[ 9.96615003e-01 8.14849819e-02 1.08964763e-02 5.42821596e+01] [-8.14821638e-02 9.96674552e-01 -7.03060836e-04 -1.15188029e+00] [-1.09175295e-02 -1.87187486e-04 9.99940384e-01 -1.45962267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.484203822000005 meters 0.024475971938361412 Centerline is valid? [True, True] Translation: X:54.31, Y:-1.15, Z:-1.46 [[ 9.96604877e-01 8.16529788e-02 1.05598176e-02 5.43134183e+01] [-8.16503112e-02 9.96660804e-01 -6.84207198e-04 -1.15454451e+00] [-1.05804238e-02 -1.80328162e-04 9.99944009e-01 -1.46217806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514203822000006 meters 0.02501397975038003 Centerline is valid? [True, True] Translation: X:54.34, Y:-1.16, Z:-1.46 [[ 9.96482451e-01 8.30988449e-02 1.08308108e-02 5.43447875e+01] [-8.30961231e-02 9.96541290e-01 -7.01844649e-04 -1.16138872e+00] [-1.08516726e-02 -2.00622509e-04 9.99941099e-01 -1.46110850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54420382200001 meters 0.02585956547456416 Centerline is valid? [True, True] Translation: X:54.38, Y:-1.16, Z:-1.46 [[ 9.96385760e-01 8.43806574e-02 9.76331828e-03 5.43764156e+01] [-8.43784972e-02 9.96433574e-01 -6.33694189e-04 -1.16476632e+00] [-9.78196966e-03 -1.92410258e-04 9.99952137e-01 -1.46268370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57420382200001 meters 0.030649597497605107 Centerline is valid? [True, True] Translation: X:54.41, Y:-1.16, Z:-1.47 [[ 9.96082294e-01 8.81225299e-02 7.38122573e-03 5.44063940e+01] [-8.81213810e-02 9.96109628e-01 -4.81368585e-04 -1.16282925e+00] [-7.39492943e-03 -1.70961080e-04 9.99972643e-01 -1.46866484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604203822 meters 0.0314409641650566 Centerline is valid? [True, True] Translation: X:54.44, Y:-1.16, Z:-1.47 [[ 9.95862458e-01 9.05802548e-02 7.29260654e-03 5.44370975e+01] [-9.05791962e-02 9.95889142e-01 -4.75995178e-04 -1.16429494e+00] [-7.30574343e-03 -1.86532711e-04 9.99973295e-01 -1.46837667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.634203822 meters 0.03622945408208951 Centerline is valid? [True, True] Translation: X:54.47, Y:-1.16, Z:-1.47 [[ 9.95630287e-01 9.30769496e-02 7.55071460e-03 5.44666045e+01] [-9.30758747e-02 9.95658896e-01 -4.94406838e-04 -1.16025754e+00] [-7.56395404e-03 -2.10542943e-04 9.99971371e-01 -1.47106506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664203822000005 meters 0.03757783330991784 Centerline is valid? [True, True] Translation: X:54.50, Y:-1.16, Z:-1.47 [[ 9.95393629e-01 9.55463599e-02 7.90042864e-03 5.44974566e+01] [-9.55452636e-02 9.95424952e-01 -5.16950756e-04 -1.15911469e+00] [-7.91367657e-03 -2.40279048e-04 9.99968658e-01 -1.47029003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694203822000006 meters 0.040974914306136846 Centerline is valid? [True, True] Translation: X:54.53, Y:-1.16, Z:-1.47 [[ 9.95033632e-01 9.91997015e-02 8.21530228e-03 5.45276363e+01] [-9.91986393e-02 9.95067506e-01 -5.37677444e-04 -1.15530614e+00] [-8.22811779e-03 -2.79939668e-04 9.99966109e-01 -1.47034851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72420382200001 meters 0.04253698819137582 Centerline is valid? [True, True] Translation: X:54.56, Y:-1.16, Z:-1.47 [[ 9.94921835e-01 1.00288137e-01 8.53412856e-03 5.45561551e+01] [-1.00287026e-01 9.94958391e-01 -5.59064143e-04 -1.15650309e+00] [-8.54717033e-03 -2.99637253e-04 9.99963427e-01 -1.47074923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75420382200001 meters 0.04338561770178699 Centerline is valid? [True, True] Translation: X:54.59, Y:-1.16, Z:-1.47 [[ 9.94846407e-01 1.01044876e-01 8.39992583e-03 5.45853187e+01] [-1.01043829e-01 9.94881823e-01 -5.49985383e-04 -1.15847572e+00] [-8.41250673e-03 -3.01609690e-04 9.99964569e-01 -1.47138355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784203822 meters 0.04601960713015163 Centerline is valid? [True, True] Translation: X:54.61, Y:-1.15, Z:-1.47 [[ 9.94775979e-01 1.01726402e-01 8.51415573e-03 5.46144056e+01] [-1.01725355e-01 9.94812365e-01 -5.57149324e-04 -1.15423179e+00] [-8.52666420e-03 -3.11866746e-04 9.99963599e-01 -1.47320178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.814203822 meters 0.0480015832170814 Centerline is valid? [True, True] Translation: X:54.64, Y:-1.15, Z:-1.48 [[ 9.94748788e-01 1.01986207e-01 8.58265238e-03 5.46436203e+01] [-1.01985155e-01 9.94785762e-01 -5.61310203e-04 -1.15108679e+00] [-8.59514629e-03 -3.16940487e-04 9.99963011e-01 -1.47530379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844203822000004 meters 0.049625446434129444 Centerline is valid? [True, True] Translation: X:54.67, Y:-1.15, Z:-1.48 [[ 9.94747062e-01 1.02041589e-01 8.11157957e-03 5.46727054e+01] [-1.02040654e-01 9.94780088e-01 -5.30105648e-04 -1.14940330e+00] [-8.12333067e-03 -3.00389847e-04 9.99966960e-01 -1.47894976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874203822000005 meters 0.04200616999378306 Centerline is valid? [True, True] Translation: X:54.70, Y:-1.16, Z:-1.48 [[ 9.94782720e-01 1.01808662e-01 6.50662113e-03 5.47015379e+01] [-1.01808056e-01 9.94803970e-01 -4.25158796e-04 -1.15996561e+00] [-6.51609738e-03 -2.39485822e-04 9.99978741e-01 -1.47688133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90420382200001 meters 0.04200616999378306 Centerline is valid? [True, True] Translation: X:54.73, Y:-1.16, Z:-1.48 [[ 9.94787645e-01 1.01760527e-01 6.50659688e-03 5.47298258e+01] [-1.01759918e-01 9.94808895e-01 -4.25530884e-04 -1.16172358e+00] [-6.51612270e-03 -2.38797896e-04 9.99978741e-01 -1.47768612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93420382200001 meters 0.04343773396496131 Centerline is valid? [True, True] Translation: X:54.76, Y:-1.16, Z:-1.48 [[ 9.94871305e-01 1.01040383e-01 4.68262211e-03 5.47579680e+01] [-1.01040057e-01 9.94882311e-01 -3.06681022e-04 -1.15974405e+00] [-4.68964508e-03 -1.68024256e-04 9.99988989e-01 -1.48363186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96420382200001 meters 0.04366689349263819 Centerline is valid? [True, True] Translation: X:54.79, Y:-1.16, Z:-1.48 [[ 9.94947177e-01 1.00264711e-01 5.20599925e-03 5.47861764e+01] [-1.00264302e-01 9.94960780e-01 -3.40148256e-04 -1.16128187e+00] [-5.21386994e-03 -1.83546335e-04 9.99986391e-01 -1.48487806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.994203822 meters 0.04053062004800366 Centerline is valid? [True, True] Translation: X:54.82, Y:-1.17, Z:-1.48 [[ 9.95237350e-01 9.72735446e-02 6.36204506e-03 5.48159512e+01] [-9.72728806e-02 9.95257663e-01 -4.14463554e-04 -1.16806922e+00] [-6.37219044e-03 -2.06364840e-04 9.99979676e-01 -1.48283281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024203822000004 meters 0.038883312258317794 Centerline is valid? [True, True] Translation: X:54.85, Y:-1.17, Z:-1.48 [[ 9.95415759e-01 9.54022884e-02 6.77279871e-03 5.48458128e+01] [-9.54014930e-02 9.95438778e-01 -4.41151693e-04 -1.16964170e+00] [-6.78399335e-03 -2.07005761e-04 9.99976967e-01 -1.48332179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054203822000005 meters 0.03904259229547896 Centerline is valid? [True, True] Translation: X:54.87, Y:-1.17, Z:-1.49 [[ 9.95619012e-01 9.31930833e-02 7.60472456e-03 5.48746161e+01] [-9.31920206e-02 9.95648031e-01 -4.94753569e-04 -1.16724273e+00] [-7.61773665e-03 -2.16113587e-04 9.99970961e-01 -1.48555869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084203822000006 meters 0.03417567904497823 Centerline is valid? [True, True] Translation: X:54.90, Y:-1.17, Z:-1.49 [[ 9.95838658e-01 9.08237434e-02 7.51097808e-03 5.49044057e+01] [-9.08226391e-02 9.95866964e-01 -4.88687368e-04 -1.17264417e+00] [-7.52431935e-03 -1.95513078e-04 9.99971673e-01 -1.48503058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11420382200001 meters 0.028074235378588438 Centerline is valid? [True, True] Translation: X:54.93, Y:-1.18, Z:-1.49 [[ 9.96265270e-01 8.60900709e-02 6.63414223e-03 5.49342913e+01] [-8.60891064e-02 9.96287348e-01 -4.31346409e-04 -1.18418391e+00] [-6.64664661e-03 -1.41391929e-04 9.99977901e-01 -1.48613784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14420382200001 meters 0.02740670987686741 Centerline is valid? [True, True] Translation: X:54.96, Y:-1.19, Z:-1.49 [[ 9.96433744e-01 8.40862906e-02 7.02065611e-03 5.49636306e+01] [-8.40851589e-02 9.96458467e-01 -4.56731332e-04 -1.18838057e+00] [-7.03419707e-03 -1.35230474e-04 9.99975251e-01 -1.48788103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.174203822 meters 0.024016559461844174 Centerline is valid? [True, True] Translation: X:54.99, Y:-1.20, Z:-1.49 [[ 9.96716327e-01 8.06094063e-02 7.66070814e-03 5.49940531e+01] [-8.06079609e-02 9.96745759e-01 -4.97760171e-04 -1.19581703e+00] [-7.67590250e-03 -1.21388373e-04 9.99970532e-01 -1.48754339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204203822000004 meters 0.02234789417757781 Centerline is valid? [True, True] Translation: X:55.03, Y:-1.20, Z:-1.49 [[ 9.96843161e-01 7.90499037e-02 7.40437365e-03 5.50255894e+01] [-7.90485116e-02 9.96870654e-01 -4.80931687e-04 -1.20042303e+00] [-7.41922041e-03 -1.05891253e-04 9.99972472e-01 -1.48771400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.234203822000005 meters 0.019590431819211895 Centerline is valid? [True, True] Translation: X:55.06, Y:-1.20, Z:-1.48 [[ 9.96945633e-01 7.77477731e-02 7.39511516e-03 5.50570647e+01] [-7.77463476e-02 9.96973056e-01 -4.80479964e-04 -1.20470750e+00] [-7.41008681e-03 -9.59307919e-05 9.99972540e-01 -1.48482474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264203822000006 meters 0.01997636902382045 Centerline is valid? [True, True] Translation: X:55.09, Y:-1.20, Z:-1.49 [[ 9.97016360e-01 7.67000140e-02 8.68821731e-03 5.50874816e+01] [-7.66980112e-02 9.97054210e-01 -5.63966738e-04 -1.20241250e+00] [-8.70587990e-03 -1.04084924e-04 9.99962098e-01 -1.48676501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29420382200001 meters 0.019962395208862616 Centerline is valid? [True, True] Translation: X:55.12, Y:-1.20, Z:-1.49 [[ 9.97020574e-01 7.65985473e-02 9.09056613e-03 5.51179654e+01] [-7.65963339e-02 9.97062010e-01 -5.91899204e-04 -1.20496162e+00] [-9.10919676e-03 -1.06168355e-04 9.99958505e-01 -1.48798042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32420382200001 meters 0.019879295855824767 Centerline is valid? [True, True] Translation: X:55.15, Y:-1.21, Z:-1.49 [[ 9.97014917e-01 7.66919559e-02 8.92183677e-03 5.51489027e+01] [-7.66898289e-02 9.97054829e-01 -5.80782058e-04 -1.20928946e+00] [-8.94010175e-03 -1.05165761e-04 9.99960031e-01 -1.48859760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.354203822 meters 0.02051515615830233 Centerline is valid? [True, True] Translation: X:55.18, Y:-1.21, Z:-1.49 [[ 9.96940094e-01 7.73893349e-02 1.10154521e-02 5.51796842e+01] [-7.73861304e-02 9.97000939e-01 -7.17484409e-04 -1.21309134e+00] [-1.10379418e-02 -1.37154241e-04 9.99939071e-01 -1.48640550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384203822 meters 0.01982796933663588 Centerline is valid? [True, True] Translation: X:55.21, Y:-1.22, Z:-1.48 [[ 9.96850003e-01 7.83454695e-02 1.23312075e-02 5.52120412e+01] [-7.83415504e-02 9.96926256e-01 -8.01283756e-04 -1.21570184e+00] [-1.23560814e-02 -1.67286196e-04 9.99923647e-01 -1.48356993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414203822000005 meters 0.018929979361922852 Centerline is valid? [True, True] Translation: X:55.24, Y:-1.22, Z:-1.48 [[ 9.96791675e-01 7.90716902e-02 1.24106685e-02 5.52449145e+01] [-7.90677571e-02 9.96868917e-01 -8.08023544e-04 -1.21854402e+00] [-1.24357015e-02 -1.75852583e-04 9.99922658e-01 -1.48204069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444203822000006 meters 0.021374990361070427 Centerline is valid? [True, True] Translation: X:55.28, Y:-1.22, Z:-1.49 [[ 9.96746921e-01 7.98840000e-02 1.06828202e-02 5.52761812e+01] [-7.98811112e-02 9.96804154e-01 -6.97520087e-04 -1.21813239e+00] [-1.07044002e-02 -1.58104546e-04 9.99942694e-01 -1.48791324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47420382200001 meters 0.022228328467926103 Centerline is valid? [True, True] Translation: X:55.31, Y:-1.22, Z:-1.49 [[ 9.96721943e-01 8.02912250e-02 9.93414395e-03 5.53074118e+01] [-8.02887332e-02 9.96771437e-01 -6.50032611e-04 -1.22112579e+00] [-9.95426285e-03 -1.49698065e-04 9.99950444e-01 -1.49096345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50420382200001 meters 0.0223975050908659 Centerline is valid? [True, True] Translation: X:55.34, Y:-1.23, Z:-1.49 [[ 9.96696626e-01 8.06566960e-02 9.50433867e-03 5.53396744e+01] [-8.06544219e-02 9.96741931e-01 -6.22946350e-04 -1.22556415e+00] [-9.52361767e-03 -1.45678415e-04 9.99954639e-01 -1.49295639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534203822 meters 0.021380915588914938 Centerline is valid? [True, True] Translation: X:55.37, Y:-1.23, Z:-1.49 [[ 9.96642772e-01 8.13217025e-02 9.48503386e-03 5.53717222e+01] [-8.13194542e-02 9.96687894e-01 -6.23102964e-04 -1.23149316e+00] [-9.50429022e-03 -1.50306712e-04 9.99954822e-01 -1.49210317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564203822 meters 0.023693270975105752 Centerline is valid? [True, True] Translation: X:55.40, Y:-1.23, Z:-1.49 [[ 9.96525972e-01 8.27332343e-02 9.54979010e-03 5.54022675e+01] [-8.27309777e-02 9.96571717e-01 -6.31772843e-04 -1.23437407e+00] [-9.56931932e-03 -1.60485425e-04 9.99954200e-01 -1.49339058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594203822000004 meters 0.025183009116412042 Centerline is valid? [True, True] Translation: X:55.43, Y:-1.23, Z:-1.49 [[ 9.96422621e-01 8.39600626e-02 9.62641676e-03 5.54331136e+01] [-8.39578476e-02 9.96469105e-01 -6.34690819e-04 -1.23461316e+00] [-9.64571557e-03 -1.75792942e-04 9.99953464e-01 -1.49450364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624203822000005 meters 0.026311256216898775 Centerline is valid? [True, True] Translation: X:55.46, Y:-1.23, Z:-1.50 [[ 9.96340710e-01 8.49490788e-02 9.42568855e-03 5.54641591e+01] [-8.49469637e-02 9.96385278e-01 -6.25241997e-04 -1.23496782e+00] [-9.44473104e-03 -1.77729568e-04 9.99955382e-01 -1.49579132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65420382200001 meters 0.026350521616471625 Centerline is valid? [True, True] Translation: X:55.50, Y:-1.24, Z:-1.49 [[ 9.96144209e-01 8.71382990e-02 1.01800025e-02 5.54955461e+01] [-8.71359433e-02 9.96196201e-01 -6.75548341e-04 -1.23917742e+00] [-1.02001459e-02 -2.14100550e-04 9.99947954e-01 -1.49392857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68420382200001 meters 0.0286177765185646 Centerline is valid? [True, True] Translation: X:55.53, Y:-1.24, Z:-1.50 [[ 9.96016971e-01 8.85418324e-02 1.05136524e-02 5.55268488e+01] [-8.85394200e-02 9.96072431e-01 -6.95599209e-04 -1.24123861e+00] [-1.05339489e-02 -2.38044070e-04 9.99944488e-01 -1.49518262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71420382200001 meters 0.03132613566380846 Centerline is valid? [True, True] Translation: X:55.56, Y:-1.24, Z:-1.50 [[ 9.95807000e-01 9.08070924e-02 1.10675300e-02 5.55574434e+01] [-9.08045114e-02 9.95868464e-01 -7.36523149e-04 -1.24391757e+00] [-1.10886856e-02 -2.71546745e-04 9.99938482e-01 -1.49537254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744203822 meters 0.032047848182661175 Centerline is valid? [True, True] Translation: X:55.59, Y:-1.25, Z:-1.50 [[ 9.95716360e-01 9.17767490e-02 1.12231491e-02 5.55885171e+01] [-9.17741533e-02 9.95779567e-01 -7.47160548e-04 -1.24619790e+00] [-1.12443545e-02 -2.86035025e-04 9.99936739e-01 -1.49609831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.774203822000004 meters 0.03311995481390724 Centerline is valid? [True, True] Translation: X:55.62, Y:-1.25, Z:-1.50 [[ 9.95636273e-01 9.26098051e-02 1.14819392e-02 5.56192810e+01] [-9.26071652e-02 9.95702431e-01 -7.62517755e-04 -1.24816894e+00] [-1.15032114e-02 -3.04119507e-04 9.99933790e-01 -1.49713871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804203822000005 meters 0.033265454218529694 Centerline is valid? [True, True] Translation: X:55.65, Y:-1.25, Z:-1.50 [[ 9.95627998e-01 9.27202451e-02 1.13069169e-02 5.56505905e+01] [-9.27176618e-02 9.95692155e-01 -7.53580400e-04 -1.25415523e+00] [-1.13280806e-02 -2.98065150e-04 9.99935791e-01 -1.49878088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834203822000006 meters 0.031952510254758176 Centerline is valid? [True, True] Translation: X:55.68, Y:-1.26, Z:-1.50 [[ 9.95661807e-01 9.23942564e-02 1.09939527e-02 5.56820384e+01] [-9.23917983e-02 9.95722461e-01 -7.32358469e-04 -1.26062566e+00] [-1.10145914e-02 -2.86569707e-04 9.99939296e-01 -1.49900044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86420382200001 meters 0.03129745620749106 Centerline is valid? [True, True] Translation: X:55.71, Y:-1.27, Z:-1.50 [[ 9.95735665e-01 9.15448608e-02 1.14027940e-02 5.57131958e+01] [-9.15421350e-02 9.95800912e-01 -7.61851911e-04 -1.26603792e+00] [-1.14246563e-02 -2.85232993e-04 9.99934696e-01 -1.49991685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89420382200001 meters 0.028563007484209844 Centerline is valid? [True, True] Translation: X:55.74, Y:-1.28, Z:-1.50 [[ 9.95995612e-01 8.86742346e-02 1.13851631e-02 5.57439458e+01] [-8.86712852e-02 9.96060650e-01 -7.64578607e-04 -1.27753227e+00] [-1.14081113e-02 -2.48020104e-04 9.99934895e-01 -1.50119399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924203822 meters 0.024861747926527525 Centerline is valid? [True, True] Translation: X:55.78, Y:-1.29, Z:-1.50 [[ 9.96099061e-01 8.75928243e-02 1.06844681e-02 5.57760136e+01] [-8.75901756e-02 9.96156337e-01 -7.16492078e-04 -1.28772988e+00] [-1.07061602e-02 -2.22157355e-04 9.99942663e-01 -1.50059846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.954203822000004 meters 0.028084671320314444 Centerline is valid? [True, True] Translation: X:55.81, Y:-1.29, Z:-1.51 [[ 9.96164327e-01 8.68463696e-02 1.06930439e-02 5.58067807e+01] [-8.68436637e-02 9.96221693e-01 -7.18001957e-04 -1.28870480e+00] [-1.07149982e-02 -2.13375170e-04 9.99942570e-01 -1.50571661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.984203822000005 meters 0.02558632454819803 Centerline is valid? [True, True] Translation: X:55.84, Y:-1.30, Z:-1.50 [[ 9.96186210e-01 8.65571563e-02 1.09951322e-02 5.58390601e+01] [-8.65542777e-02 9.96246863e-01 -7.38285613e-04 -1.29607162e+00] [-1.10177699e-02 -2.16205778e-04 9.99939279e-01 -1.50353187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014203822000006 meters 0.026385595133451293 Centerline is valid? [True, True] Translation: X:55.87, Y:-1.30, Z:-1.51 [[ 9.96136422e-01 8.71860179e-02 1.05274549e-02 5.58707307e+01] [-8.71833980e-02 9.96192026e-01 -7.08412744e-04 -1.30223038e+00] [-1.05491303e-02 -2.12143554e-04 9.99944334e-01 -1.50592299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04420382200001 meters 0.02937189659564943 Centerline is valid? [True, True] Translation: X:55.90, Y:-1.30, Z:-1.51 [[ 9.96043247e-01 8.83309765e-02 9.77183087e-03 5.59014265e+01] [-8.83287363e-02 9.96091159e-01 -6.61440941e-04 -1.30294629e+00] [-9.79206006e-03 -2.04309690e-04 9.99952036e-01 -1.50935394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07420382200001 meters 0.02818179903163173 Centerline is valid? [True, True] Translation: X:55.93, Y:-1.31, Z:-1.51 [[ 9.95922922e-01 8.97184304e-02 9.38807705e-03 5.59331565e+01] [-8.97164478e-02 9.95967147e-01 -6.32961660e-04 -1.30710079e+00] [-9.40700464e-03 -2.11883898e-04 9.99955731e-01 -1.50845207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104203822 meters 0.0317577705324097 Centerline is valid? [True, True] Translation: X:55.96, Y:-1.30, Z:-1.51 [[ 9.95649058e-01 9.27084803e-02 9.38572562e-03 5.59647808e+01] [-9.27066145e-02 9.95693266e-01 -6.34601649e-04 -1.30247640e+00] [-9.40413675e-03 -2.38278313e-04 9.99955752e-01 -1.51070456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.134203822 meters 0.033576594867978 Centerline is valid? [True, True] Translation: X:56.00, Y:-1.30, Z:-1.51 [[ 9.95484935e-01 9.44545968e-02 9.38474464e-03 5.59964851e+01] [-9.44527952e-02 9.95529138e-01 -6.36000119e-04 -1.30188834e+00] [-9.40285988e-03 -2.53286826e-04 9.99955760e-01 -1.51197729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164203822000005 meters 0.03597543683100654 Centerline is valid? [True, True] Translation: X:56.03, Y:-1.30, Z:-1.51 [[ 9.95213276e-01 9.72534810e-02 9.60702958e-03 5.60289654e+01] [-9.72516893e-02 9.95259605e-01 -6.54587293e-04 -1.30313947e+00] [-9.62514935e-03 -2.82845891e-04 9.99953637e-01 -1.51148634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194203822000006 meters 0.03770776454790891 Centerline is valid? [True, True] Translation: X:56.06, Y:-1.30, Z:-1.51 [[ 9.95082656e-01 9.85506354e-02 9.91358076e-03 5.60602689e+01] [-9.85488060e-02 9.95131990e-01 -6.74058303e-04 -1.30471721e+00] [-9.93175023e-03 -3.06227820e-04 9.99950632e-01 -1.51194382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22420382200001 meters 0.039271485395392075 Centerline is valid? [True, True] Translation: X:56.09, Y:-1.31, Z:-1.51 [[ 9.94983976e-01 9.95205533e-02 1.01265242e-02 5.60910068e+01] [-9.95186544e-02 9.95035456e-01 -6.92503277e-04 -1.30556572e+00] [-1.01451690e-02 -3.18748402e-04 9.99948486e-01 -1.51250360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25420382200001 meters 0.03953168673654187 Centerline is valid? [True, True] Translation: X:56.12, Y:-1.31, Z:-1.51 [[ 9.94887123e-01 1.00443034e-01 1.05266201e-02 5.61229256e+01] [-1.00441057e-01 9.94942752e-01 -7.17654998e-04 -1.30773326e+00] [-1.05454678e-02 -3.43319132e-04 9.99944336e-01 -1.51241570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284203822 meters 0.04165611319894076 Centerline is valid? [True, True] Translation: X:56.15, Y:-1.31, Z:-1.51 [[ 9.94873557e-01 1.00389650e-01 1.21870042e-02 5.61542924e+01] [-1.00386960e-01 9.94948121e-01 -8.33766398e-04 -1.30718950e+00] [-1.22091385e-02 -3.93924167e-04 9.99925388e-01 -1.51277468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.314203822 meters 0.04107497228772882 Centerline is valid? [True, True] Translation: X:56.19, Y:-1.31, Z:-1.51 [[ 9.94945680e-01 9.95808106e-02 1.29134416e-02 5.61854126e+01] [-9.95776934e-02 9.95029396e-01 -8.85736178e-04 -1.31045626e+00] [-1.29374564e-02 -4.04631350e-04 9.99916226e-01 -1.51276750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344203822000004 meters 0.03532055339968317 Centerline is valid? [True, True] Translation: X:56.22, Y:-1.32, Z:-1.51 [[ 9.95176623e-01 9.71075482e-02 1.39144732e-02 5.62165657e+01] [-9.71036329e-02 9.95273815e-01 -9.58316478e-04 -1.32104325e+00] [-1.39417706e-02 -3.97451739e-04 9.99902730e-01 -1.50970345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374203822000005 meters 0.03154254262389806 Centerline is valid? [True, True] Translation: X:56.25, Y:-1.33, Z:-1.51 [[ 9.95310529e-01 9.57279856e-02 1.38961764e-02 5.62481912e+01] [-9.57239663e-02 9.95407459e-01 -9.55614009e-04 -1.32926023e+00] [-1.39238367e-02 -3.79064442e-04 9.99902987e-01 -1.50900744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40420382200001 meters 0.03169389119998519 Centerline is valid? [True, True] Translation: X:56.28, Y:-1.33, Z:-1.51 [[ 9.95455355e-01 9.42510727e-02 1.36150861e-02 5.62792935e+01] [-9.42470439e-02 9.95548398e-01 -9.38657650e-04 -1.33237696e+00] [-1.36429466e-02 -3.48789832e-04 9.99906870e-01 -1.51122801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43420382200001 meters 0.029216360604342215 Centerline is valid? [True, True] Translation: X:56.31, Y:-1.34, Z:-1.51 [[ 9.95601626e-01 9.27251390e-02 1.33959439e-02 5.63117500e+01] [-9.27210543e-02 9.95691693e-01 -9.27015343e-04 -1.33775559e+00] [-1.34241876e-02 -3.19148054e-04 9.99909841e-01 -1.51177181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46420382200001 meters 0.02726184022393219 Centerline is valid? [True, True] Translation: X:56.34, Y:-1.34, Z:-1.52 [[ 9.95854939e-01 9.00415047e-02 1.28634462e-02 5.63424516e+01] [-9.00375242e-02 9.95937977e-01 -8.89409284e-04 -1.34283031e+00] [-1.28912783e-02 -2.72470217e-04 9.99916867e-01 -1.51505903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.494203822 meters 0.024873691221390333 Centerline is valid? [True, True] Translation: X:56.37, Y:-1.35, Z:-1.52 [[ 9.95961706e-01 8.88406804e-02 1.29466089e-02 5.63745849e+01] [-8.88365234e-02 9.96045816e-01 -8.96963990e-04 -1.35048198e+00] [-1.29751025e-02 -2.56789937e-04 9.99915787e-01 -1.51537123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524203822000004 meters 0.023465203790227738 Centerline is valid? [True, True] Translation: X:56.41, Y:-1.36, Z:-1.52 [[ 9.96123091e-01 8.71958207e-02 1.16479866e-02 5.64064166e+01] [-8.71923263e-02 9.96191169e-01 -8.08457287e-04 -1.36110796e+00] [-1.16741155e-02 -2.10292077e-04 9.99931833e-01 -1.51833154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554203822000005 meters 0.024180479170071083 Centerline is valid? [True, True] Translation: X:56.44, Y:-1.37, Z:-1.52 [[ 9.96173234e-01 8.67780294e-02 1.04145057e-02 5.64376848e+01] [-8.67751980e-02 9.96227655e-01 -7.24292718e-04 -1.36576174e+00] [-1.04380713e-02 -1.82199773e-04 9.99945505e-01 -1.52206591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584203822000006 meters 0.02494328024478177 Centerline is valid? [True, True] Translation: X:56.47, Y:-1.37, Z:-1.52 [[ 9.96204300e-01 8.64737087e-02 9.96443003e-03 5.64697141e+01] [-8.64710918e-02 9.96254119e-01 -6.93962667e-04 -1.37014192e+00] [-9.98711398e-03 -1.70306551e-04 9.99950113e-01 -1.52467306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61420382200001 meters 0.024562558371480327 Centerline is valid? [True, True] Translation: X:56.50, Y:-1.37, Z:-1.53 [[ 9.96233589e-01 8.61435668e-02 9.89558805e-03 5.65019698e+01] [-8.61409499e-02 9.96282720e-01 -6.91150529e-04 -1.37490804e+00] [-9.91834155e-03 -1.63867983e-04 9.99950799e-01 -1.52576530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64420382200001 meters 0.022887257736968994 Centerline is valid? [True, True] Translation: X:56.53, Y:-1.38, Z:-1.52 [[ 9.96281148e-01 8.55905604e-02 9.90608473e-03 5.65336319e+01] [-8.55878960e-02 9.96330383e-01 -6.93364085e-04 -1.38099748e+00] [-9.92907861e-03 -1.57055384e-04 9.99950693e-01 -1.52488072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.674203822 meters 0.0205462668421976 Centerline is valid? [True, True] Translation: X:56.57, Y:-1.39, Z:-1.52 [[ 9.96320355e-01 8.51228118e-02 9.99280654e-03 5.65653650e+01] [-8.51200620e-02 9.96370455e-01 -7.00943624e-04 -1.38898190e+00] [-1.00162035e-02 -1.52223911e-04 9.99949825e-01 -1.52357122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704203822000004 meters 0.02088954616605175 Centerline is valid? [True, True] Translation: X:56.60, Y:-1.40, Z:-1.53 [[ 9.96364357e-01 8.45593456e-02 1.03819391e-02 5.65959513e+01] [-8.45563239e-02 9.96418433e-01 -7.30438882e-04 -1.39537591e+00] [-1.04065209e-02 -1.50075337e-04 9.99945839e-01 -1.52546317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.734203822000005 meters 0.01801180216893618 Centerline is valid? [True, True] Translation: X:56.63, Y:-1.41, Z:-1.52 [[ 9.96505232e-01 8.27426686e-02 1.14443804e-02 5.66274707e+01] [-8.27388536e-02 9.96570936e-01 -8.07229511e-04 -1.41053777e+00] [-1.14719292e-02 -1.42486485e-04 9.99934185e-01 -1.52256502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764203822000006 meters 0.01802568067614946 Centerline is valid? [True, True] Translation: X:56.66, Y:-1.42, Z:-1.52 [[ 9.96549291e-01 8.21839231e-02 1.16323964e-02 5.66583486e+01] [-8.21799173e-02 9.96617170e-01 -8.22746111e-04 -1.41631227e+00] [-1.16606625e-02 -1.36042317e-04 9.99932003e-01 -1.52434951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79420382200001 meters 0.01798566052135357 Centerline is valid? [True, True] Translation: X:56.69, Y:-1.42, Z:-1.53 [[ 9.96563157e-01 8.20975258e-02 1.10394552e-02 5.66913557e+01] [-8.20939025e-02 9.96624292e-01 -7.81734197e-04 -1.42230960e+00] [-1.10663677e-02 -1.27224462e-04 9.99938758e-01 -1.52622773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82420382200001 meters 0.01798566052135357 Centerline is valid? [True, True] Translation: X:56.72, Y:-1.42, Z:-1.53 [[ 9.96547631e-01 8.22858040e-02 1.10393071e-02 5.67237544e+01] [-8.22821692e-02 9.96608765e-01 -7.83816642e-04 -1.42481296e+00] [-1.10663672e-02 -1.27227515e-04 9.99938758e-01 -1.52715089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.854203822 meters 0.01933784151312263 Centerline is valid? [True, True] Translation: X:56.75, Y:-1.43, Z:-1.53 [[ 9.96484505e-01 8.32359528e-02 9.50826725e-03 5.67545968e+01] [-8.32332829e-02 9.96529860e-01 -6.76856040e-04 -1.43348341e+00] [-9.53161099e-03 -1.16927742e-04 9.99954566e-01 -1.53142555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884203822 meters 0.020522112961818433 Centerline is valid? [True, True] Translation: X:56.79, Y:-1.44, Z:-1.53 [[ 9.96409560e-01 8.41977183e-02 8.87312170e-03 5.67858271e+01] [-8.41954214e-02 9.96449061e-01 -6.32762436e-04 -1.43740122e+00] [-8.89489093e-03 -1.16585680e-04 9.99960433e-01 -1.53353144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914203822000005 meters 0.02262967566448186 Centerline is valid? [True, True] Translation: X:56.82, Y:-1.44, Z:-1.53 [[ 9.96187162e-01 8.67625868e-02 9.13189573e-03 5.68179172e+01] [-8.67602496e-02 9.96229006e-01 -6.52520224e-04 -1.44094123e+00] [-9.15407375e-03 -1.42253283e-04 9.99958090e-01 -1.53288912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944203822000006 meters 0.023485814217641263 Centerline is valid? [True, True] Translation: X:56.85, Y:-1.44, Z:-1.53 [[ 9.96054901e-01 8.82268050e-02 9.52184268e-03 5.68503923e+01] [-8.82243145e-02 9.96100399e-01 -6.82097128e-04 -1.44384533e+00] [-9.54489054e-03 -1.60651856e-04 9.99954434e-01 -1.53253211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97420382200001 meters 0.022616832851458785 Centerline is valid? [True, True] Translation: X:56.88, Y:-1.45, Z:-1.53 [[ 9.95915015e-01 8.97999271e-02 9.44751476e-03 5.68822266e+01] [-8.97975335e-02 9.95959810e-01 -6.78104228e-04 -1.44957145e+00] [-9.47023872e-03 -1.73029341e-04 9.99955141e-01 -1.53040009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00420382200001 meters 0.026441671030610448 Centerline is valid? [True, True] Translation: X:56.91, Y:-1.45, Z:-1.53 [[ 9.95583750e-01 9.34604795e-02 8.83939662e-03 5.69129498e+01] [-9.34585028e-02 9.95622972e-01 -6.37333619e-04 -1.45235591e+00] [-8.86027184e-03 -1.91597779e-04 9.99960729e-01 -1.53201258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03420382200001 meters 0.030104059301807644 Centerline is valid? [True, True] Translation: X:56.94, Y:-1.45, Z:-1.53 [[ 9.95345909e-01 9.59480091e-02 8.97219333e-03 5.69437793e+01] [-9.59460665e-02 9.95386323e-01 -6.47700793e-04 -1.45127709e+00] [-8.99294413e-03 -2.16160323e-04 9.99959539e-01 -1.53423092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.064203822 meters 0.03241851737832457 Centerline is valid? [True, True] Translation: X:56.98, Y:-1.45, Z:-1.53 [[ 9.95095497e-01 9.85247498e-02 8.82189119e-03 5.69758292e+01] [-9.85229602e-02 9.95134573e-01 -6.38282943e-04 -1.45054561e+00] [-8.84185559e-03 -2.34006353e-04 9.99960883e-01 -1.53489092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.094203822000004 meters 0.03446665827457319 Centerline is valid? [True, True] Translation: X:57.01, Y:-1.45, Z:-1.53 [[ 9.94820083e-01 1.01212370e-01 9.43712468e-03 5.70076507e+01] [-1.01210457e-01 9.94864805e-01 -6.81324654e-04 -1.45007827e+00] [-9.45762169e-03 -2.77340250e-04 9.99955237e-01 -1.53461557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124203822000005 meters 0.04121527437019345 Centerline is valid? [True, True] Translation: X:57.04, Y:-1.45, Z:-1.54 [[ 9.94475142e-01 1.04567847e-01 9.20641102e-03 5.70381029e+01] [-1.04566133e-01 9.94517711e-01 -6.68680610e-04 -1.44646648e+00] [-9.22586131e-03 -2.97692554e-04 9.99957397e-01 -1.53854147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15420382200001 meters 0.03723308335067435 Centerline is valid? [True, True] Translation: X:57.07, Y:-1.45, Z:-1.54 [[ 9.94403273e-01 1.05304990e-01 8.54343446e-03 5.70693743e+01] [-1.05303565e-01 9.94439932e-01 -6.17746694e-04 -1.45421633e+00] [-8.56098419e-03 -2.85364768e-04 9.99963313e-01 -1.53709914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18420382200001 meters 0.039536145011711696 Centerline is valid? [True, True] Translation: X:57.10, Y:-1.45, Z:-1.54 [[ 9.94399846e-01 1.05351512e-01 8.36692834e-03 5.71012139e+01] [-1.05350130e-01 9.94435006e-01 -6.06928557e-04 -1.45444287e+00] [-8.38430728e-03 -2.77927328e-04 9.99964812e-01 -1.54097717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21420382200001 meters 0.03862737784119919 Centerline is valid? [True, True] Translation: X:57.13, Y:-1.46, Z:-1.54 [[ 9.94492210e-01 1.04535434e-01 7.58861356e-03 5.71326923e+01] [-1.04534275e-01 9.94521132e-01 -5.50182939e-04 -1.46017822e+00] [-7.60455017e-03 -2.46117574e-04 9.99971055e-01 -1.54298865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.244203822 meters 0.03724644816169923 Centerline is valid? [True, True] Translation: X:57.16, Y:-1.47, Z:-1.54 [[ 9.94616457e-01 1.03375830e-01 7.17923994e-03 5.71643738e+01] [-1.03374757e-01 9.94642342e-01 -5.21407519e-04 -1.46656663e+00] [-7.19467697e-03 -2.23551687e-04 9.99974093e-01 -1.54431069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.274203822000004 meters 0.03276321392120364 Centerline is valid? [True, True] Translation: X:57.20, Y:-1.47, Z:-1.54 [[ 9.94836677e-01 1.01139494e-01 8.41358497e-03 5.71958074e+01] [-1.01137901e-01 9.94872226e-01 -6.15744116e-04 -1.47468392e+00] [-8.43271805e-03 -2.38367493e-04 9.99964416e-01 -1.54059516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304203822000005 meters 0.03559563119606041 Centerline is valid? [True, True] Translation: X:57.23, Y:-1.47, Z:-1.54 [[ 9.94918105e-01 1.00264495e-01 9.21931598e-03 5.72274502e+01] [-1.00262561e-01 9.94960786e-01 -6.72884045e-04 -1.47288509e+00] [-9.24032426e-03 -2.54887715e-04 9.99957275e-01 -1.54323633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334203822000006 meters 0.03176792098590712 Centerline is valid? [True, True] Translation: X:57.26, Y:-1.48, Z:-1.54 [[ 9.94985569e-01 9.95737812e-02 9.42228532e-03 5.72589441e+01] [-9.95717176e-02 9.95030149e-01 -6.89033147e-04 -1.47994797e+00] [-9.44406760e-03 -2.52615095e-04 9.99955372e-01 -1.54073842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36420382200001 meters 0.030393521494911226 Centerline is valid? [True, True] Translation: X:57.29, Y:-1.48, Z:-1.54 [[ 9.95104775e-01 9.81631507e-02 1.14228725e-02 5.72892525e+01] [-9.81599735e-02 9.95170294e-01 -8.39822399e-04 -1.48395216e+00] [-1.14501430e-02 -2.85557587e-04 9.99934404e-01 -1.53827435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39420382200001 meters 0.029681208089376777 Centerline is valid? [True, True] Translation: X:57.32, Y:-1.49, Z:-1.54 [[ 9.95126376e-01 9.78100218e-02 1.25178079e-02 5.73215052e+01] [-9.78061833e-02 9.95205056e-01 -9.19928577e-04 -1.48884154e+00] [-1.25477639e-02 -3.08873821e-04 9.99921226e-01 -1.53755967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424203822 meters 0.02961096129921072 Centerline is valid? [True, True] Translation: X:57.35, Y:-1.49, Z:-1.54 [[ 9.95173469e-01 9.72871847e-02 1.28440652e-02 5.73525741e+01] [-9.72830689e-02 9.95256303e-01 -9.46322665e-04 -1.49409813e+00] [-1.28752019e-02 -3.07754869e-04 9.99917064e-01 -1.53829089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.454203822000004 meters 0.02728457396459132 Centerline is valid? [True, True] Translation: X:57.38, Y:-1.50, Z:-1.54 [[ 9.95374966e-01 9.52847281e-02 1.22268961e-02 5.73841392e+01] [-9.52808295e-02 9.95450024e-01 -9.02305041e-04 -1.50284718e+00] [-1.22572399e-02 -2.66856950e-04 9.99924842e-01 -1.54000828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.484203822000005 meters 0.026294936335042245 Centerline is valid? [True, True] Translation: X:57.41, Y:-1.51, Z:-1.54 [[ 9.95504422e-01 9.39691771e-02 1.18633891e-02 5.74145327e+01] [-9.39653897e-02 9.95575078e-01 -8.77480013e-04 -1.50787390e+00] [-1.18933506e-02 -2.41212750e-04 9.99929243e-01 -1.54259432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514203822000006 meters 0.02280448287556848 Centerline is valid? [True, True] Translation: X:57.45, Y:-1.52, Z:-1.55 [[ 9.95820041e-01 9.08115348e-02 9.78317946e-03 5.74457839e+01] [-9.08088022e-02 9.95868082e-01 -7.24090555e-04 -1.51907147e+00] [-9.80851194e-03 -1.67334922e-04 9.99951881e-01 -1.54611136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54420382200001 meters 0.021508852424914862 Centerline is valid? [True, True] Translation: X:57.48, Y:-1.53, Z:-1.55 [[ 9.95936529e-01 8.96069613e-02 9.00120785e-03 5.74775624e+01] [-8.96045890e-02 9.95977195e-01 -6.67305532e-04 -1.52573143e+00] [-9.02479296e-03 -1.41955574e-04 9.99959266e-01 -1.54805648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57420382200001 meters 0.02155897934799607 Centerline is valid? [True, True] Translation: X:57.51, Y:-1.53, Z:-1.55 [[ 9.95983441e-01 8.91158504e-02 8.68044403e-03 5.75087352e+01] [-8.91136163e-02 9.96021259e-01 -6.44578120e-04 -1.53121000e+00] [-8.70334891e-03 -1.31556624e-04 9.99962116e-01 -1.55075139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604203822 meters 0.022080444489792912 Centerline is valid? [True, True] Translation: X:57.54, Y:-1.54, Z:-1.55 [[ 9.95917032e-01 9.00605778e-02 6.19333581e-03 5.75403915e+01] [-9.00594432e-02 9.95936285e-01 -4.62406235e-04 -1.54163272e+00] [-6.20981243e-03 -9.72501296e-05 9.99980714e-01 -1.55411564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.634203822 meters 0.024381110101641734 Centerline is valid? [True, True] Translation: X:57.57, Y:-1.54, Z:-1.56 [[ 9.95764965e-01 9.18099534e-02 4.80272409e-03 5.75715251e+01] [-9.18092956e-02 9.95776544e-01 -3.57725881e-04 -1.54483904e+00] [-4.81528279e-03 -8.47238157e-05 9.99988403e-01 -1.55720546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664203822000005 meters 0.027108486307280202 Centerline is valid? [True, True] Translation: X:57.60, Y:-1.55, Z:-1.56 [[ 9.95532465e-01 9.43161706e-02 4.42396022e-03 5.76022458e+01] [-9.43156365e-02 9.95542290e-01 -3.29659742e-04 -1.54562676e+00] [-4.43533173e-03 -8.90616487e-05 9.99990160e-01 -1.55881720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694203822000006 meters 0.031609205670708594 Centerline is valid? [True, True] Translation: X:57.63, Y:-1.54, Z:-1.56 [[ 9.95239081e-01 9.73212365e-02 5.26761047e-03 5.76339836e+01] [-9.73205251e-02 9.95253014e-01 -3.91819932e-04 -1.54190843e+00] [-5.28073760e-03 -1.22692108e-04 9.99986049e-01 -1.56055348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72420382200001 meters 0.034636680297271384 Centerline is valid? [True, True] Translation: X:57.67, Y:-1.54, Z:-1.56 [[ 9.94636194e-01 1.03275287e-01 5.74951497e-03 5.76657638e+01] [-1.03274515e-01 9.94652798e-01 -4.31820628e-04 -1.53839310e+00] [-5.76336755e-03 -1.64273943e-04 9.99983378e-01 -1.55721223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75420382200001 meters 0.04098135774453172 Centerline is valid? [True, True] Translation: X:57.70, Y:-1.53, Z:-1.56 [[ 9.94335885e-01 1.06128947e-01 5.72656493e-03 5.76971866e+01] [-1.06128245e-01 9.94352359e-01 -4.27326059e-04 -1.53339449e+00] [-5.73957501e-03 -1.82844650e-04 9.99983512e-01 -1.56097109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78420382200001 meters 0.04058888297122621 Centerline is valid? [True, True] Translation: X:57.73, Y:-1.54, Z:-1.56 [[ 9.93996088e-01 1.09198899e-01 6.88314571e-03 5.77294603e+01] [-1.09197929e-01 9.94019891e-01 -5.17813780e-04 -1.53697627e+00] [-6.89852845e-03 -2.36920383e-04 9.99976177e-01 -1.55696690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.814203822 meters 0.041797953481808904 Centerline is valid? [True, True] Translation: X:57.76, Y:-1.54, Z:-1.56 [[ 9.93906041e-01 1.10000006e-01 7.12607861e-03 5.77606580e+01] [-1.09998999e-01 9.93931554e-01 -5.34273303e-04 -1.53747750e+00] [-7.14160446e-03 -2.52844049e-04 9.99974466e-01 -1.55851167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844203822000004 meters 0.0428082086773109 Centerline is valid? [True, True] Translation: X:57.79, Y:-1.54, Z:-1.56 [[ 9.93856114e-01 1.10445649e-01 7.19599847e-03 5.77916952e+01] [-1.10444626e-01 9.93882132e-01 -5.40657153e-04 -1.53872766e+00] [-7.21168753e-03 -2.57423942e-04 9.99973962e-01 -1.56005152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874203822000005 meters 0.04006172516171038 Centerline is valid? [True, True] Translation: X:57.82, Y:-1.54, Z:-1.56 [[ 9.93816048e-01 1.10831005e-01 6.79342248e-03 5.78237999e+01] [-1.10830099e-01 9.93839237e-01 -5.10809692e-04 -1.54394942e+00] [-6.80818336e-03 -2.45264819e-04 9.99976794e-01 -1.55956818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90420382200001 meters 0.04416167448245471 Centerline is valid? [True, True] Translation: X:57.86, Y:-1.54, Z:-1.56 [[ 9.93766784e-01 1.11255852e-01 7.05088667e-03 5.78550030e+01] [-1.11254866e-01 9.93791764e-01 -5.33112766e-04 -1.54043633e+00] [-7.06642502e-03 -2.54655693e-04 9.99975000e-01 -1.56350847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93420382200001 meters 0.04414340624090035 Centerline is valid? [True, True] Translation: X:57.89, Y:-1.54, Z:-1.57 [[ 9.93772424e-01 1.11231277e-01 6.63119901e-03 5.78874727e+01] [-1.11230414e-01 9.93794519e-01 -4.99899262e-04 -1.54247771e+00] [-6.64565366e-03 -2.40804910e-04 9.99977888e-01 -1.56510193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96420382200001 meters 0.04428767172292435 Centerline is valid? [True, True] Translation: X:57.92, Y:-1.54, Z:-1.57 [[ 9.93818772e-01 1.10862553e-01 5.80877199e-03 5.79189075e+01] [-1.10861881e-01 9.93835726e-01 -4.38587970e-04 -1.54490907e+00] [-5.82158811e-03 -2.08094432e-04 9.99983033e-01 -1.56812026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.994203822 meters 0.044209121038662966 Centerline is valid? [True, True] Translation: X:57.95, Y:-1.55, Z:-1.57 [[ 9.93916460e-01 1.10053575e-01 4.27570326e-03 5.79511912e+01] [-1.10053206e-01 9.93925645e-01 -3.22330401e-04 -1.54631183e+00] [-4.28520473e-03 -1.50185358e-04 9.99990807e-01 -1.57209774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.024203822000004 meters 0.03894905078903065 Centerline is valid? [True, True] Translation: X:57.98, Y:-1.55, Z:-1.57 [[ 9.93937455e-01 1.09881144e-01 3.80388901e-03 5.79834027e+01] [-1.09880852e-01 9.93944725e-01 -2.86319614e-04 -1.55461636e+00] [-3.81231654e-03 -1.33390775e-04 9.99992724e-01 -1.56931159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054203822000005 meters 0.03797045390158227 Centerline is valid? [True, True] Translation: X:58.02, Y:-1.56, Z:-1.57 [[ 9.93924879e-01 1.09987869e-01 4.00047065e-03 5.80153471e+01] [-1.09987541e-01 9.93932920e-01 -3.02670503e-04 -1.55731076e+00] [-4.00948956e-03 -1.39170186e-04 9.99991952e-01 -1.56941498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084203822000006 meters 0.04289274884313822 Centerline is valid? [True, True] Translation: X:58.05, Y:-1.55, Z:-1.57 [[ 9.93908137e-01 1.10133812e-01 4.14219126e-03 5.80478881e+01] [-1.10133459e-01 9.93916758e-01 -3.13988344e-04 -1.55343827e+00] [-4.15157405e-03 -1.44118280e-04 9.99991372e-01 -1.57491086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11420382200001 meters 0.0400787769943315 Centerline is valid? [True, True] Translation: X:58.08, Y:-1.56, Z:-1.57 [[ 9.93929002e-01 1.09932252e-01 4.47654410e-03 5.80802028e+01] [-1.09931830e-01 9.93939071e-01 -3.40961662e-04 -1.55921792e+00] [-4.48689477e-03 -1.53222999e-04 9.99989922e-01 -1.57284163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14420382200001 meters 0.038046757024947274 Centerline is valid? [True, True] Translation: X:58.11, Y:-1.56, Z:-1.57 [[ 9.94125470e-01 1.08050382e-01 6.29794667e-03 5.81111799e+01] [-1.08049472e-01 9.94145400e-01 -4.85685225e-04 -1.56372599e+00] [-6.31355318e-03 -1.97657757e-04 9.99980050e-01 -1.56973848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.174203822 meters 0.039200842021398806 Centerline is valid? [True, True] Translation: X:58.14, Y:-1.56, Z:-1.57 [[ 9.94283309e-01 1.06560738e-01 6.74607896e-03 5.81414380e+01] [-1.06559664e-01 9.94306174e-01 -5.19473104e-04 -1.56221225e+00] [-6.76302340e-03 -2.02356472e-04 9.99977110e-01 -1.57204761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204203822000004 meters 0.03387148021141826 Centerline is valid? [True, True] Translation: X:58.17, Y:-1.57, Z:-1.57 [[ 9.94478731e-01 1.04700389e-01 7.06273211e-03 5.81724825e+01] [-1.04699154e-01 9.94503791e-01 -5.45364857e-04 -1.56796420e+00] [-7.08101377e-03 -1.97108328e-04 9.99974910e-01 -1.56957860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.234203822000005 meters 0.02780701002634872 Centerline is valid? [True, True] Translation: X:58.20, Y:-1.58, Z:-1.57 [[ 9.95047371e-01 9.90630585e-02 8.19997080e-03 5.82023799e+01] [-9.90611974e-02 9.95081141e-01 -6.33814722e-04 -1.57566015e+00] [-8.22242393e-03 -1.81623253e-04 9.99966179e-01 -1.56855304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264203822000006 meters 0.02512791558453747 Centerline is valid? [True, True] Translation: X:58.23, Y:-1.58, Z:-1.57 [[ 9.95375329e-01 9.56689504e-02 8.68364237e-03 5.82328957e+01] [-9.56667363e-02 9.95413193e-01 -6.70945390e-04 -1.58291316e+00] [-8.70800082e-03 -1.62893236e-04 9.99962071e-01 -1.56935648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29420382200001 meters 0.021550682523800796 Centerline is valid? [True, True] Translation: X:58.26, Y:-1.59, Z:-1.57 [[ 9.95692663e-01 9.23491022e-02 8.23191920e-03 5.82649889e+01] [-9.23470088e-02 9.95726683e-01 -6.34852878e-04 -1.59180842e+00] [-8.25536970e-03 -1.28074763e-04 9.99965916e-01 -1.56977649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32420382200001 meters 0.018239943865620584 Centerline is valid? [True, True] Translation: X:58.30, Y:-1.60, Z:-1.57 [[ 9.96252501e-01 8.62320785e-02 6.70696969e-03 5.82950348e+01] [-8.62305586e-02 9.96275075e-01 -5.16006761e-04 -1.60354795e+00] [-6.72648307e-03 -6.42727170e-05 9.99977375e-01 -1.57460731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.354203822 meters 0.015400022086146487 Centerline is valid? [True, True] Translation: X:58.33, Y:-1.61, Z:-1.57 [[ 9.96444501e-01 8.39515835e-02 7.10544126e-03 5.83264687e+01] [-8.39498124e-02 9.96469833e-01 -5.47665487e-04 -1.61163679e+00] [-7.12633526e-03 -5.07821980e-05 9.99974606e-01 -1.57170474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384203822 meters 0.014423126691289315 Centerline is valid? [True, True] Translation: X:58.36, Y:-1.62, Z:-1.57 [[ 9.96653185e-01 8.13414193e-02 8.12421766e-03 5.83569370e+01] [-8.13389980e-02 9.96686296e-01 -6.28548233e-04 -1.61711754e+00] [-8.14842341e-03 -3.43711256e-05 9.99966800e-01 -1.57133975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.414203822000005 meters 0.013973508344878278 Centerline is valid? [True, True] Translation: X:58.39, Y:-1.62, Z:-1.57 [[ 9.96639047e-01 8.15034258e-02 8.23418443e-03 5.83900180e+01] [-8.15009390e-02 9.96673061e-01 -6.37668037e-04 -1.61890100e+00] [-8.25876193e-03 -3.55688984e-05 9.99965895e-01 -1.57066221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444203822000006 meters 0.014159208948685937 Centerline is valid? [True, True] Translation: X:58.42, Y:-1.62, Z:-1.57 [[ 9.96573197e-01 8.22141092e-02 9.09417915e-03 5.84211963e+01] [-8.22110772e-02 9.96614689e-01 -7.07356854e-04 -1.62044484e+00] [-9.12154724e-03 -4.27093836e-05 9.99958397e-01 -1.57128081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47420382200001 meters 0.015950376051040393 Centerline is valid? [True, True] Translation: X:58.45, Y:-1.62, Z:-1.57 [[ 9.96339137e-01 8.49869151e-02 9.24920972e-03 5.84521748e+01] [-8.49838724e-02 9.96382065e-01 -7.22209683e-04 -1.61984203e+00] [-9.27712506e-03 -6.64678859e-05 9.99956964e-01 -1.57342864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50420382200001 meters 0.017083061387322625 Centerline is valid? [True, True] Translation: X:58.48, Y:-1.62, Z:-1.57 [[ 9.96186320e-01 8.68132333e-02 8.73376595e-03 5.84841240e+01] [-8.68105970e-02 9.96224601e-01 -6.81221671e-04 -1.61864813e+00] [-8.75993156e-03 -7.95597267e-05 9.99961628e-01 -1.57422849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53420382200001 meters 0.0183640594176518 Centerline is valid? [True, True] Translation: X:58.52, Y:-1.62, Z:-1.57 [[ 9.95979508e-01 8.91172736e-02 9.10671113e-03 5.85163319e+01] [-8.91144882e-02 9.96021135e-01 -7.11992125e-04 -1.61589827e+00] [-9.13392756e-03 -1.02410336e-04 9.99958280e-01 -1.57436706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.564203822 meters 0.019810095548789805 Centerline is valid? [True, True] Translation: X:58.55, Y:-1.61, Z:-1.57 [[ 9.95538824e-01 9.38073120e-02 1.01310646e-02 5.85485981e+01] [-9.38040849e-02 9.95590359e-01 -7.94291308e-04 -1.61023730e+00] [-1.01609005e-02 -1.59587407e-04 9.99948364e-01 -1.57064584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.594203822000004 meters 0.02554165657942355 Centerline is valid? [True, True] Translation: X:58.58, Y:-1.60, Z:-1.58 [[ 9.95304338e-01 9.63266651e-02 9.51039653e-03 5.85799721e+01] [-9.63239110e-02 9.95349760e-01 -7.48276863e-04 -1.60303219e+00] [-9.53824992e-03 -1.71315382e-04 9.99954495e-01 -1.57699238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624203822000005 meters 0.028737552771296214 Centerline is valid? [True, True] Translation: X:58.61, Y:-1.60, Z:-1.58 [[ 9.94819894e-01 1.01287538e-01 8.61475119e-03 5.86116029e+01] [-1.01285450e-01 9.94857174e-01 -6.79493550e-04 -1.59676872e+00] [-8.63927125e-03 -1.96575250e-04 9.99962661e-01 -1.57716727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65420382200001 meters 0.029532616353172073 Centerline is valid? [True, True] Translation: X:58.64, Y:-1.60, Z:-1.58 [[ 9.94579518e-01 1.03585391e-01 9.03600297e-03 5.86442535e+01] [-1.03583210e-01 9.94620538e-01 -7.10319195e-04 -1.59699693e+00] [-9.06097283e-03 -2.29509268e-04 9.99958922e-01 -1.57568553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68420382200001 meters 0.031472618464870275 Centerline is valid? [True, True] Translation: X:58.68, Y:-1.60, Z:-1.58 [[ 9.94382597e-01 1.05392745e-01 9.77856540e-03 5.86751875e+01] [-1.05390244e-01 9.94430641e-01 -7.72208119e-04 -1.59623505e+00] [-9.80549020e-03 -2.62695076e-04 9.99951891e-01 -1.57600908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71420382200001 meters 0.031472618464870275 Centerline is valid? [True, True] Translation: X:58.71, Y:-1.60, Z:-1.58 [[ 9.94362582e-01 1.05581410e-01 9.77864612e-03 5.87075732e+01] [-1.05578927e-01 9.94410627e-01 -7.71193580e-04 -1.59898251e+00] [-9.80541332e-03 -2.65572925e-04 9.99951891e-01 -1.57693222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744203822 meters 0.0331666180434315 Centerline is valid? [True, True] Translation: X:58.74, Y:-1.60, Z:-1.58 [[ 9.94226225e-01 1.06875660e-01 9.58158517e-03 5.87388208e+01] [-1.06873313e-01 9.94272357e-01 -7.58061123e-04 -1.59533054e+00] [-9.60772355e-03 -2.70331503e-04 9.99953808e-01 -1.57791240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.774203822000004 meters 0.033485946446670196 Centerline is valid? [True, True] Translation: X:58.77, Y:-1.59, Z:-1.58 [[ 9.94241423e-01 1.06789025e-01 8.94973405e-03 5.87714688e+01] [-1.06786971e-01 9.94281671e-01 -7.08503389e-04 -1.59467830e+00] [-8.97421692e-03 -2.51291570e-04 9.99959699e-01 -1.58079005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804203822000005 meters 0.03366362775957056 Centerline is valid? [True, True] Translation: X:58.80, Y:-1.59, Z:-1.58 [[ 9.94343423e-01 1.05900926e-01 8.13331845e-03 5.88026660e+01] [-1.05899175e-01 9.94376662e-01 -6.46833384e-04 -1.59479394e+00] [-8.15608231e-03 -2.18137194e-04 9.99966715e-01 -1.58422233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834203822000006 meters 0.02974632107328801 Centerline is valid? [True, True] Translation: X:58.83, Y:-1.60, Z:-1.58 [[ 9.94578186e-01 1.03656501e-01 8.34042712e-03 5.88337796e+01] [-1.03654564e-01 9.94613135e-01 -6.65297943e-04 -1.59835906e+00] [-8.36446082e-03 -2.02832516e-04 9.99964997e-01 -1.58454087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86420382200001 meters 0.030779288286881475 Centerline is valid? [True, True] Translation: X:58.87, Y:-1.60, Z:-1.59 [[ 9.94661873e-01 1.02785875e-01 9.10069222e-03 5.88653913e+01] [-1.02783552e-01 9.94703482e-01 -7.23844474e-04 -1.59890438e+00] [-9.12689123e-03 -2.15420975e-04 9.99958326e-01 -1.58639931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89420382200001 meters 0.03353094139670029 Centerline is valid? [True, True] Translation: X:58.90, Y:-1.61, Z:-1.58 [[ 9.94946717e-01 9.98394533e-02 1.06354929e-02 5.88962131e+01] [-9.98360580e-02 9.95003536e-01 -8.51014477e-04 -1.60827180e+00] [-1.06673179e-02 -2.15091630e-04 9.99943079e-01 -1.58078093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924203822 meters 0.02476391634076276 Centerline is valid? [True, True] Translation: X:58.93, Y:-1.61, Z:-1.58 [[ 9.95121573e-01 9.79530352e-02 1.17582732e-02 5.89274059e+01] [-9.79487748e-02 9.95191015e-01 -9.39044778e-04 -1.61129555e+00] [-1.17937101e-02 -2.17244735e-04 9.99930428e-01 -1.58224808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.954203822000004 meters 0.022471232649716472 Centerline is valid? [True, True] Translation: X:58.96, Y:-1.62, Z:-1.58 [[ 9.95305202e-01 9.59763088e-02 1.24941559e-02 5.89591451e+01] [-9.59713186e-02 9.95383598e-01 -9.99742948e-04 -1.61882937e+00] [-1.25324295e-02 -2.04031256e-04 9.99921445e-01 -1.57871343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.984203822000005 meters 0.020845177439738984 Centerline is valid? [True, True] Translation: X:58.99, Y:-1.62, Z:-1.58 [[ 9.95496292e-01 9.39749220e-02 1.24838797e-02 5.89906619e+01] [-9.39697554e-02 9.95574549e-01 -1.00109931e-03 -1.62021404e+00] [-1.25227111e-02 -1.76516475e-04 9.99921572e-01 -1.58402945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014203822000006 meters 0.015543745641925606 Centerline is valid? [True, True] Translation: X:59.02, Y:-1.64, Z:-1.59 [[ 9.96031404e-01 8.83709493e-02 1.05838578e-02 5.90219392e+01] [-8.83669068e-02 9.96087630e-01 -8.49904582e-04 -1.63506079e+00] [-1.06175567e-02 -8.87311176e-05 9.99943628e-01 -1.58617727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04420382200001 meters 0.02007023906562614 Centerline is valid? [True, True] Translation: X:59.05, Y:-1.64, Z:-1.59 [[ 9.96306569e-01 8.51533513e-02 1.10511359e-02 5.90529534e+01] [-8.51487229e-02 9.96367856e-01 -8.89506012e-04 -1.64372431e+00] [-1.10867410e-02 -5.47694240e-05 9.99938539e-01 -1.58675995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07420382200001 meters 0.012531133202430647 Centerline is valid? [True, True] Translation: X:59.08, Y:-1.65, Z:-1.59 [[ 9.96523338e-01 8.23586684e-02 1.25811970e-02 5.90843032e+01] [-8.23524118e-02 9.96602754e-01 -1.01543928e-03 -1.65210741e+00] [-1.26220858e-02 -2.41829736e-05 9.99920338e-01 -1.58521429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104203822 meters 0.01278091265889485 Centerline is valid? [True, True] Translation: X:59.12, Y:-1.66, Z:-1.59 [[ 9.96821566e-01 7.86586285e-02 1.26327270e-02 5.91163710e+01] [-7.86519899e-02 9.96901610e-01 -1.02223858e-03 -1.66232460e+00] [-1.26739937e-02 2.54003535e-05 9.99919681e-01 -1.58582614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.134203822 meters 0.01353675281478433 Centerline is valid? [True, True] Translation: X:59.15, Y:-1.67, Z:-1.59 [[ 9.96905630e-01 7.76629327e-02 1.21504283e-02 5.91469392e+01] [-7.76566916e-02 9.96979673e-01 -9.85316595e-04 -1.66791656e+00] [-1.21902526e-02 3.87055969e-05 9.99925695e-01 -1.58826852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164203822000005 meters 0.013538725331575373 Centerline is valid? [True, True] Translation: X:59.18, Y:-1.67, Z:-1.59 [[ 9.96905391e-01 7.76219200e-02 1.24289578e-02 5.91790549e+01] [-7.76153882e-02 9.96982866e-01 -1.00775251e-03 -1.67207893e+00] [-1.24696817e-02 3.99555195e-05 9.99922250e-01 -1.58903031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194203822000006 meters 0.01149899439033405 Centerline is valid? [True, True] Translation: X:59.21, Y:-1.67, Z:-1.59 [[ 9.96619863e-01 8.09342342e-02 1.40889710e-02 5.92114547e+01] [-8.09261267e-02 9.96719444e-01 -1.14554813e-03 -1.67074626e+00] [-1.41354654e-02 1.51017111e-06 9.99900089e-01 -1.58580654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22420382200001 meters 0.012005783419912455 Centerline is valid? [True, True] Translation: X:59.24, Y:-1.67, Z:-1.59 [[ 9.96373814e-01 8.40029579e-02 1.35175930e-02 5.92428575e+01] [-8.39957458e-02 9.96465504e-01 -1.10139765e-03 -1.67028422e+00] [-1.35623357e-02 -3.80165205e-05 9.99908027e-01 -1.58809631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25420382200001 meters 0.016724362093061385 Centerline is valid? [True, True] Translation: X:59.28, Y:-1.66, Z:-1.59 [[ 9.95726108e-01 9.16447494e-02 1.14349449e-02 5.92751703e+01] [-9.16400791e-02 9.95791758e-01 -9.32831428e-04 -1.66486469e+00] [-1.14723130e-02 -1.19054650e-04 9.99934184e-01 -1.59241933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28420382200001 meters 0.02025594463490663 Centerline is valid? [True, True] Translation: X:59.31, Y:-1.66, Z:-1.59 [[ 9.95328840e-01 9.59429734e-02 1.07446007e-02 5.93071327e+01] [-9.59390851e-02 9.95386820e-01 -8.77928531e-04 -1.66103637e+00] [-1.07792650e-02 -1.56999571e-04 9.99941890e-01 -1.59438142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.314203822 meters 0.025101711092082275 Centerline is valid? [True, True] Translation: X:59.34, Y:-1.65, Z:-1.60 [[ 9.94915603e-01 1.00246010e-01 9.67882210e-03 5.93373372e+01] [-1.00243031e-01 9.94962665e-01 -7.93703559e-04 -1.65435225e+00] [-9.70963225e-03 -1.80566408e-04 9.99952844e-01 -1.59832582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344203822000004 meters 0.027454943599663443 Centerline is valid? [True, True] Translation: X:59.37, Y:-1.65, Z:-1.60 [[ 9.94526929e-01 1.04141933e-01 8.40507788e-03 5.93688238e+01] [-1.04139818e-01 9.94562427e-01 -6.90057066e-04 -1.65009620e+00] [-8.43123854e-03 -1.89022946e-04 9.99964439e-01 -1.59956403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374203822000005 meters 0.034983281784141965 Centerline is valid? [True, True] Translation: X:59.40, Y:-1.63, Z:-1.60 [[ 9.93847619e-01 1.10448475e-01 8.24889395e-03 5.93992342e+01] [-1.10446646e-01 9.93881823e-01 -6.78295513e-04 -1.63476120e+00] [-8.27334246e-03 -2.36940290e-04 9.99965747e-01 -1.60270371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40420382200001 meters 0.03744566383098169 Centerline is valid? [True, True] Translation: X:59.43, Y:-1.63, Z:-1.60 [[ 9.93562412e-01 1.12954069e-01 8.66672469e-03 5.94311589e+01] [-1.12952174e-01 9.93600173e-01 -7.09386892e-04 -1.63234606e+00] [-8.69138729e-03 -2.74105242e-04 9.99962192e-01 -1.60291127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43420382200001 meters 0.043999659067747436 Centerline is valid? [True, True] Translation: X:59.46, Y:-1.63, Z:-1.61 [[ 9.93342236e-01 1.14854711e-01 8.92178810e-03 5.94623769e+01] [-1.14852754e-01 9.93382256e-01 -7.33121879e-04 -1.62569280e+00] [-8.94694849e-03 -2.96451007e-04 9.99959931e-01 -1.60697758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46420382200001 meters 0.04072613623440787 Centerline is valid? [True, True] Translation: X:59.49, Y:-1.63, Z:-1.60 [[ 9.93249915e-01 1.15617532e-01 9.33774742e-03 5.94947323e+01] [-1.15615427e-01 9.93293756e-01 -7.66637756e-04 -1.62832982e+00] [-9.36376297e-03 -3.18124774e-04 9.99956108e-01 -1.60466669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.494203822 meters 0.03744657948950876 Centerline is valid? [True, True] Translation: X:59.53, Y:-1.63, Z:-1.60 [[ 9.93413691e-01 1.14212742e-01 9.20260649e-03 5.95268997e+01] [-1.14210625e-01 9.93456270e-01 -7.56910788e-04 -1.63110895e+00] [-9.22883597e-03 -2.99109900e-04 9.99957369e-01 -1.60473638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524203822000004 meters 0.03255066430267813 Centerline is valid? [True, True] Translation: X:59.56, Y:-1.64, Z:-1.60 [[ 9.93682010e-01 1.11817882e-01 9.63455030e-03 5.95582336e+01] [-1.11815407e-01 9.93728675e-01 -7.96872176e-04 -1.63544884e+00] [-9.66323347e-03 -2.85453615e-04 9.99953269e-01 -1.60364302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554203822000005 meters 0.02670678559409074 Centerline is valid? [True, True] Translation: X:59.59, Y:-1.64, Z:-1.61 [[ 9.94509245e-01 1.04135381e-01 1.03530018e-02 5.95875702e+01] [-1.04132096e-01 9.94563106e-01 -8.57260193e-04 -1.64006423e+00] [-1.03859847e-02 -2.25526589e-04 9.99946039e-01 -1.60518975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584203822000006 meters 0.02602249558647682 Centerline is valid? [True, True] Translation: X:59.62, Y:-1.64, Z:-1.61 [[ 9.94971418e-01 9.96790013e-02 9.79665421e-03 5.96178013e+01] [-9.96758519e-02 9.95019632e-01 -8.10425560e-04 -1.64444481e+00] [-9.82864567e-03 -1.70139586e-04 9.99951683e-01 -1.61109675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61420382200001 meters 0.015507035032847841 Centerline is valid? [True, True] Translation: X:59.65, Y:-1.67, Z:-1.61 [[ 9.95908192e-01 8.98187339e-02 9.97339023e-03 5.96469731e+01] [-8.98149704e-02 9.95958126e-01 -8.25519029e-04 -1.66676254e+00] [-1.00072261e-02 -7.36185853e-05 9.99949924e-01 -1.60762408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64420382200001 meters 0.012984655077605337 Centerline is valid? [True, True] Translation: X:59.68, Y:-1.68, Z:-1.61 [[ 9.96296159e-01 8.52713640e-02 1.10796585e-02 5.96782983e+01] [-8.52664661e-02 9.96357764e-01 -9.14544229e-04 -1.67649547e+00] [-1.11172882e-02 -3.35664225e-05 9.99938200e-01 -1.60612325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.674203822 meters 0.012354732930884418 Centerline is valid? [True, True] Translation: X:59.71, Y:-1.68, Z:-1.60 [[ 9.96629452e-01 8.11340468e-02 1.21244135e-02 5.97104880e+01] [-8.11278454e-02 9.96703199e-01 -1.00325675e-03 -1.68317553e+00] [-1.21658400e-02 1.62476802e-05 9.99925993e-01 -1.60474940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704203822000004 meters 0.014901431369809792 Centerline is valid? [True, True] Translation: X:59.74, Y:-1.69, Z:-1.60 [[ 9.97094427e-01 7.50160160e-02 1.32401318e-02 5.97422058e+01] [-7.50080449e-02 9.97182324e-01 -1.09829897e-03 -1.68841589e+00] [-1.32852154e-02 1.01991384e-04 9.99911742e-01 -1.60455257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.734203822000005 meters 0.017310913082083663 Centerline is valid? [True, True] Translation: X:59.77, Y:-1.69, Z:-1.61 [[ 9.97187085e-01 7.36828530e-02 1.37387949e-02 5.97739634e+01] [-7.36741109e-02 9.97281716e-01 -1.14203003e-03 -1.69406511e+00] [-1.37855969e-02 1.26624101e-04 9.99904966e-01 -1.60759898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764203822000006 meters 0.01640802453312818 Centerline is valid? [True, True] Translation: X:59.81, Y:-1.70, Z:-1.61 [[ 9.97216157e-01 7.32623184e-02 1.38768928e-02 5.98064371e+01] [-7.32533248e-02 9.97312696e-01 -1.15596589e-03 -1.69740647e+00] [-1.39242901e-02 1.36219331e-04 9.99903043e-01 -1.60580105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79420382200001 meters 0.015667746289803604 Centerline is valid? [True, True] Translation: X:59.84, Y:-1.70, Z:-1.61 [[ 9.97126158e-01 7.45979988e-02 1.32122160e-02 5.98391338e+01] [-7.45899329e-02 9.97213681e-01 -1.10289867e-03 -1.70104213e+00] [-1.32576766e-02 1.14230811e-04 9.99912107e-01 -1.60713042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82420382200001 meters 0.014918298738200796 Centerline is valid? [True, True] Translation: X:59.87, Y:-1.70, Z:-1.61 [[ 9.96999857e-01 7.64199814e-02 1.22992695e-02 5.98723682e+01] [-7.64131052e-02 9.97075714e-01 -1.02872304e-03 -1.70075114e+00] [-1.23419179e-02 8.58113453e-05 9.99923832e-01 -1.60933581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.854203822 meters 0.013190878421210687 Centerline is valid? [True, True] Translation: X:59.91, Y:-1.69, Z:-1.61 [[ 9.96605091e-01 8.16745372e-02 1.03712443e-02 5.99065366e+01] [-8.16699203e-02 9.96659054e-01 -8.68613389e-04 -1.69126141e+00] [-1.04075381e-02 1.86458331e-05 9.99945840e-01 -1.61319806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884203822 meters 0.013456164356094646 Centerline is valid? [True, True] Translation: X:59.94, Y:-1.69, Z:-1.62 [[ 9.96320606e-01 8.51270643e-02 9.93143719e-03 5.99387102e+01] [-8.51229825e-02 9.96370103e-01 -8.33749507e-04 -1.68631191e+00] [-9.96636175e-03 -1.47117411e-05 9.99950334e-01 -1.61631589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.914203822000005 meters 0.014077691162348341 Centerline is valid? [True, True] Translation: X:59.97, Y:-1.68, Z:-1.62 [[ 9.96022752e-01 8.84710977e-02 1.05613845e-02 5.99716935e+01] [-8.84666339e-02 9.96078743e-01 -8.90005961e-04 -1.68099801e+00] [-1.05987104e-02 -4.78639522e-05 9.99943831e-01 -1.61681438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944203822000006 meters 0.016711588577454733 Centerline is valid? [True, True] Translation: X:60.00, Y:-1.68, Z:-1.62 [[ 9.95721430e-01 9.16985935e-02 1.14105806e-02 6.00040883e+01] [-9.16935870e-02 9.95786805e-01 -9.62245890e-04 -1.67542243e+00] [-1.14507422e-02 -8.81482096e-05 9.99934434e-01 -1.61981416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97420382200001 meters 0.018564329352846777 Centerline is valid? [True, True] Translation: X:60.04, Y:-1.67, Z:-1.62 [[ 9.95258800e-01 9.66176206e-02 1.11783482e-02 6.00369158e+01] [-9.66130803e-02 9.95321564e-01 -9.46731377e-04 -1.67314813e+00] [-1.12175220e-02 -1.37731920e-04 9.99937072e-01 -1.61750943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00420382200001 meters 0.01970354184012839 Centerline is valid? [True, True] Translation: X:60.07, Y:-1.67, Z:-1.62 [[ 9.95062070e-01 9.86128518e-02 1.12686496e-02 6.00687646e+01] [-9.86083830e-02 9.95125861e-01 -9.52857829e-04 -1.67429472e+00] [-1.13076887e-02 -1.63030633e-04 9.99936053e-01 -1.61776323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03420382200001 meters 0.020855696031689963 Centerline is valid? [True, True] Translation: X:60.10, Y:-1.67, Z:-1.62 [[ 9.94907819e-01 1.00034526e-01 1.23095870e-02 6.01011786e+01] [-1.00029273e-01 9.94983948e-01 -1.04322741e-03 -1.67338043e+00] [-1.23522003e-02 -1.93403932e-04 9.99923690e-01 -1.61734857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.064203822 meters 0.022556592011708638 Centerline is valid? [True, True] Translation: X:60.13, Y:-1.67, Z:-1.62 [[ 9.94719522e-01 1.01829479e-01 1.27996130e-02 6.01333165e+01] [-1.01823910e-01 9.94801844e-01 -1.08771170e-03 -1.66718669e+00] [-1.28438397e-02 -2.21338585e-04 9.99917490e-01 -1.61782801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.094203822000004 meters 0.02320143968163839 Centerline is valid? [True, True] Translation: X:60.16, Y:-1.67, Z:-1.62 [[ 9.94727244e-01 1.01835388e-01 1.21352603e-02 6.01647533e+01] [-1.01830350e-01 9.94801242e-01 -1.03392805e-03 -1.66732028e+00] [-1.21774625e-02 -2.07261402e-04 9.99925830e-01 -1.62096350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124203822000005 meters 0.024341817549791908 Centerline is valid? [True, True] Translation: X:60.20, Y:-1.67, Z:-1.63 [[ 9.94808268e-01 1.01179281e-01 1.09207955e-02 6.01953920e+01] [-1.01175153e-01 9.94868193e-01 -9.31208903e-04 -1.66816894e+00] [-1.09589711e-02 -1.78538840e-04 9.99939933e-01 -1.62596539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15420382200001 meters 0.021421052832659968 Centerline is valid? [True, True] Translation: X:60.23, Y:-1.67, Z:-1.63 [[ 9.94873820e-01 1.00656892e-01 9.70936226e-03 6.02270030e+01] [-1.00653613e-01 9.94921186e-01 -8.27040315e-04 -1.67413739e+00] [-9.74329752e-03 -1.54481632e-04 9.99952521e-01 -1.62565751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18420382200001 meters 0.02102879400108826 Centerline is valid? [True, True] Translation: X:60.26, Y:-1.68, Z:-1.63 [[ 9.94927809e-01 1.00209109e-01 8.76289597e-03 6.02595208e+01] [-1.00206412e-01 9.94966390e-01 -7.47429287e-04 -1.67649391e+00] [-8.79368619e-03 -1.34460180e-04 9.99961326e-01 -1.62765335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21420382200001 meters 0.020343543161580956 Centerline is valid? [True, True] Translation: X:60.29, Y:-1.68, Z:-1.63 [[ 9.94996122e-01 9.94539534e-02 9.57228684e-03 6.02921977e+01] [-9.94506604e-02 9.95042156e-01 -8.20579664e-04 -1.67853488e+00] [-9.60643883e-03 -1.35496665e-04 9.99953848e-01 -1.62750143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244203822 meters 0.018858730580119294 Centerline is valid? [True, True] Translation: X:60.32, Y:-1.68, Z:-1.63 [[ 9.95206937e-01 9.70710988e-02 1.18471626e-02 6.03224509e+01] [-9.70658630e-02 9.95277440e-01 -1.01750847e-03 -1.68191220e+00] [-1.18899843e-02 -1.37323574e-04 9.99929302e-01 -1.62570519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.274203822000004 meters 0.018372962931075217 Centerline is valid? [True, True] Translation: X:60.35, Y:-1.69, Z:-1.63 [[ 9.95323955e-01 9.59242388e-02 1.13474359e-02 6.03532281e+01] [-9.59193747e-02 9.95388631e-01 -9.73375921e-04 -1.68584085e+00] [-1.13884790e-02 -1.19614579e-04 9.99935142e-01 -1.62774171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304203822000005 meters 0.014944440731602199 Centerline is valid? [True, True] Translation: X:60.38, Y:-1.69, Z:-1.63 [[ 9.95589476e-01 9.32176936e-02 1.05856936e-02 6.03847341e+01] [-9.32133143e-02 9.95645748e-01 -9.07402804e-04 -1.69405710e+00] [-1.06241868e-02 -8.33269020e-05 9.99943558e-01 -1.62688275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334203822000006 meters 0.0151355262383994 Centerline is valid? [True, True] Translation: X:60.42, Y:-1.70, Z:-1.63 [[ 9.95689946e-01 9.20967977e-02 1.09412667e-02 6.04159620e+01] [-9.20920151e-02 9.95750056e-01 -9.41200841e-04 -1.69704650e+00] [-1.09814485e-02 -7.04590810e-05 9.99939700e-01 -1.62951741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36420382200001 meters 0.022716049215043502 Centerline is valid? [True, True] Translation: X:60.45, Y:-1.70, Z:-1.63 [[ 9.95725929e-01 9.15877282e-02 1.18979742e-02 6.04472083e+01] [-9.15820301e-02 9.95797009e-01 -1.02402578e-03 -1.69986848e+00] [-1.19417553e-02 -6.99916107e-05 9.99928692e-01 -1.62912303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39420382200001 meters 0.013236051727093344 Centerline is valid? [True, True] Translation: X:60.48, Y:-1.70, Z:-1.63 [[ 9.95732006e-01 9.12627564e-02 1.37433860e-02 6.04798821e+01] [-9.12550730e-02 9.95826844e-01 -1.18643993e-03 -1.70202408e+00] [-1.37943105e-02 -7.27774820e-05 9.99904851e-01 -1.62550640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424203822 meters 0.013095506258485042 Centerline is valid? [True, True] Translation: X:60.51, Y:-1.71, Z:-1.63 [[ 9.95752767e-01 9.10931176e-02 1.33593375e-02 6.05125222e+01] [-9.10858463e-02 9.95842377e-01 -1.15299695e-03 -1.70594708e+00] [-1.34088245e-02 -6.87466567e-05 9.99910095e-01 -1.62623586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.454203822000004 meters 0.013237284465843699 Centerline is valid? [True, True] Translation: X:60.54, Y:-1.71, Z:-1.63 [[ 9.95819436e-01 9.05290673e-02 1.21712014e-02 6.05441549e+01] [-9.05229624e-02 9.95893812e-01 -1.05269563e-03 -1.71226644e+00] [-1.22165237e-02 -5.34784360e-05 9.99925374e-01 -1.62912441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.484203822000005 meters 0.012759548630957449 Centerline is valid? [True, True] Translation: X:60.58, Y:-1.72, Z:-1.63 [[ 9.95781519e-01 9.08752796e-02 1.26826405e-02 6.05763270e+01] [-9.08686504e-02 9.95862280e-01 -1.09916682e-03 -1.71611587e+00] [-1.27300503e-02 -5.79244205e-05 9.99918968e-01 -1.62827241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514203822000006 meters 0.01405702753458526 Centerline is valid? [True, True] Translation: X:60.61, Y:-1.72, Z:-1.63 [[ 9.95720835e-01 9.15763673e-02 1.24011237e-02 6.06077749e+01] [-9.15700607e-02 9.95798054e-01 -1.07660478e-03 -1.71793668e+00] [-1.24476064e-02 -6.35738401e-05 9.99922524e-01 -1.63219621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54420382200001 meters 0.013581188823034687 Centerline is valid? [True, True] Translation: X:60.64, Y:-1.72, Z:-1.63 [[ 9.95644183e-01 9.25601623e-02 1.11927626e-02 6.06395667e+01] [-9.25550679e-02 9.95707091e-01 -9.73396527e-04 -1.72044567e+00] [-1.12348108e-02 -6.67903134e-05 9.99936885e-01 -1.63125536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57420382200001 meters 0.01593874793273693 Centerline is valid? [True, True] Translation: X:60.67, Y:-1.72, Z:-1.63 [[ 9.95304572e-01 9.62173338e-02 1.05372572e-02 6.06714016e+01] [-9.62130048e-02 9.95360344e-01 -9.18166914e-04 -1.71588811e+00] [-1.05767116e-02 -9.99654537e-05 9.99944060e-01 -1.63433152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60420382200001 meters 0.01608201170111008 Centerline is valid? [True, True] Translation: X:60.70, Y:-1.72, Z:-1.63 [[ 9.95101883e-01 9.82170663e-02 1.12094159e-02 6.07043928e+01] [-9.82122787e-02 9.95165007e-01 -9.78110829e-04 -1.71630848e+00] [-1.12512856e-02 -1.27582349e-04 9.99936694e-01 -1.63271580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.634203822 meters 0.01608201170111008 Centerline is valid? [True, True] Translation: X:60.74, Y:-1.72, Z:-1.63 [[ 9.95081846e-01 9.84198814e-02 1.12092173e-02 6.07367543e+01] [-9.84150811e-02 9.95144970e-01 -9.80377021e-04 -1.71932621e+00] [-1.12512848e-02 -1.27600656e-04 9.99936694e-01 -1.63363896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664203822000005 meters 0.020945624451385522 Centerline is valid? [True, True] Translation: X:60.77, Y:-1.72, Z:-1.64 [[ 9.94717060e-01 1.02005966e-01 1.15218777e-02 6.07682426e+01] [-1.02001098e-01 9.94783773e-01 -1.01091413e-03 -1.71539506e+00] [-1.15648962e-02 -1.69670642e-04 9.99933110e-01 -1.63774005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694203822000006 meters 0.022061561406896683 Centerline is valid? [True, True] Translation: X:60.80, Y:-1.72, Z:-1.64 [[ 9.94578140e-01 1.03385725e-01 1.12123247e-02 6.07998337e+01] [-1.03381181e-01 9.94641322e-01 -9.85694665e-04 -1.71767720e+00] [-1.12541482e-02 -1.78792997e-04 9.99936654e-01 -1.63889838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72420382200001 meters 0.02126927827722393 Centerline is valid? [True, True] Translation: X:60.83, Y:-1.72, Z:-1.64 [[ 9.94485425e-01 1.04312208e-01 1.08490432e-02 6.08312795e+01] [-1.04307993e-01 9.94544584e-01 -9.55168327e-04 -1.72193356e+00] [-1.08894928e-02 -1.81740940e-04 9.99940691e-01 -1.63865950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75420382200001 meters 0.021958352247296215 Centerline is valid? [True, True] Translation: X:60.86, Y:-1.72, Z:-1.64 [[ 9.94423639e-01 1.04891178e-01 1.09300833e-02 6.08636418e+01] [-1.04886920e-01 9.94483688e-01 -9.63671267e-04 -1.72438140e+00] [-1.09708701e-02 -1.88125285e-04 9.99939800e-01 -1.64003904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78420382200001 meters 0.022482323903139423 Centerline is valid? [True, True] Translation: X:60.89, Y:-1.73, Z:-1.64 [[ 9.94479966e-01 1.04119264e-01 1.29913601e-02 6.08949320e+01] [-1.04113121e-01 9.94564797e-01 -1.15012196e-03 -1.72683210e+00] [-1.30404993e-02 -2.08797804e-04 9.99914947e-01 -1.63889747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.814203822 meters 0.02064251233935019 Centerline is valid? [True, True] Translation: X:60.93, Y:-1.73, Z:-1.64 [[ 9.94602942e-01 1.02841902e-01 1.37306796e-02 6.09271728e+01] [-1.02834897e-01 9.94697694e-01 -1.21711307e-03 -1.73329716e+00] [-1.37830456e-02 -2.01448788e-04 9.99904989e-01 -1.63787961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844203822000004 meters 0.017941972113369942 Centerline is valid? [True, True] Translation: X:60.96, Y:-1.74, Z:-1.64 [[ 9.94870997e-01 1.00044065e-01 1.49293094e-02 6.09580842e+01] [-1.00035456e-01 9.94982992e-01 -1.32421092e-03 -1.74163788e+00] [-1.49868884e-02 -1.76041238e-04 9.99887675e-01 -1.63691888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874203822000005 meters 0.015834586721682913 Centerline is valid? [True, True] Translation: X:60.99, Y:-1.75, Z:-1.64 [[ 9.94966182e-01 9.90619592e-02 1.51335900e-02 6.09895584e+01] [-9.90529669e-02 9.95081254e-01 -1.34444992e-03 -1.74879565e+00] [-1.51923355e-02 -1.61344784e-04 9.99884577e-01 -1.63578973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90420382200001 meters 0.0148657903489716 Centerline is valid? [True, True] Translation: X:61.02, Y:-1.76, Z:-1.64 [[ 9.95061265e-01 9.81882586e-02 1.45651637e-02 6.10222310e+01] [-9.81798076e-02 9.95167848e-01 -1.29585996e-03 -1.75627246e+00] [-1.46220208e-02 -1.40544912e-04 9.99893083e-01 -1.63744224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93420382200001 meters 0.016442388484309706 Centerline is valid? [True, True] Translation: X:61.05, Y:-1.76, Z:-1.64 [[ 9.95179739e-01 9.71564037e-02 1.33386859e-02 6.10526754e+01] [-9.71491741e-02 9.95269120e-01 -1.19042148e-03 -1.76493893e+00] [-1.33912392e-02 -1.11158976e-04 9.99910327e-01 -1.64476453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96420382200001 meters 0.01598496632384452 Centerline is valid? [True, True] Translation: X:61.09, Y:-1.77, Z:-1.64 [[ 9.95091215e-01 9.80452610e-02 1.34387708e-02 6.10852277e+01] [-9.80380045e-02 9.95181949e-01 -1.19928297e-03 -1.76911250e+00] [-1.34916061e-02 -1.24114328e-04 9.99908976e-01 -1.64385095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.994203822 meters 0.01707715019869947 Centerline is valid? [True, True] Translation: X:61.12, Y:-1.77, Z:-1.64 [[ 9.94935639e-01 9.97103126e-02 1.26857192e-02 6.11173892e+01] [-9.97039513e-02 9.95016500e-01 -1.13447899e-03 -1.77033694e+00] [-1.27356192e-02 -1.36082750e-04 9.99918889e-01 -1.64489441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024203822 meters 0.021653248697493334 Centerline is valid? [True, True] Translation: X:61.15, Y:-1.77, Z:-1.65 [[ 9.94430191e-01 1.04871676e-01 1.05131931e-02 6.11487976e+01] [-1.04867561e-01 9.94485749e-01 -9.43506935e-04 -1.76642003e+00] [-1.05541679e-02 -1.64241139e-04 9.99944290e-01 -1.64873628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054203822 meters 0.025336684925397424 Centerline is valid? [True, True] Translation: X:61.18, Y:-1.77, Z:-1.65 [[ 9.94070021e-01 1.08325501e-01 9.50684537e-03 6.11798702e+01] [-1.08322300e-01 9.94115462e-01 -8.52435556e-04 -1.76505711e+00] [-9.54324249e-03 -1.82422729e-04 9.99954446e-01 -1.65169614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08420382199999 meters 0.027040550592103342 Centerline is valid? [True, True] Translation: X:61.21, Y:-1.77, Z:-1.65 [[ 9.93691399e-01 1.11819772e-01 8.58730349e-03 6.12114371e+01] [-1.11817277e-01 9.93728485e-01 -7.71630057e-04 -1.76707432e+00] [-8.61973158e-03 -1.93446742e-04 9.99962831e-01 -1.65198871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114203822 meters 0.03643886233500346 Centerline is valid? [True, True] Translation: X:61.24, Y:-1.76, Z:-1.65 [[ 9.92824717e-01 1.19252782e-01 8.82358494e-03 6.12417777e+01] [-1.19250433e-01 9.92863890e-01 -7.93772368e-04 -1.75860491e+00] [-8.85527843e-03 -2.64139497e-04 9.99960756e-01 -1.65363945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144203822 meters 0.040741738338121766 Centerline is valid? [True, True] Translation: X:61.27, Y:-1.75, Z:-1.65 [[ 9.92385136e-01 1.22826086e-01 9.24632286e-03 6.12727908e+01] [-1.22823670e-01 9.92428162e-01 -8.30892981e-04 -1.75436673e+00] [-9.27836653e-03 -3.11101460e-04 9.99956907e-01 -1.65426245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174203822 meters 0.044019951345472264 Centerline is valid? [True, True] Translation: X:61.30, Y:-1.75, Z:-1.65 [[ 9.92003319e-01 1.25827392e-01 9.84286107e-03 6.13046927e+01] [-1.25824796e-01 9.92052084e-01 -8.85028260e-04 -1.75095476e+00] [-9.87599164e-03 -3.60525012e-04 9.99951166e-01 -1.65453170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204203822 meters 0.04575627686090328 Centerline is valid? [True, True] Translation: X:61.34, Y:-1.75, Z:-1.65 [[ 9.91677811e-01 1.28309262e-01 1.05760323e-02 6.13360777e+01] [-1.28306403e-01 9.91734119e-01 -9.51243713e-04 -1.74978084e+00] [-1.06106655e-02 -4.13645380e-04 9.99943620e-01 -1.65397198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.234203822 meters 0.05123601038968936 Centerline is valid? [True, True] Translation: X:61.37, Y:-1.74, Z:-1.65 [[ 9.91110985e-01 1.32526200e-01 1.16542284e-02 6.13659686e+01] [-1.32523014e-01 9.91179374e-01 -1.04861588e-03 -1.74421027e+00] [-1.16903999e-02 -5.05158753e-04 9.99931537e-01 -1.65384536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264203822 meters 0.052701724372356144 Centerline is valid? [True, True] Translation: X:61.40, Y:-1.74, Z:-1.65 [[ 9.90955969e-01 1.33654572e-01 1.19466894e-02 6.13962561e+01] [-1.33651299e-01 9.91027837e-01 -1.07551399e-03 -1.74487130e+00] [-1.19832491e-02 -5.30903556e-04 9.99928057e-01 -1.65421637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.294203822 meters 0.0535428954900224 Centerline is valid? [True, True] Translation: X:61.43, Y:-1.75, Z:-1.66 [[ 9.90918896e-01 1.33944748e-01 1.17705772e-02 6.14265049e+01] [-1.33941592e-01 9.90988661e-01 -1.05965929e-03 -1.74533633e+00] [-1.18064444e-02 -5.26533433e-04 9.99930163e-01 -1.65626569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324203822 meters 0.048272141268783694 Centerline is valid? [True, True] Translation: X:61.46, Y:-1.75, Z:-1.66 [[ 9.91038618e-01 1.33088140e-01 1.14019457e-02 6.14568877e+01] [-1.33085126e-01 9.91104080e-01 -1.02607018e-03 -1.75310429e+00] [-1.14370726e-02 -5.00554203e-04 9.99934469e-01 -1.65588200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.354203822 meters 0.04927160572490762 Centerline is valid? [True, True] Translation: X:61.49, Y:-1.75, Z:-1.66 [[ 9.91216040e-01 1.31762498e-01 1.13757221e-02 6.14869435e+01] [-1.31759403e-01 9.91281196e-01 -1.02438365e-03 -1.75304482e+00] [-1.14115147e-02 -4.83472843e-04 9.99934770e-01 -1.65791169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384203822 meters 0.04621450838559389 Centerline is valid? [True, True] Translation: X:61.52, Y:-1.76, Z:-1.66 [[ 9.91715973e-01 1.27802779e-01 1.28793764e-02 6.15159256e+01] [-1.27798476e-01 9.91799478e-01 -1.15994878e-03 -1.75647075e+00] [-1.29220035e-02 -4.95624951e-04 9.99916385e-01 -1.65661098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414203822 meters 0.04313355724801099 Centerline is valid? [True, True] Translation: X:61.55, Y:-1.76, Z:-1.66 [[ 9.92003355e-01 1.25571844e-01 1.26907484e-02 6.15475289e+01] [-1.25567497e-01 9.92084422e-01 -1.14186941e-03 -1.76228976e+00] [-1.27336804e-02 -4.60807228e-04 9.99918817e-01 -1.65741842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444203822 meters 0.040771552393416864 Centerline is valid? [True, True] Translation: X:61.58, Y:-1.77, Z:-1.66 [[ 9.92284281e-01 1.23380751e-01 1.22105099e-02 6.15785616e+01] [-1.23376549e-01 9.92359319e-01 -1.09967825e-03 -1.76745962e+00] [-1.22528924e-02 -4.15297137e-04 9.99924844e-01 -1.65966594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47420382199999 meters 0.03357012305865605 Centerline is valid? [True, True] Translation: X:61.61, Y:-1.78, Z:-1.66 [[ 9.92767088e-01 1.19535209e-01 1.11733139e-02 6.16094961e+01] [-1.19531447e-01 9.92829905e-01 -1.00624762e-03 -1.77845157e+00] [-1.12134822e-02 -3.36592861e-04 9.99937070e-01 -1.65986401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504203822 meters 0.035902561410950835 Centerline is valid? [True, True] Translation: X:61.64, Y:-1.78, Z:-1.66 [[ 9.92883343e-01 1.18572365e-01 1.11022754e-02 6.16407656e+01] [-1.18568598e-01 9.92945361e-01 -9.99206891e-04 -1.77735414e+00] [-1.11424312e-02 -3.24285352e-04 9.99937869e-01 -1.66336761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534203822 meters 0.03189890265032087 Centerline is valid? [True, True] Translation: X:61.67, Y:-1.78, Z:-1.66 [[ 9.93034548e-01 1.17317471e-01 1.09085709e-02 6.16729932e+01] [-1.17313741e-01 9.93094416e-01 -9.83426617e-04 -1.78375315e+00] [-1.09486139e-02 -3.03148647e-04 9.99940016e-01 -1.66265071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564203822 meters 0.032111155274555506 Centerline is valid? [True, True] Translation: X:61.70, Y:-1.78, Z:-1.67 [[ 9.93201504e-01 1.15934946e-01 1.04814763e-02 6.17041719e+01] [-1.15931438e-01 9.93256770e-01 -9.43766993e-04 -1.78192506e+00] [-1.05202129e-02 -2.77781820e-04 9.99944622e-01 -1.66557354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.594203822 meters 0.031216132948455357 Centerline is valid? [True, True] Translation: X:61.74, Y:-1.78, Z:-1.67 [[ 9.93268891e-01 1.15415594e-01 9.80568483e-03 6.17360967e+01] [-1.15412487e-01 9.93317259e-01 -8.84015392e-04 -1.78284607e+00] [-9.84218513e-03 -2.53633487e-04 9.99951532e-01 -1.66747704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.624203822 meters 0.03164569788876661 Centerline is valid? [True, True] Translation: X:61.77, Y:-1.78, Z:-1.67 [[ 9.93396053e-01 1.14442078e-01 8.20325921e-03 6.17666061e+01] [-1.14439840e-01 9.93429902e-01 -7.43262471e-04 -1.77899643e+00] [-8.23442349e-03 -2.00425667e-04 9.99966076e-01 -1.67297545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.654203822 meters 0.030683322546077536 Centerline is valid? [True, True] Translation: X:61.80, Y:-1.78, Z:-1.67 [[ 9.93456083e-01 1.13929112e-01 8.07276513e-03 6.17976018e+01] [-1.13926927e-01 9.93488863e-01 -7.31530566e-04 -1.78039069e+00] [-8.10354488e-03 -1.92961833e-04 9.99967147e-01 -1.67412936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684203822 meters 0.03078113922524261 Centerline is valid? [True, True] Translation: X:61.83, Y:-1.78, Z:-1.68 [[ 9.93541712e-01 1.13158440e-01 8.36859377e-03 6.18276522e+01] [-1.13156062e-01 9.93576937e-01 -7.58684550e-04 -1.78028720e+00] [-8.40069333e-03 -1.93172365e-04 9.99964695e-01 -1.67504290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.714203822 meters 0.030656982946583946 Centerline is valid? [True, True] Translation: X:61.86, Y:-1.78, Z:-1.67 [[ 9.93722602e-01 1.11502863e-01 9.08304346e-03 6.18580814e+01] [-1.11499992e-01 9.93764094e-01 -8.23455520e-04 -1.77970396e+00] [-9.11822009e-03 -1.94472908e-04 9.99958409e-01 -1.67240706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744203822 meters 0.027460257910777212 Centerline is valid? [True, True] Translation: X:61.89, Y:-1.78, Z:-1.67 [[ 9.93845632e-01 1.10389876e-01 9.21604489e-03 6.18882622e+01] [-1.10386875e-01 9.93888344e-01 -8.35286272e-04 -1.77838665e+00] [-9.25192674e-03 -1.87184781e-04 9.99957182e-01 -1.67449063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774203822 meters 0.0279253120572708 Centerline is valid? [True, True] Translation: X:61.92, Y:-1.78, Z:-1.68 [[ 9.93997602e-01 1.09018547e-01 9.15011085e-03 6.19181872e+01] [-1.09015525e-01 9.94039701e-01 -8.29868332e-04 -1.77628027e+00] [-9.18604449e-03 -1.72617008e-04 9.99957793e-01 -1.67756379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804203822 meters 0.024764014128087486 Centerline is valid? [True, True] Translation: X:61.95, Y:-1.78, Z:-1.68 [[ 9.94163580e-01 1.07516506e-01 8.88686539e-03 6.19485106e+01] [-1.07513598e-01 9.94203288e-01 -8.05672260e-04 -1.77850634e+00] [-8.92197385e-03 -1.54488854e-04 9.99960186e-01 -1.67625737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83420382199999 meters 0.021213050955320948 Centerline is valid? [True, True] Translation: X:61.98, Y:-1.78, Z:-1.68 [[ 9.94446272e-01 1.04922008e-01 8.24521604e-03 6.19791166e+01] [-1.04919415e-01 9.94480446e-01 -7.47501121e-04 -1.77600140e+00] [-8.27813545e-03 -1.21733544e-04 9.99965728e-01 -1.67562394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864203822 meters 0.019601148277981623 Centerline is valid? [True, True] Translation: X:62.01, Y:-1.78, Z:-1.68 [[ 9.94548434e-01 1.03919518e-01 8.61081961e-03 6.20094674e+01] [-1.03916651e-01 9.94585703e-01 -7.80893062e-04 -1.77530616e+00] [-8.64534810e-03 -1.18171562e-04 9.99962621e-01 -1.67507594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894203822 meters 0.019576379010746516 Centerline is valid? [True, True] Translation: X:62.04, Y:-1.77, Z:-1.68 [[ 9.94751395e-01 1.01838489e-01 9.92892241e-03 6.20394831e+01] [-1.01834582e-01 9.94800939e-01 -8.99542709e-04 -1.77083140e+00] [-9.96890941e-03 -1.16286303e-04 9.99950302e-01 -1.67763746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924203822 meters 0.018392289027934165 Centerline is valid? [True, True] Translation: X:62.07, Y:-1.77, Z:-1.68 [[ 9.94897387e-01 1.00388166e-01 1.00700682e-02 6.20698671e+01] [-1.00384066e-01 9.94948343e-01 -9.13075225e-04 -1.77195831e+00] [-1.01108597e-02 -1.02458239e-04 9.99948879e-01 -1.67790937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954203822 meters 0.017547596201208875 Centerline is valid? [True, True] Translation: X:62.10, Y:-1.77, Z:-1.68 [[ 9.95046194e-01 9.88619396e-02 1.04588689e-02 6.21000379e+01] [-9.88574323e-02 9.95101155e-01 -9.48328637e-04 -1.77143529e+00] [-1.05013861e-02 -9.03061240e-05 9.99944855e-01 -1.67832223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.984203822 meters 0.01294822460871589 Centerline is valid? [True, True] Translation: X:62.13, Y:-1.77, Z:-1.67 [[ 9.95319608e-01 9.55978663e-02 1.41394836e-02 6.21316067e+01] [-9.55893014e-02 9.95420033e-01 -1.28188569e-03 -1.76804429e+00] [-1.41972708e-02 -7.56973978e-05 9.99899211e-01 -1.66969662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.014203822 meters 0.011593110920383185 Centerline is valid? [True, True] Translation: X:62.16, Y:-1.77, Z:-1.67 [[ 9.95467274e-01 9.38203531e-02 1.55771255e-02 6.21630348e+01] [-9.38097391e-02 9.95589141e-01 -1.41229260e-03 -1.76878126e+00] [-1.56409188e-02 -5.53950124e-05 9.99877672e-01 -1.66856837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044203822 meters 0.011284036648393291 Centerline is valid? [True, True] Translation: X:62.19, Y:-1.77, Z:-1.67 [[ 9.95667325e-01 9.16675313e-02 1.56090401e-02 6.21944623e+01] [-9.16566174e-02 9.95789668e-01 -1.41466409e-03 -1.77078290e+00] [-1.56729996e-02 -2.21370028e-05 9.99877171e-01 -1.67040686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.074203822 meters 0.012804051110239656 Centerline is valid? [True, True] Translation: X:62.23, Y:-1.78, Z:-1.67 [[ 9.96213279e-01 8.56464840e-02 1.49593567e-02 6.22257915e+01] [-8.56357722e-02 9.96325587e-01 -1.35634220e-03 -1.77613565e+00] [-1.50205558e-02 7.01500405e-05 9.99887183e-01 -1.67254144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104203822 meters 0.014474696001527215 Centerline is valid? [True, True] Translation: X:62.26, Y:-1.78, Z:-1.67 [[ 9.96516828e-01 8.20290753e-02 1.50147099e-02 6.22576716e+01] [-8.20178421e-02 9.96629929e-01 -1.36343507e-03 -1.78231034e+00] [-1.50759505e-02 1.27211895e-04 9.99886343e-01 -1.67232402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.134203822 meters 0.017507211055558507 Centerline is valid? [True, True] Translation: X:62.29, Y:-1.79, Z:-1.67 [[ 9.96806048e-01 7.84942342e-02 1.47091168e-02 6.22893739e+01] [-7.84830328e-02 9.96914552e-01 -1.33811698e-03 -1.79069672e+00] [-1.47687671e-02 1.79426999e-04 9.99890920e-01 -1.67463353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164203822 meters 0.02346991940897267 Centerline is valid? [True, True] Translation: X:62.32, Y:-1.80, Z:-1.68 [[ 9.97343399e-01 7.18271857e-02 1.21243366e-02 6.23193172e+01] [-7.18190367e-02 9.97417065e-01 -1.10675162e-03 -1.80186475e+00] [-1.21725151e-02 2.33053253e-04 9.99925885e-01 -1.67957295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194203822 meters 0.026265336390754207 Centerline is valid? [True, True] Translation: X:62.35, Y:-1.81, Z:-1.68 [[ 9.97515296e-01 6.96122127e-02 1.08339313e-02 6.23496989e+01] [-6.96055882e-02 9.97574101e-01 -9.87782729e-04 -1.80679323e+00] [-1.08764110e-02 2.31226222e-04 9.99940823e-01 -1.68294479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22420382199999 meters 0.029252872131024028 Centerline is valid? [True, True] Translation: X:62.38, Y:-1.81, Z:-1.69 [[ 9.97653426e-01 6.77010113e-02 1.02085783e-02 6.23806858e+01] [-6.76950351e-02 9.97705626e-01 -9.30212988e-04 -1.81352068e+00] [-1.02481324e-02 2.36960105e-04 9.99947458e-01 -1.68602080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254203822 meters 0.029653443963390456 Centerline is valid? [True, True] Translation: X:62.41, Y:-1.82, Z:-1.69 [[ 9.97617261e-01 6.82880655e-02 9.82554266e-03 6.24123543e+01] [-6.82825481e-02 9.97665620e-01 -8.96295190e-04 -1.81699448e+00] [-9.86381237e-03 2.23246463e-04 9.99951326e-01 -1.68777380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284203822 meters 0.02836861288228238 Centerline is valid? [True, True] Translation: X:62.44, Y:-1.82, Z:-1.69 [[ 9.97530658e-01 6.96304983e-02 9.17492787e-03 6.24448390e+01] [-6.96257300e-02 9.97572832e-01 -8.38489671e-04 -1.81739013e+00] [-9.21104323e-03 1.97608102e-04 9.99957558e-01 -1.68910882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314203822 meters 0.025235749430050875 Centerline is valid? [True, True] Translation: X:62.48, Y:-1.82, Z:-1.69 [[ 9.97366499e-01 7.19155402e-02 9.39264948e-03 6.24776516e+01] [-7.19106294e-02 9.97410709e-01 -8.59960674e-04 -1.81511869e+00] [-9.43017371e-03 1.82264631e-04 9.99955518e-01 -1.68815689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.344203822 meters 0.020386234458578057 Centerline is valid? [True, True] Translation: X:62.51, Y:-1.81, Z:-1.69 [[ 9.96873553e-01 7.81894965e-02 1.13807375e-02 6.25084632e+01] [-7.81826290e-02 9.96938503e-01 -1.04777005e-03 -1.81135449e+00] [-1.14278201e-02 1.54718274e-04 9.99934688e-01 -1.68798841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.374203822 meters 0.01739988377010423 Centerline is valid? [True, True] Translation: X:62.54, Y:-1.81, Z:-1.69 [[ 9.96578127e-01 8.17461032e-02 1.22315760e-02 6.25401084e+01] [-8.17384679e-02 9.96653179e-01 -1.12368381e-03 -1.81037105e+00] [-1.22824959e-02 1.20048426e-04 9.99924560e-01 -1.68711185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404203822 meters 0.014694885842960644 Centerline is valid? [True, True] Translation: X:62.57, Y:-1.81, Z:-1.69 [[ 9.96290498e-01 8.50691704e-02 1.29799446e-02 6.25720013e+01] [-8.50607998e-02 9.96375044e-01 -1.19660365e-03 -1.80797963e+00] [-1.30346870e-02 8.80803815e-05 9.99915041e-01 -1.68643408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.434203822 meters 0.011531655653398197 Centerline is valid? [True, True] Translation: X:62.60, Y:-1.80, Z:-1.68 [[ 9.95723069e-01 9.13416027e-02 1.38665299e-02 6.26032467e+01] [-9.13326475e-02 9.95819618e-01 -1.27904131e-03 -1.79895388e+00] [-1.39253922e-02 7.10405157e-06 9.99903037e-01 -1.68444978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464203822 meters 0.01179406806880736 Centerline is valid? [True, True] Translation: X:62.63, Y:-1.80, Z:-1.69 [[ 9.95488463e-01 9.38839380e-02 1.37305080e-02 6.26343041e+01] [-9.38753993e-02 9.95583148e-01 -1.26649472e-03 -1.79778518e+00] [-1.37887659e-02 -2.81760372e-05 9.99904930e-01 -1.68586547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.494203822 meters 0.01179406806880736 Centerline is valid? [True, True] Translation: X:62.66, Y:-1.80, Z:-1.69 [[ 9.95488463e-01 9.38839380e-02 1.37305080e-02 6.26641685e+01] [-9.38753993e-02 9.95583148e-01 -1.26649472e-03 -1.80053986e+00] [-1.37887659e-02 -2.81760371e-05 9.99904930e-01 -1.68671705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524203822 meters 0.01362446492369516 Centerline is valid? [True, True] Translation: X:62.69, Y:-1.80, Z:-1.69 [[ 9.95108099e-01 9.77111024e-02 1.45743629e-02 6.26941559e+01] [-9.77018947e-02 9.95214818e-01 -1.34415466e-03 -1.79892938e+00] [-1.46359607e-02 -8.63636835e-05 9.99892885e-01 -1.68797847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554203822 meters 0.01368014823729974 Centerline is valid? [True, True] Translation: X:62.72, Y:-1.80, Z:-1.69 [[ 9.95014882e-01 9.85653621e-02 1.51741103e-02 6.27248149e+01] [-9.85554745e-02 9.95130574e-01 -1.39984784e-03 -1.80175960e+00] [-1.52381976e-02 -1.02622208e-04 9.99883887e-01 -1.68739026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58420382199999 meters 0.014246374612262556 Centerline is valid? [True, True] Translation: X:62.75, Y:-1.80, Z:-1.69 [[ 9.94962507e-01 9.89814135e-02 1.58836497e-02 6.27543141e+01] [-9.89706303e-02 9.95089276e-01 -1.46545191e-03 -1.80491954e+00] [-1.59507020e-02 -1.13945115e-04 9.99872773e-01 -1.68853131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614203822 meters 0.013521118913221433 Centerline is valid? [True, True] Translation: X:62.79, Y:-1.81, Z:-1.69 [[ 9.95015393e-01 9.84330066e-02 1.59784760e-02 6.27854588e+01] [-9.84220336e-02 9.95143674e-01 -1.47356990e-03 -1.81301830e+00] [-1.60459272e-02 -1.06409368e-04 9.99871250e-01 -1.68900716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644203822 meters 0.025582709928299655 Centerline is valid? [True, True] Translation: X:62.82, Y:-1.82, Z:-1.69 [[ 9.95055574e-01 9.81543698e-02 1.51698404e-02 6.28162657e+01] [-9.81444421e-02 9.95171197e-01 -1.39931766e-03 -1.81775420e+00] [-1.52339374e-02 -9.64366891e-05 9.99883952e-01 -1.68980028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674203822 meters 0.01282869327634634 Centerline is valid? [True, True] Translation: X:62.85, Y:-1.82, Z:-1.69 [[ 9.95130419e-01 9.73938671e-02 1.51619117e-02 6.28474061e+01] [-9.73838560e-02 9.95245913e-01 -1.39895044e-03 -1.82348146e+00] [-1.52260799e-02 -8.43872882e-05 9.99884073e-01 -1.69135332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704203822 meters 0.01197622813418461 Centerline is valid? [True, True] Translation: X:62.88, Y:-1.83, Z:-1.69 [[ 9.95254666e-01 9.60296405e-02 1.56989837e-02 6.28779428e+01] [-9.60187314e-02 9.95378473e-01 -1.44891129e-03 -1.83227338e+00] [-1.57655688e-02 -6.53607787e-05 9.99875714e-01 -1.69258659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.734203822 meters 0.011695525713608686 Centerline is valid? [True, True] Translation: X:62.91, Y:-1.84, Z:-1.69 [[ 9.95365664e-01 9.48157481e-02 1.60364725e-02 6.29088812e+01] [-9.48042272e-02 9.95494838e-01 -1.47882894e-03 -1.84000159e+00] [-1.61044418e-02 -4.83498294e-05 9.99870314e-01 -1.69433783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764203822 meters 0.01135838110913185 Centerline is valid? [True, True] Translation: X:62.94, Y:-1.85, Z:-1.70 [[ 9.95499531e-01 9.34097558e-02 1.59781230e-02 6.29400561e+01] [-9.33980984e-02 9.95627750e-01 -1.47587713e-03 -1.84873356e+00] [-1.60461240e-02 -2.30913153e-05 9.99871252e-01 -1.69553168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.794203822 meters 0.011258339927698991 Centerline is valid? [True, True] Translation: X:62.97, Y:-1.86, Z:-1.70 [[ 9.95747192e-01 9.08135168e-02 1.55059279e-02 6.29714523e+01] [-9.08021921e-02 9.95867915e-01 -1.43427770e-03 -1.86368879e+00] [-1.55721079e-02 2.02057540e-05 9.99878747e-01 -1.69608252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824203822 meters 0.011654763587336435 Centerline is valid? [True, True] Translation: X:63.00, Y:-1.87, Z:-1.70 [[ 9.95793660e-01 9.03735581e-02 1.50866456e-02 6.30027982e+01] [-9.03627415e-02 9.95907937e-01 -1.39850295e-03 -1.87155592e+00] [-1.51512978e-02 2.93497122e-05 9.99885212e-01 -1.69835647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.854203822 meters 0.01240383420295586 Centerline is valid? [True, True] Translation: X:63.03, Y:-1.88, Z:-1.70 [[ 9.95685248e-01 9.19665338e-02 1.23710593e-02 6.30343994e+01] [-9.19593647e-02 9.95762098e-01 -1.14830648e-03 -1.87911732e+00] [-1.24242377e-02 5.71706836e-06 9.99922816e-01 -1.70277225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884203822 meters 0.013231763688338238 Centerline is valid? [True, True] Translation: X:63.07, Y:-1.88, Z:-1.71 [[ 9.95506321e-01 9.39533984e-02 1.18289192e-02 6.30650341e+01] [-9.39469603e-02 9.95576596e-01 -1.09999013e-03 -1.88149977e+00] [-1.18799429e-02 -1.62438728e-05 9.99929431e-01 -1.70641725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914203822 meters 0.012941322363201337 Centerline is valid? [True, True] Translation: X:63.10, Y:-1.88, Z:-1.70 [[ 9.95281976e-01 9.62373094e-02 1.23356924e-02 6.30963811e+01] [-9.62304307e-02 9.95358417e-01 -1.15135907e-03 -1.88298357e+00] [-1.23892390e-02 -4.11420688e-05 9.99923250e-01 -1.70451777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944203822 meters 0.014659446724209976 Centerline is valid? [True, True] Translation: X:63.13, Y:-1.88, Z:-1.71 [[ 9.94994013e-01 9.90718676e-02 1.31026744e-02 6.31270432e+01] [-9.90643453e-02 9.95080277e-01 -1.22349536e-03 -1.88225836e+00] [-1.31594269e-02 -8.06373034e-05 9.99913408e-01 -1.70595581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97420382199999 meters 0.019770980243841326 Centerline is valid? [True, True] Translation: X:63.16, Y:-1.88, Z:-1.70 [[ 9.94278696e-01 1.05822275e-01 1.45437655e-02 6.31592431e+01] [-1.05813728e-01 9.94385041e-01 -1.35812115e-03 -1.87740712e+00] [-1.46058223e-02 -1.88579116e-04 9.99893312e-01 -1.70492674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004203822 meters 0.022156945101160102 Centerline is valid? [True, True] Translation: X:63.19, Y:-1.88, Z:-1.70 [[ 9.93914346e-01 1.09115152e-01 1.51048295e-02 6.31910824e+01] [-1.09106307e-01 9.94029086e-01 -1.41088739e-03 -1.87804332e+00] [-1.51685891e-02 -2.45730941e-04 9.99884920e-01 -1.70401250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034203822 meters 0.024692249446024807 Centerline is valid? [True, True] Translation: X:63.22, Y:-1.88, Z:-1.70 [[ 9.93602875e-01 1.11819903e-01 1.57998585e-02 6.32225816e+01] [-1.11810560e-01 9.93728444e-01 -1.47621566e-03 -1.87887894e+00] [-1.58658391e-02 -2.99818902e-04 9.99874085e-01 -1.70365101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064203822 meters 0.030889120491469593 Centerline is valid? [True, True] Translation: X:63.25, Y:-1.88, Z:-1.70 [[ 9.93125216e-01 1.15861170e-01 1.66881488e-02 6.32524506e+01] [-1.15851305e-01 9.93265343e-01 -1.55991346e-03 -1.87599555e+00] [-1.67564932e-02 -3.84154422e-04 9.99859526e-01 -1.70412115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.094203822 meters 0.029728060676751187 Centerline is valid? [True, True] Translation: X:63.28, Y:-1.88, Z:-1.70 [[ 9.92997209e-01 1.17017652e-01 1.62299870e-02 6.32821695e+01] [-1.17008475e-01 9.93129757e-01 -1.51709914e-03 -1.88161394e+00] [-1.62960105e-02 -3.92570830e-04 9.99867134e-01 -1.70448934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.124203822 meters 0.03170508143420079 Centerline is valid? [True, True] Translation: X:63.31, Y:-1.88, Z:-1.71 [[ 9.92946988e-01 1.17500148e-01 1.58112170e-02 6.33118512e+01] [-1.17491502e-01 9.93072788e-01 -1.47786976e-03 -1.88332610e+00] [-1.58753393e-02 -3.90237313e-04 9.99873903e-01 -1.70748747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.154203822 meters 0.029747661847934582 Centerline is valid? [True, True] Translation: X:63.34, Y:-1.89, Z:-1.71 [[ 9.93043682e-01 1.16702480e-01 1.56453239e-02 6.33417938e+01] [-1.16693912e-01 9.93166850e-01 -1.46255434e-03 -1.89050217e+00] [-1.57091008e-02 -3.73333708e-04 9.99876535e-01 -1.70842757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184203822 meters 0.029225935211569624 Centerline is valid? [True, True] Translation: X:63.37, Y:-1.90, Z:-1.71 [[ 9.93165092e-01 1.15762861e-01 1.49016591e-02 6.33721845e+01] [-1.15754987e-01 9.93276821e-01 -1.39272082e-03 -1.89591480e+00] [-1.49626980e-02 -3.41739658e-04 9.99887994e-01 -1.71117985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.214203822 meters 0.027077452991607964 Centerline is valid? [True, True] Translation: X:63.40, Y:-1.90, Z:-1.71 [[ 9.93374015e-01 1.14084606e-01 1.38841584e-02 6.34025713e+01] [-1.14077603e-01 9.93470994e-01 -1.29790222e-03 -1.90445271e+00] [-1.39415793e-02 -2.94569184e-04 9.99902768e-01 -1.71427471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244203822 meters 0.02307797972490794 Centerline is valid? [True, True] Translation: X:63.43, Y:-1.92, Z:-1.72 [[ 9.93852158e-01 1.09842368e-01 1.38759606e-02 6.34331634e+01] [-1.09834958e-01 9.93948992e-01 -1.29729558e-03 -1.91917064e+00] [-1.39344951e-02 -2.34745535e-04 9.99902883e-01 -1.71659458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274203822 meters 0.019713608021936935 Centerline is valid? [True, True] Translation: X:63.47, Y:-1.93, Z:-1.72 [[ 9.94106101e-01 1.07514237e-01 1.39193342e-02 6.34650965e+01] [-1.07506550e-01 9.94203524e-01 -1.30148300e-03 -1.92855123e+00] [-1.39785791e-02 -2.02607414e-04 9.99902274e-01 -1.71608442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304203822 meters 0.018054585736117672 Centerline is valid? [True, True] Translation: X:63.50, Y:-1.94, Z:-1.72 [[ 9.94369054e-01 1.05065361e-01 1.38367239e-02 6.34957602e+01] [-1.05057535e-01 9.94465305e-01 -1.29320565e-03 -1.93567055e+00] [-1.38960130e-02 -1.67728440e-04 9.99903432e-01 -1.71751339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33420382199999 meters 0.014670346289639815 Centerline is valid? [True, True] Translation: X:63.53, Y:-1.95, Z:-1.72 [[ 9.94839032e-01 1.00512524e-01 1.38756099e-02 6.35258660e+01] [-1.00504181e-01 9.94935788e-01 -1.29907045e-03 -1.94818655e+00] [-1.39359137e-02 -1.02190817e-04 9.99902885e-01 -1.71963197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364203822 meters 0.01415678415322271 Centerline is valid? [True, True] Translation: X:63.56, Y:-1.96, Z:-1.72 [[ 9.95011547e-01 9.88638985e-02 1.33398128e-02 6.35572090e+01] [-9.88560180e-02 9.95100962e-01 -1.25047568e-03 -1.95570105e+00] [-1.33980875e-02 -7.44830345e-05 9.99910239e-01 -1.72235717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394203822 meters 0.013313750623434024 Centerline is valid? [True, True] Translation: X:63.59, Y:-1.96, Z:-1.72 [[ 9.95140311e-01 9.76065149e-02 1.29895752e-02 6.35893398e+01] [-9.75989097e-02 9.95225083e-01 -1.21963180e-03 -1.96385774e+00] [-1.30465951e-02 -5.40636050e-05 9.99914888e-01 -1.72351841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424203822 meters 0.013402191296061596 Centerline is valid? [True, True] Translation: X:63.62, Y:-1.97, Z:-1.72 [[ 9.95204579e-01 9.69488965e-02 1.29906935e-02 6.36205354e+01] [-9.69411992e-02 9.95289360e-01 -1.22240026e-03 -1.97106656e+00] [-1.30480094e-02 -4.27950766e-05 9.99914870e-01 -1.72467711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454203822 meters 0.012763188930090666 Centerline is valid? [True, True] Translation: X:63.65, Y:-1.97, Z:-1.72 [[ 9.95092418e-01 9.80167551e-02 1.35570853e-02 6.36535949e+01] [-9.80084392e-02 9.95184763e-01 -1.27803266e-03 -1.97335991e+00] [-1.36170734e-02 -5.69481571e-05 9.99907282e-01 -1.72198196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.484203822 meters 0.016873007266197258 Centerline is valid? [True, True] Translation: X:63.69, Y:-1.97, Z:-1.72 [[ 9.94929316e-01 9.96433672e-02 1.36694896e-02 6.36860061e+01] [-9.96350262e-02 9.95023213e-01 -1.29155004e-03 -1.97394010e+00] [-1.37301539e-02 -7.69589623e-05 9.99905734e-01 -1.72336764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.514203822 meters 0.01507550885248636 Centerline is valid? [True, True] Translation: X:63.72, Y:-1.97, Z:-1.73 [[ 9.94764845e-01 1.01338370e-01 1.31696152e-02 6.37176623e+01] [-1.01330742e-01 9.94852012e-01 -1.24692275e-03 -1.97456384e+00] [-1.32281793e-02 -9.40919615e-05 9.99912499e-01 -1.72603365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544203822 meters 0.01610963540060803 Centerline is valid? [True, True] Translation: X:63.75, Y:-1.98, Z:-1.73 [[ 9.94570648e-01 1.03282397e-01 1.27268422e-02 6.37493573e+01] [-1.03275396e-01 9.94652067e-01 -1.20788439e-03 -1.97528007e+00] [-1.27835331e-02 -1.13043302e-04 9.99918281e-01 -1.72711353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.574203822 meters 0.0159648531109836 Centerline is valid? [True, True] Translation: X:63.78, Y:-1.98, Z:-1.73 [[ 9.94562161e-01 1.03350972e-01 1.28329107e-02 6.37821955e+01] [-1.03343864e-01 9.94644943e-01 -1.21757048e-03 -1.97863093e+00] [-1.28900268e-02 -1.15253049e-04 9.99916914e-01 -1.72842127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604203822 meters 0.015631775404136503 Centerline is valid? [True, True] Translation: X:63.81, Y:-1.98, Z:-1.73 [[ 9.94628261e-01 1.02716921e-01 1.28006287e-02 6.38131183e+01] [-1.02709758e-01 9.94710623e-01 -1.21751837e-03 -1.98268410e+00] [-1.28579811e-02 -1.03771294e-04 9.99917327e-01 -1.73013208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.634203822 meters 0.015048473438817904 Centerline is valid? [True, True] Translation: X:63.85, Y:-1.99, Z:-1.73 [[ 9.94725897e-01 1.01796822e-01 1.25616929e-02 6.38453779e+01] [-1.01789833e-01 9.94805207e-01 -1.19609987e-03 -1.98810956e+00] [-1.26181967e-02 -8.88611033e-05 9.99920383e-01 -1.73197234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664203822 meters 0.01353039066686589 Centerline is valid? [True, True] Translation: X:63.88, Y:-2.00, Z:-1.73 [[ 9.95099309e-01 9.82590312e-02 1.10692455e-02 6.38773539e+01] [-9.82533705e-02 9.95160872e-01 -1.05536339e-03 -2.00040041e+00] [-1.11193790e-02 -3.73992939e-05 9.99938177e-01 -1.73492849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694203822 meters 0.013564421123540515 Centerline is valid? [True, True] Translation: X:63.91, Y:-2.01, Z:-1.74 [[ 9.95313231e-01 9.60116798e-02 1.15468355e-02 6.39074961e+01] [-9.60053326e-02 9.95380207e-01 -1.10402299e-03 -2.00822661e+00] [-1.15994906e-02 -9.70909618e-06 9.99932724e-01 -1.73690235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72420382199999 meters 0.013830007939402806 Centerline is valid? [True, True] Translation: X:63.94, Y:-2.02, Z:-1.73 [[ 9.95716792e-01 9.14354430e-02 1.36977983e-02 6.39377193e+01] [-9.14260348e-02 9.95811005e-01 -1.31278463e-03 -2.02293389e+00] [-1.37604533e-02 5.48263137e-05 9.99905319e-01 -1.73461596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754203822 meters 0.015322228714418804 Centerline is valid? [True, True] Translation: X:63.97, Y:-2.03, Z:-1.74 [[ 9.95905452e-01 8.93451790e-02 1.37756745e-02 6.39680099e+01] [-8.93354213e-02 9.96000719e-01 -1.32329481e-03 -2.03163858e+00] [-1.38388117e-02 8.72208343e-05 9.99904235e-01 -1.73527911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784203822 meters 0.015319516158353499 Centerline is valid? [True, True] Translation: X:64.00, Y:-2.04, Z:-1.73 [[ 9.96045799e-01 8.78243549e-02 1.34033550e-02 6.39993013e+01] [-8.78149787e-02 9.96135970e-01 -1.28762091e-03 -2.03762129e+00] [-1.34646485e-02 1.05514066e-04 9.99909342e-01 -1.73368873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814203822 meters 0.016750151079564898 Centerline is valid? [True, True] Translation: X:64.03, Y:-2.05, Z:-1.74 [[ 9.96141130e-01 8.68359825e-02 1.27421358e-02 6.40293496e+01] [-8.68274043e-02 9.96222615e-01 -1.22593263e-03 -2.04567257e+00] [-1.28004589e-02 1.14835336e-04 9.99918064e-01 -1.73649681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.844203822 meters 0.01703100009377811 Centerline is valid? [True, True] Translation: X:64.06, Y:-2.05, Z:-1.74 [[ 9.96099203e-01 8.73227496e-02 1.26931507e-02 6.40613952e+01] [-8.73142554e-02 9.96180067e-01 -1.22289444e-03 -2.05135641e+00] [-1.27514502e-02 1.09831179e-04 9.99918691e-01 -1.73840704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.874203822 meters 0.014853465128550828 Centerline is valid? [True, True] Translation: X:64.09, Y:-2.05, Z:-1.74 [[ 9.95998288e-01 8.84847715e-02 1.25640365e-02 6.40940643e+01] [-8.84765186e-02 9.96077525e-01 -1.21228345e-03 -2.05420557e+00] [-1.26220231e-02 9.58100293e-05 9.99920335e-01 -1.73546160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904203822 meters 0.014776325316394626 Centerline is valid? [True, True] Translation: X:64.12, Y:-2.06, Z:-1.74 [[ 9.95813917e-01 9.04713372e-02 1.30222823e-02 6.41246877e+01] [-9.04625958e-02 9.95899057e-01 -1.25995439e-03 -2.05856659e+00] [-1.30828685e-02 7.66506573e-05 9.99914413e-01 -1.73831920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.934203822 meters 0.01332374655395103 Centerline is valid? [True, True] Translation: X:64.16, Y:-2.06, Z:-1.74 [[ 9.95269158e-01 9.64127506e-02 1.19952137e-02 6.41583340e+01] [-9.64057509e-02 9.95341440e-01 -1.16175531e-03 -2.05718571e+00] [-1.20513413e-02 -1.48353845e-07 9.99927380e-01 -1.73978187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964203822 meters 0.01414161254627736 Centerline is valid? [True, True] Translation: X:64.19, Y:-2.05, Z:-1.74 [[ 9.94874747e-01 1.00473737e-01 1.13694911e-02 6.41895321e+01] [-1.00467685e-01 9.94939710e-01 -1.10365766e-03 -2.05491413e+00] [-1.14228468e-02 -4.42653097e-05 9.99934756e-01 -1.74157671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.994203822 meters 0.016253373194481655 Centerline is valid? [True, True] Translation: X:64.22, Y:-2.05, Z:-1.74 [[ 9.94447351e-01 1.04638735e-01 1.11893332e-02 6.42221180e+01] [-1.04633120e-01 9.94510295e-01 -1.08765399e-03 -2.05226733e+00] [-1.12417178e-02 -8.91602145e-05 9.99936806e-01 -1.74313538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024203822 meters 0.01918918127358607 Centerline is valid? [True, True] Translation: X:64.25, Y:-2.05, Z:-1.74 [[ 9.93987051e-01 1.08885669e-01 1.15608824e-02 6.42543469e+01] [-1.08879938e-01 9.94054270e-01 -1.12582346e-03 -2.05050069e+00] [-1.16147306e-02 -1.39694225e-04 9.99932537e-01 -1.74389307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054203822 meters 0.026457055485658236 Centerline is valid? [True, True] Translation: X:64.29, Y:-2.04, Z:-1.74 [[ 9.93233503e-01 1.15470869e-01 1.23970836e-02 6.42855327e+01] [-1.15464732e-01 9.93310841e-01 -1.21204311e-03 -2.04281377e+00] [-1.24541133e-02 -2.27584117e-04 9.99922419e-01 -1.74433575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08420382199999 meters 0.028402500031607283 Centerline is valid? [True, True] Translation: X:64.32, Y:-2.04, Z:-1.74 [[ 9.92908642e-01 1.18232112e-01 1.23934255e-02 6.43180248e+01] [-1.18226199e-01 9.92985951e-01 -1.21128470e-03 -2.04158762e+00] [-1.24497102e-02 -2.62532546e-04 9.99922465e-01 -1.74406768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114203822 meters 0.028847248239610688 Centerline is valid? [True, True] Translation: X:64.35, Y:-2.04, Z:-1.74 [[ 9.92655163e-01 1.20319713e-01 1.26052843e-02 6.43503142e+01] [-1.20313780e-01 9.92735151e-01 -1.23071699e-03 -2.04249760e+00] [-1.26617884e-02 -2.94911834e-04 9.99919793e-01 -1.74360640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144203822 meters 0.029802408387281966 Centerline is valid? [True, True] Translation: X:64.38, Y:-2.04, Z:-1.74 [[ 9.92524200e-01 1.21361075e-01 1.29306409e-02 6.43827096e+01] [-1.21354891e-01 9.92608377e-01 -1.26475148e-03 -2.04459550e+00] [-1.29885540e-02 -3.13900062e-04 9.99915596e-01 -1.74485359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174203822 meters 0.02915343247276569 Centerline is valid? [True, True] Translation: X:64.41, Y:-2.05, Z:-1.75 [[ 9.92593411e-01 1.20822694e-01 1.26569223e-02 6.44147638e+01] [-1.20816699e-01 9.92674059e-01 -1.23998333e-03 -2.04948114e+00] [-1.27140166e-02 -2.98368289e-04 9.99919129e-01 -1.74604141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204203822 meters 0.028345090527551346 Centerline is valid? [True, True] Translation: X:64.45, Y:-2.05, Z:-1.75 [[ 9.92733037e-01 1.19678198e-01 1.25796250e-02 6.44457028e+01] [-1.19672156e-01 9.92812697e-01 -1.23467688e-03 -2.05412578e+00] [-1.26369753e-02 -2.79726318e-04 9.99920111e-01 -1.74728437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.234203822 meters 0.026201846406266178 Centerline is valid? [True, True] Translation: X:64.48, Y:-2.06, Z:-1.75 [[ 9.92887949e-01 1.18365818e-01 1.27692836e-02 6.44772348e+01] [-1.18359461e-01 9.92970021e-01 -1.25511612e-03 -2.06095808e+00] [-1.28280786e-02 -2.65175850e-04 9.99917682e-01 -1.74735633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264203822 meters 0.02334511241639582 Centerline is valid? [True, True] Translation: X:64.51, Y:-2.07, Z:-1.75 [[ 9.93255765e-01 1.15208313e-01 1.30395398e-02 6.45072760e+01] [-1.15201351e-01 9.93341328e-01 -1.28629687e-03 -2.06842959e+00] [-1.31009059e-02 -2.24550812e-04 9.99914154e-01 -1.74677405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.294203822 meters 0.02154676585238411 Centerline is valid? [True, True] Translation: X:64.54, Y:-2.07, Z:-1.75 [[ 9.93411333e-01 1.13782039e-01 1.36956604e-02 6.45391066e+01] [-1.13774252e-01 9.93505712e-01 -1.34895888e-03 -2.07378127e+00] [-1.37602042e-02 -2.18142477e-04 9.99905300e-01 -1.74634353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324203822 meters 0.02012069346938696 Centerline is valid? [True, True] Translation: X:64.57, Y:-2.08, Z:-1.75 [[ 9.93574049e-01 1.12277958e-01 1.42922841e-02 6.45705503e+01] [-1.12269284e-01 9.93676818e-01 -1.41031136e-03 -2.07828953e+00] [-1.43602582e-02 -2.03335737e-04 9.99896866e-01 -1.74642954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.354203822 meters 0.01717188384065621 Centerline is valid? [True, True] Translation: X:64.60, Y:-2.08, Z:-1.75 [[ 9.94049382e-01 1.07831441e-01 1.54339189e-02 6.46002946e+01] [-1.07820714e-01 9.94169180e-01 -1.52784303e-03 -2.08349748e+00] [-1.55086760e-02 -1.45344729e-04 9.99879723e-01 -1.74768408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384203822 meters 0.01360506720173049 Centerline is valid? [True, True] Translation: X:64.63, Y:-2.09, Z:-1.75 [[ 9.94362462e-01 1.04815883e-01 1.60288741e-02 6.46315343e+01] [-1.04803949e-01 9.94491639e-01 -1.58507062e-03 -2.09232138e+00] [-1.61067219e-02 -1.03754577e-04 9.99870273e-01 -1.74610164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414203822 meters 0.011562781423049057 Centerline is valid? [True, True] Translation: X:64.66, Y:-2.10, Z:-1.75 [[ 9.94711656e-01 1.01372885e-01 1.65002607e-02 6.46631241e+01] [-1.01359719e-01 9.94848499e-01 -1.63446751e-03 -2.10193527e+00] [-1.65809502e-02 -4.66378965e-05 9.99862526e-01 -1.74553264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444203822 meters 0.011562781423049057 Centerline is valid? [True, True] Translation: X:64.70, Y:-2.11, Z:-1.75 [[ 9.94692002e-01 1.01565596e-01 1.65000121e-02 6.46954421e+01] [-1.01552414e-01 9.94828843e-01 -1.63697131e-03 -2.10533683e+00] [-1.65809480e-02 -4.73338000e-05 9.99862526e-01 -1.74645563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47420382199999 meters 0.012922435100173513 Centerline is valid? [True, True] Translation: X:64.73, Y:-2.12, Z:-1.75 [[ 9.95356336e-01 9.48634086e-02 1.63308840e-02 6.47251634e+01] [-9.48495343e-02 9.95490296e-01 -1.62377928e-03 -2.12052351e+00] [-1.64112737e-02 6.72622536e-05 9.99865324e-01 -1.74962822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504203822 meters 0.013409526695066959 Centerline is valid? [True, True] Translation: X:64.76, Y:-2.13, Z:-1.75 [[ 9.95541775e-01 9.29775659e-02 1.58665221e-02 6.47573547e+01] [-9.29641950e-02 9.95668199e-01 -1.57979610e-03 -2.12647343e+00] [-1.59446771e-02 9.77345554e-05 9.99872871e-01 -1.74890914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534203822 meters 0.014803847788728935 Centerline is valid? [True, True] Translation: X:64.79, Y:-2.13, Z:-1.75 [[ 9.95624162e-01 9.22398828e-02 1.49777203e-02 6.47879946e+01] [-9.22278337e-02 9.95736809e-01 -1.49467894e-03 -2.13193432e+00] [-1.50517364e-02 1.06775767e-04 9.99886710e-01 -1.75249220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564203822 meters 0.01385881442869406 Centerline is valid? [True, True] Translation: X:64.82, Y:-2.13, Z:-1.75 [[ 9.95472839e-01 9.39441907e-02 1.44331634e-02 6.48210471e+01] [-9.39331825e-02 9.95577462e-01 -1.44023105e-03 -2.13216349e+00] [-1.45046336e-02 7.79579168e-05 9.99894799e-01 -1.75407776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.594203822 meters 0.013281505169755754 Centerline is valid? [True, True] Translation: X:64.85, Y:-2.13, Z:-1.76 [[ 9.95321661e-01 9.55523115e-02 1.43020172e-02 6.48534729e+01] [-9.55416270e-02 9.95424408e-01 -1.43002745e-03 -2.13311775e+00] [-1.43732194e-02 5.68993074e-05 9.99896698e-01 -1.75551738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.624203822 meters 0.013100882101743485 Centerline is valid? [True, True] Translation: X:64.89, Y:-2.13, Z:-1.76 [[ 9.95173722e-01 9.71865378e-02 1.35661126e-02 6.48862082e+01] [-9.71770489e-02 9.95266183e-01 -1.35846616e-03 -2.13383473e+00] [-1.36339177e-02 3.35950363e-05 9.99907053e-01 -1.75719147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.654203822 meters 0.012751603132301616 Centerline is valid? [True, True] Translation: X:64.92, Y:-2.13, Z:-1.76 [[ 9.94865424e-01 1.00417721e-01 1.26122844e-02 6.49191693e+01] [-1.00409749e-01 9.94945366e-01 -1.26531034e-03 -2.12897848e+00] [-1.26755935e-02 -7.58280805e-06 9.99919661e-01 -1.75858373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684203822 meters 0.012904328844111529 Centerline is valid? [True, True] Translation: X:64.95, Y:-2.13, Z:-1.76 [[ 9.94650430e-01 1.02464576e-01 1.30970284e-02 6.49509770e+01] [-1.02456110e-01 9.94736653e-01 -1.31746940e-03 -2.12721399e+00] [-1.31630881e-02 -3.14490773e-05 9.99913362e-01 -1.75912275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.714203822 meters 0.01415360178486901 Centerline is valid? [True, True] Translation: X:64.98, Y:-2.13, Z:-1.76 [[ 9.94387511e-01 1.04922733e-01 1.35903904e-02 6.49831534e+01] [-1.04913845e-01 9.94480375e-01 -1.36727424e-03 -2.12523766e+00] [-1.36588347e-02 -6.62196866e-05 9.99906712e-01 -1.76090371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744203822 meters 0.015110428915624377 Centerline is valid? [True, True] Translation: X:65.02, Y:-2.12, Z:-1.76 [[ 9.94100748e-01 1.07605436e-01 1.35931499e-02 6.50159556e+01] [-1.07596759e-01 9.94193673e-01 -1.37019833e-03 -2.12412612e+00] [-1.36616644e-02 -1.00463680e-04 9.99906670e-01 -1.76001094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774203822 meters 0.016453412391788734 Centerline is valid? [True, True] Translation: X:65.05, Y:-2.12, Z:-1.76 [[ 9.93807993e-01 1.10234274e-01 1.39311586e-02 6.50482207e+01] [-1.10225385e-01 9.93905622e-01 -1.40662494e-03 -2.12237305e+00] [-1.40013151e-02 -1.37652213e-04 9.99901967e-01 -1.75897235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804203822 meters 0.018101196264698693 Centerline is valid? [True, True] Translation: X:65.08, Y:-2.12, Z:-1.75 [[ 9.93298468e-01 1.14344391e-01 1.68378484e-02 6.50826039e+01] [-1.14331938e-01 9.93441144e-01 -1.70354643e-03 -2.11656192e+00] [-1.69222024e-02 -2.32973778e-04 9.99856782e-01 -1.75346479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83420382199999 meters 0.019970684066814647 Centerline is valid? [True, True] Translation: X:65.12, Y:-2.11, Z:-1.75 [[ 9.93136457e-01 1.15525242e-01 1.82728454e-02 6.51151708e+01] [-1.15510698e-01 9.93304508e-01 -1.85295094e-03 -2.11386869e+00] [-1.83645623e-02 -2.70475988e-04 9.99831321e-01 -1.75379231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864203822 meters 0.019791458247952958 Centerline is valid? [True, True] Translation: X:65.15, Y:-2.11, Z:-1.76 [[ 9.93177098e-01 1.15364761e-01 1.70359621e-02 6.51479320e+01] [-1.15352044e-01 9.93323166e-01 -1.73050468e-03 -2.11194943e+00] [-1.71218551e-02 -2.46435449e-04 9.99853380e-01 -1.75650305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894203822 meters 0.018090997167620436 Centerline is valid? [True, True] Translation: X:65.18, Y:-2.12, Z:-1.76 [[ 9.93365428e-01 1.13803440e-01 1.65500514e-02 6.51798168e+01] [-1.13791179e-01 9.93503263e-01 -1.68373499e-03 -2.11607810e+00] [-1.66341449e-02 -2.10685739e-04 9.99861621e-01 -1.75833578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924203822 meters 0.01618134507778933 Centerline is valid? [True, True] Translation: X:65.21, Y:-2.12, Z:-1.76 [[ 9.93651928e-01 1.11293900e-01 1.64168455e-02 6.52107196e+01] [-1.11281446e-01 9.93787523e-01 -1.67305027e-03 -2.12163079e+00] [-1.65010565e-02 -1.64460677e-04 9.99863835e-01 -1.75998139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954203822 meters 0.02180554742508516 Centerline is valid? [True, True] Translation: X:65.24, Y:-2.13, Z:-1.76 [[ 9.93974929e-01 1.08286778e-01 1.69651190e-02 6.52426799e+01] [-1.08272995e-01 9.94119691e-01 -1.73152230e-03 -2.12860513e+00] [-1.70528598e-02 -1.15774494e-04 9.99854583e-01 -1.75932638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.984203822 meters 0.011473007439848961 Centerline is valid? [True, True] Translation: X:65.27, Y:-2.14, Z:-1.76 [[ 9.94715263e-01 1.01337636e-01 1.64993474e-02 6.52731181e+01] [-1.01323596e-01 9.94852091e-01 -1.68682553e-03 -2.13824191e+00] [-1.65853491e-02 6.13789126e-06 9.99862454e-01 -1.76049115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.014203822 meters 0.012368507881517015 Centerline is valid? [True, True] Translation: X:65.31, Y:-2.14, Z:-1.76 [[ 9.95065165e-01 9.78663745e-02 1.63550979e-02 6.53050130e+01] [-9.78520703e-02 9.95199562e-01 -1.67449056e-03 -2.14474310e+00] [-1.64404626e-02 6.58470386e-05 9.99864844e-01 -1.76155418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044203822 meters 0.014687201454299841 Centerline is valid? [True, True] Translation: X:65.34, Y:-2.15, Z:-1.76 [[ 9.95390107e-01 9.44597489e-02 1.66099393e-02 6.53357524e+01] [-9.44444699e-02 9.95528673e-01 -1.70364788e-03 -2.15319742e+00] [-1.66965970e-02 1.27077335e-04 9.99860594e-01 -1.76318597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.074203822 meters 0.017851797720693823 Centerline is valid? [True, True] Translation: X:65.37, Y:-2.16, Z:-1.76 [[ 9.95692772e-01 9.10652151e-02 1.74077621e-02 6.53656547e+01] [-9.10478496e-02 9.95844912e-01 -1.78915978e-03 -2.16336294e+00] [-1.74983616e-02 1.96514153e-04 9.99846873e-01 -1.76349718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104203822 meters 0.02160794462113047 Centerline is valid? [True, True] Translation: X:65.40, Y:-2.18, Z:-1.76 [[ 9.96200882e-01 8.54411706e-02 1.68406715e-02 6.53960140e+01] [-8.54240779e-02 9.96343176e-01 -1.73303262e-03 -2.17630395e+00] [-1.69271604e-02 2.87849795e-04 9.99856684e-01 -1.76378153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.134203822 meters 0.02569485692222338 Centerline is valid? [True, True] Translation: X:65.43, Y:-2.19, Z:-1.77 [[ 9.96387570e-01 8.33208529e-02 1.64147926e-02 6.54257370e+01] [-8.33043317e-02 9.96522722e-01 -1.68887079e-03 -2.18590548e+00] [-1.64984319e-02 3.15346541e-04 9.99863842e-01 -1.76696424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164203822 meters 0.02711463578550774 Centerline is valid? [True, True] Translation: X:65.46, Y:-2.19, Z:-1.77 [[ 9.96505883e-01 8.21017846e-02 1.53402052e-02 6.54573238e+01] [-8.20872092e-02 9.96623900e-01 -1.57845724e-03 -2.19169154e+00] [-1.54180093e-02 3.13707293e-04 9.99881086e-01 -1.76961823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194203822 meters 0.026976436276954657 Centerline is valid? [True, True] Translation: X:65.49, Y:-2.19, Z:-1.77 [[ 9.96466848e-01 8.28044761e-02 1.40442069e-02 6.54906268e+01] [-8.27923070e-02 9.96565774e-01 -1.44668787e-03 -2.19454602e+00] [-1.41157681e-02 2.78824219e-04 9.99900329e-01 -1.77255612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22420382199999 meters 0.03519214588446259 Centerline is valid? [True, True] Translation: X:65.52, Y:-2.19, Z:-1.77 [[ 9.96270435e-01 8.52408798e-02 1.33870000e-02 6.55232097e+01] [-8.52300092e-02 9.96360345e-01 -1.38149481e-03 -2.19007456e+00] [-1.34560358e-02 2.35368304e-04 9.99909436e-01 -1.77282341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254203822 meters 0.021785962911402626 Centerline is valid? [True, True] Translation: X:65.56, Y:-2.19, Z:-1.78 [[ 9.96008177e-01 8.84099812e-02 1.23039164e-02 6.55550206e+01] [-8.84010188e-02 9.96084155e-01 -1.27144677e-03 -2.18880954e+00] [-1.23681447e-02 1.78692642e-04 9.99923496e-01 -1.77616873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284203822 meters 0.018441657891051746 Centerline is valid? [True, True] Translation: X:65.59, Y:-2.19, Z:-1.78 [[ 9.95678028e-01 9.21644497e-02 1.14445906e-02 6.55881575e+01] [-9.21569037e-02 9.95743791e-01 -1.18609865e-03 -2.18509378e+00] [-1.15051962e-02 1.26274329e-04 9.99933805e-01 -1.77798332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314203822 meters 0.013363609916640498 Centerline is valid? [True, True] Translation: X:65.62, Y:-2.18, Z:-1.78 [[ 9.94845643e-01 1.00605145e-01 1.26787920e-02 6.56194096e+01] [-1.00596559e-01 9.94926431e-01 -1.31476791e-03 -2.17618114e+00] [-1.27467377e-02 3.25482696e-05 9.99918757e-01 -1.77666345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344203822 meters 0.012712270798273041 Centerline is valid? [True, True] Translation: X:65.65, Y:-2.17, Z:-1.78 [[ 9.94421773e-01 1.04652372e-01 1.31612651e-02 6.56518829e+01] [-1.04643458e-01 9.94508864e-01 -1.36600314e-03 -2.17348106e+00] [-1.32319502e-02 -1.88570273e-05 9.99912454e-01 -1.77548608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.374203822 meters 0.017007178707228864 Centerline is valid? [True, True] Translation: X:65.68, Y:-2.17, Z:-1.78 [[ 9.94030123e-01 1.08252332e-01 1.36215346e-02 6.56840298e+01] [-1.08243134e-01 9.94123447e-01 -1.41289149e-03 -2.17012387e+00] [-1.36944357e-02 -6.99808928e-05 9.99906224e-01 -1.77662580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404203822 meters 0.015068092821081852 Centerline is valid? [True, True] Translation: X:65.72, Y:-2.16, Z:-1.77 [[ 9.93595476e-01 1.12073787e-01 1.44047074e-02 6.57171023e+01] [-1.12063858e-01 9.93699879e-01 -1.49716299e-03 -2.16417585e+00] [-1.44817487e-02 -1.26672712e-04 9.99895126e-01 -1.77459991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434203822 meters 0.015535585055466088 Centerline is valid? [True, True] Translation: X:65.75, Y:-2.16, Z:-1.78 [[ 9.93516548e-01 1.12589829e-01 1.57606835e-02 6.57489547e+01] [-1.12577957e-01 9.93641540e-01 -1.64127121e-03 -2.16389559e+00] [-1.58452602e-02 -1.43675436e-04 9.99874446e-01 -1.77521915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464203822 meters 0.014690100694720947 Centerline is valid? [True, True] Translation: X:65.78, Y:-2.17, Z:-1.78 [[ 9.93582722e-01 1.11821892e-01 1.70070458e-02 6.57804907e+01] [-1.11807899e-01 9.93728255e-01 -1.77440394e-03 -2.16709832e+00] [-1.70987991e-02 -1.38504962e-04 9.99853795e-01 -1.77549826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494203822 meters 0.012870463850139324 Centerline is valid? [True, True] Translation: X:65.81, Y:-2.17, Z:-1.77 [[ 9.93768262e-01 1.10080845e-01 1.75170981e-02 6.58122036e+01] [-1.10065676e-01 9.93922631e-01 -1.83063855e-03 -2.17367428e+00] [-1.76121585e-02 -1.08800743e-04 9.99844888e-01 -1.77461301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524203822 meters 0.010944452412197925 Centerline is valid? [True, True] Translation: X:65.84, Y:-2.19, Z:-1.78 [[ 9.94365576e-01 1.04583496e-01 1.73029794e-02 6.58434355e+01] [-1.04567814e-01 9.94516110e-01 -1.81108355e-03 -2.18783993e+00] [-1.73975012e-02 -8.45560215e-06 9.99848652e-01 -1.77533843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554203822 meters 0.012497396765481587 Centerline is valid? [True, True] Translation: X:65.87, Y:-2.20, Z:-1.78 [[ 9.94689007e-01 1.01545383e-01 1.68022327e-02 6.58734379e+01] [-1.01530112e-01 9.94830907e-01 -1.76159122e-03 -2.19764360e+00] [-1.68942619e-02 4.63028472e-05 9.99857281e-01 -1.78023877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58420382199999 meters 0.013778913353917059 Centerline is valid? [True, True] Translation: X:65.91, Y:-2.21, Z:-1.78 [[ 9.94978658e-01 9.87922609e-02 1.60486409e-02 6.59052110e+01] [-9.87779346e-02 9.95108075e-01 -1.68486439e-03 -2.20595373e+00] [-1.61365838e-02 9.11525010e-05 9.99869793e-01 -1.78101400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614203822 meters 0.01718386530326536 Centerline is valid? [True, True] Translation: X:65.94, Y:-2.22, Z:-1.78 [[ 9.95407505e-01 9.46073408e-02 1.46065271e-02 6.59365819e+01] [-9.45949702e-02 9.95514655e-01 -1.53705664e-03 -2.21701573e+00] [-1.46864286e-02 1.48293719e-04 9.99892138e-01 -1.78352033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644203822 meters 0.018608623329952306 Centerline is valid? [True, True] Translation: X:65.97, Y:-2.22, Z:-1.79 [[ 9.95530664e-01 9.34534021e-02 1.36073033e-02 6.59678565e+01] [-9.34425742e-02 9.95623643e-01 -1.43074836e-03 -2.22293302e+00] [-1.36814612e-02 1.52852412e-04 9.99906393e-01 -1.78640187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674203822 meters 0.026825920112382575 Centerline is valid? [True, True] Translation: X:66.00, Y:-2.23, Z:-1.79 [[ 9.95592638e-01 9.29615058e-02 1.23878364e-02 6.59998557e+01] [-9.29524754e-02 9.95669693e-01 -1.30400518e-03 -2.22565448e+00] [-1.24554155e-02 1.46777902e-04 9.99922418e-01 -1.78723211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704203822 meters 0.01989310035326418 Centerline is valid? [True, True] Translation: X:66.03, Y:-2.23, Z:-1.79 [[ 9.95572429e-01 9.32181653e-02 1.20793898e-02 6.60306883e+01] [-9.32095641e-02 9.95645697e-01 -1.27431846e-03 -2.23470783e+00] [-1.21455821e-02 1.42761668e-04 9.99926230e-01 -1.79146624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.734203822 meters 0.018430568729374645 Centerline is valid? [True, True] Translation: X:66.06, Y:-2.24, Z:-1.79 [[ 9.95454608e-01 9.44539118e-02 1.21894077e-02 6.60623731e+01] [-9.44452352e-02 9.95529227e-01 -1.28678964e-03 -2.23831525e+00] [-1.22564539e-02 1.29709202e-04 9.99924878e-01 -1.79096307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764203822 meters 0.01718892737693693 Centerline is valid? [True, True] Translation: X:66.09, Y:-2.24, Z:-1.79 [[ 9.95315764e-01 9.58246717e-02 1.28126059e-02 6.60946449e+01] [-9.58151682e-02 9.95398221e-01 -1.35494362e-03 -2.24034054e+00] [-1.28834822e-02 1.20954750e-04 9.99916997e-01 -1.79045679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.794203822 meters 0.015159863890521043 Centerline is valid? [True, True] Translation: X:66.13, Y:-2.24, Z:-1.79 [[ 9.94943997e-01 9.97049451e-02 1.20567812e-02 6.61263207e+01] [-9.96967911e-02 9.95017045e-01 -1.27694924e-03 -2.23727613e+00] [-1.21240209e-02 6.84705874e-05 9.99926499e-01 -1.79389939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824203822 meters 0.013871629362859175 Centerline is valid? [True, True] Translation: X:66.16, Y:-2.24, Z:-1.79 [[ 9.94747266e-01 1.01745784e-01 1.12103945e-02 6.61595145e+01] [-1.01738857e-01 9.94810431e-01 -1.18800339e-03 -2.23739568e+00] [-1.12730917e-02 4.12304019e-05 9.99936456e-01 -1.79480332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.854203822 meters 0.019627609015875548 Centerline is valid? [True, True] Translation: X:66.19, Y:-2.24, Z:-1.80 [[ 9.94550006e-01 1.03719106e-01 1.06128764e-02 6.61921498e+01] [-1.03712991e-01 9.94606629e-01 -1.12647644e-03 -2.23797399e+00] [-1.06724743e-02 1.96440038e-05 9.99943047e-01 -1.79716221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884203822 meters 0.012950293870070335 Centerline is valid? [True, True] Translation: X:66.22, Y:-2.24, Z:-1.80 [[ 9.94196999e-01 1.06974556e-01 1.13477749e-02 6.62243127e+01] [-1.06967742e-01 9.94261758e-01 -1.20745175e-03 -2.23789547e+00] [-1.14118253e-02 -1.34009450e-05 9.99934883e-01 -1.79679813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914203822 meters 0.014591888962186047 Centerline is valid? [True, True] Translation: X:66.26, Y:-2.24, Z:-1.80 [[ 9.94052263e-01 1.08347123e-01 1.09999850e-02 6.62553220e+01] [-1.08340770e-01 9.94113122e-01 -1.17355142e-03 -2.24026482e+00] [-1.10623804e-02 -2.51754093e-05 9.99938810e-01 -1.80278498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944203822 meters 0.014379961567759659 Centerline is valid? [True, True] Translation: X:66.29, Y:-2.24, Z:-1.80 [[ 9.93910150e-01 1.09709834e-01 1.03134025e-02 6.62869270e+01] [-1.09704328e-01 9.93963657e-01 -1.09983931e-03 -2.24347424e+00] [-1.03718105e-02 -3.82834377e-05 9.99946211e-01 -1.80188460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97420382199999 meters 0.014701875703056762 Centerline is valid? [True, True] Translation: X:66.32, Y:-2.25, Z:-1.80 [[ 9.93745397e-01 1.11156352e-01 1.06934961e-02 6.63190455e+01] [-1.11150495e-01 9.93802929e-01 -1.14232867e-03 -2.24584793e+00] [-1.07542048e-02 -5.34035269e-05 9.99942170e-01 -1.80242530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004203822 meters 0.014450223102921683 Centerline is valid? [True, True] Translation: X:66.35, Y:-2.24, Z:-1.80 [[ 9.93472752e-01 1.13370619e-01 1.26092441e-02 6.63520614e+01] [-1.13362617e-01 9.93552764e-01 -1.34984950e-03 -2.24420673e+00] [-1.26809826e-02 -8.83782118e-05 9.99919589e-01 -1.79870550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034203822 meters 0.014978383874981982 Centerline is valid? [True, True] Translation: X:66.38, Y:-2.24, Z:-1.80 [[ 9.93372426e-01 1.14168551e-01 1.32953368e-02 6.63835438e+01] [-1.14159677e-01 9.93461389e-01 -1.42698393e-03 -2.24423932e+00] [-1.33713205e-02 -1.00264870e-04 9.99910595e-01 -1.79912416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064203822 meters 0.014994880170851368 Centerline is valid? [True, True] Translation: X:66.42, Y:-2.24, Z:-1.80 [[ 9.93172707e-01 1.15713703e-01 1.47754242e-02 6.64160583e+01] [-1.15702903e-01 9.93282599e-01 -1.58653301e-03 -2.24331275e+00] [-1.48597553e-02 -1.33858191e-04 9.99889579e-01 -1.79651903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.094203822 meters 0.01590852839529826 Centerline is valid? [True, True] Translation: X:66.45, Y:-2.25, Z:-1.80 [[ 9.93096382e-01 1.16297159e-01 1.53149055e-02 6.64481831e+01] [-1.16285585e-01 9.93214453e-01 -1.64715247e-03 -2.24546272e+00] [-1.54025447e-02 -1.45121583e-04 9.99881363e-01 -1.79825839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.124203822 meters 0.015605342142094655 Centerline is valid? [True, True] Translation: X:66.48, Y:-2.25, Z:-1.80 [[ 9.93073896e-01 1.16534540e-01 1.49645706e-02 6.64803004e+01] [-1.16523478e-01 9.93186629e-01 -1.61198977e-03 -2.25122121e+00] [-1.50504639e-02 -1.42898856e-04 9.99886725e-01 -1.79934826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.154203822 meters 0.01685705809847802 Centerline is valid? [True, True] Translation: X:66.51, Y:-2.26, Z:-1.80 [[ 9.93088777e-01 1.16496560e-01 1.42559967e-02 6.65113762e+01] [-1.16486474e-01 9.93191086e-01 -1.53868309e-03 -2.25602040e+00] [-1.43381802e-02 -1.32581884e-04 9.99897194e-01 -1.80370749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184203822 meters 0.015687006997712485 Centerline is valid? [True, True] Translation: X:66.54, Y:-2.26, Z:-1.80 [[ 9.93115414e-01 1.16324351e-01 1.37992395e-02 6.65437153e+01] [-1.16314864e-01 9.93211271e-01 -1.49087385e-03 -2.26367483e+00] [-1.38789851e-02 -1.24446857e-04 9.99903675e-01 -1.80377008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.214203822 meters 0.014842803733739428 Centerline is valid? [True, True] Translation: X:66.58, Y:-2.27, Z:-1.80 [[ 9.93189055e-01 1.15746930e-01 1.33472718e-02 6.65757178e+01] [-1.15737970e-01 9.93278730e-01 -1.44437239e-03 -2.27033641e+00] [-1.34247429e-02 -1.10251304e-04 9.99909878e-01 -1.80496071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244203822 meters 0.015652176239776626 Centerline is valid? [True, True] Translation: X:66.61, Y:-2.27, Z:-1.81 [[ 9.93208193e-01 1.15704308e-01 1.22473995e-02 6.66064757e+01] [-1.15696730e-01 9.93283697e-01 -1.32791421e-03 -2.27302528e+00] [-1.23187877e-02 -9.80887972e-05 9.99924116e-01 -1.80912325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274203822 meters 0.016097404026685195 Centerline is valid? [True, True] Translation: X:66.64, Y:-2.28, Z:-1.81 [[ 9.93205104e-01 1.15834831e-01 1.12211339e-02 6.66381726e+01] [-1.15828463e-01 9.93268485e-01 -1.21793357e-03 -2.27629372e+00] [-1.12866778e-02 -9.00688514e-05 9.99936299e-01 -1.81234860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304203822 meters 0.015827534682346107 Centerline is valid? [True, True] Translation: X:66.67, Y:-2.28, Z:-1.81 [[ 9.93257169e-01 1.15429912e-01 1.07764408e-02 6.66696729e+01] [-1.15423998e-01 9.93315624e-01 -1.17126756e-03 -2.28437495e+00] [-1.08396063e-02 -8.04899794e-05 9.99941247e-01 -1.81431804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334203822 meters 0.015827534682346107 Centerline is valid? [True, True] Translation: X:66.70, Y:-2.29, Z:-1.82 [[ 9.93254436e-01 1.15453469e-01 1.07759768e-02 6.67003143e+01] [-1.15447509e-01 9.93312887e-01 -1.17551969e-03 -2.28776178e+00] [-1.08396344e-02 -7.64695312e-05 9.99941247e-01 -1.81519349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364203822 meters 0.015840098864659737 Centerline is valid? [True, True] Translation: X:66.73, Y:-2.30, Z:-1.82 [[ 9.93295957e-01 1.15142137e-01 1.02679365e-02 6.67312286e+01] [-1.15136720e-01 9.93349024e-01 -1.11908823e-03 -2.29610048e+00] [-1.03284990e-02 -7.06307178e-05 9.99946657e-01 -1.81702042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394203822 meters 0.01626094601726171 Centerline is valid? [True, True] Translation: X:66.76, Y:-2.30, Z:-1.82 [[ 9.93329661e-01 1.14934672e-01 9.28474236e-03 6.67612621e+01] [-1.14930228e-01 9.93373050e-01 -1.01257615e-03 -2.30415787e+00] [-9.33959295e-03 -6.12756279e-05 9.99956383e-01 -1.81970684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424203822 meters 0.016889167197051747 Centerline is valid? [True, True] Translation: X:66.79, Y:-2.31, Z:-1.82 [[ 9.93297375e-01 1.15283168e-01 8.37350420e-03 6.67921731e+01] [-1.15279561e-01 9.93332667e-01 -9.13720543e-04 -2.31131812e+00] [-8.42301186e-03 -5.76976721e-05 9.99964524e-01 -1.82253270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454203822 meters 0.016631914645889898 Centerline is valid? [True, True] Translation: X:66.82, Y:-2.32, Z:-1.82 [[ 9.93221411e-01 1.15892010e-01 8.95944372e-03 6.68236781e+01] [-1.15887886e-01 9.93261817e-01 -9.79892709e-04 -2.31538177e+00] [-9.01263509e-03 -6.50405713e-05 9.99959383e-01 -1.82129195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.484203822 meters 0.016885675065849357 Centerline is valid? [True, True] Translation: X:66.85, Y:-2.32, Z:-1.82 [[ 9.93104860e-01 1.16770064e-01 1.03677138e-02 6.68544337e+01] [-1.16764610e-01 9.93158972e-01 -1.13194650e-03 -2.31926758e+00] [-1.04289654e-02 -8.64404781e-05 9.99945613e-01 -1.82074143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.514203822 meters 0.01746174917736949 Centerline is valid? [True, True] Translation: X:66.89, Y:-2.32, Z:-1.82 [[ 9.92974996e-01 1.17772224e-01 1.14175324e-02 6.68852101e+01] [-1.17765638e-01 9.93040630e-01 -1.24978756e-03 -2.32383377e+00] [-1.14852638e-02 -1.03585190e-04 9.99934037e-01 -1.82068308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544203822 meters 0.01700378802594591 Centerline is valid? [True, True] Translation: X:66.92, Y:-2.33, Z:-1.82 [[ 9.92760957e-01 1.19333994e-01 1.36043980e-02 6.69167731e+01] [-1.19324781e-01 9.92854157e-01 -1.48984597e-03 -2.33144319e+00] [-1.36849724e-02 -1.44280898e-04 9.99906346e-01 -1.81588411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.574203822 meters 0.01712252885522866 Centerline is valid? [True, True] Translation: X:66.95, Y:-2.34, Z:-1.82 [[ 9.92670809e-01 1.19967765e-01 1.45739337e-02 6.69486106e+01] [-1.19957219e-01 9.92777774e-01 -1.59880742e-03 -2.33665263e+00] [-1.46604828e-02 -1.61159098e-04 9.99892516e-01 -1.81512736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604203822 meters 0.017182928229773242 Centerline is valid? [True, True] Translation: X:66.98, Y:-2.35, Z:-1.81 [[ 9.92525413e-01 1.21117572e-01 1.49612276e-02 6.69811848e+01] [-1.21106555e-01 9.92638152e-01 -1.64352556e-03 -2.34521114e+00] [-1.50501452e-02 -1.80661856e-04 9.99886724e-01 -1.81449925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.634203822 meters 0.017911521292737778 Centerline is valid? [True, True] Translation: X:67.01, Y:-2.35, Z:-1.81 [[ 9.92358984e-01 1.22374038e-01 1.57556957e-02 6.70134776e+01] [-1.22361925e-01 9.92484031e-01 -1.73416677e-03 -2.34951630e+00] [-1.58494934e-02 -2.06981281e-04 9.99874367e-01 -1.81466895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664203822 meters 0.01900999068510865 Centerline is valid? [True, True] Translation: X:67.05, Y:-2.35, Z:-1.81 [[ 9.92179115e-01 1.23776591e-01 1.61232358e-02 6.70457004e+01] [-1.23764034e-01 9.92310084e-01 -1.77820541e-03 -2.35207616e+00] [-1.62193497e-02 -2.31178420e-04 9.99868431e-01 -1.81499672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694203822 meters 0.02163730819205171 Centerline is valid? [True, True] Translation: X:67.08, Y:-2.35, Z:-1.82 [[ 9.91984259e-01 1.25300090e-01 1.63437282e-02 6.70766824e+01] [-1.25287344e-01 9.92118855e-01 -1.80552280e-03 -2.35261010e+00] [-1.64411531e-02 -2.56612098e-04 9.99864802e-01 -1.81738917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72420382199999 meters 0.023653879377441654 Centerline is valid? [True, True] Translation: X:67.11, Y:-2.36, Z:-1.82 [[ 9.91592524e-01 1.28453815e-01 1.56167910e-02 6.71081833e+01] [-1.28442533e-01 9.91715449e-01 -1.72748778e-03 -2.35713986e+00] [-1.57093153e-02 -2.92896227e-04 9.99876558e-01 -1.81808954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754203822 meters 0.026748890372812927 Centerline is valid? [True, True] Translation: X:67.14, Y:-2.36, Z:-1.82 [[ 9.91419904e-01 1.29770378e-01 1.56915006e-02 6.71393849e+01] [-1.29759113e-01 9.91544024e-01 -1.73821655e-03 -2.35869198e+00] [-1.57843826e-02 -3.12812712e-04 9.99875370e-01 -1.82010402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784203822 meters 0.02432058391392187 Centerline is valid? [True, True] Translation: X:67.17, Y:-2.37, Z:-1.82 [[ 9.91261645e-01 1.31085475e-01 1.47291688e-02 6.71708942e+01] [-1.31075669e-01 9.91371021e-01 -1.63334167e-03 -2.36701374e+00] [-1.48161784e-02 -3.11566704e-04 9.99890186e-01 -1.82005543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814203822 meters 0.026576131073929497 Centerline is valid? [True, True] Translation: X:67.20, Y:-2.37, Z:-1.83 [[ 9.91285238e-01 1.31027219e-01 1.36178249e-02 6.72023253e+01] [-1.31018788e-01 9.91378730e-01 -1.51324856e-03 -2.36862076e+00] [-1.36986987e-02 -2.84129953e-04 9.99906128e-01 -1.82565999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.844203822 meters 0.026210806467464647 Centerline is valid? [True, True] Translation: X:67.23, Y:-2.37, Z:-1.83 [[ 9.91372090e-01 1.30493503e-01 1.23622070e-02 6.72344685e+01] [-1.30486521e-01 9.91449132e-01 -1.37315444e-03 -2.37413902e+00] [-1.24356872e-02 -2.51794405e-04 9.99922642e-01 -1.82885182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.874203822 meters 0.026034653267217805 Centerline is valid? [True, True] Translation: X:67.27, Y:-2.38, Z:-1.83 [[ 9.91385090e-01 1.30402770e-01 1.22768098e-02 6.72671727e+01] [-1.30395849e-01 9.91461072e-01 -1.36594558e-03 -2.37815660e+00] [-1.23501021e-02 -2.46666961e-04 9.99923704e-01 -1.83036677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904203822 meters 0.023254773039468518 Centerline is valid? [True, True] Translation: X:67.30, Y:-2.39, Z:-1.83 [[ 9.91337135e-01 1.30533473e-01 1.45498176e-02 6.72988785e+01] [-1.30523709e-01 9.91443860e-01 -1.62276404e-03 -2.38615377e+00] [-1.46371523e-02 -2.90389901e-04 9.99892829e-01 -1.82523232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.934203822 meters 0.025794060820416746 Centerline is valid? [True, True] Translation: X:67.33, Y:-2.39, Z:-1.83 [[ 9.91242643e-01 1.31173940e-01 1.52125174e-02 6.73307516e+01] [-1.31163300e-01 9.91359320e-01 -1.69939400e-03 -2.38862030e+00] [-1.53039871e-02 -3.10812179e-04 9.99882839e-01 -1.82716430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964203822 meters 0.025825291854849566 Centerline is valid? [True, True] Translation: X:67.36, Y:-2.39, Z:-1.83 [[ 9.91118358e-01 1.32162933e-01 1.47431011e-02 6.73625620e+01] [-1.32153007e-01 9.91227956e-01 -1.64978559e-03 -2.39437810e+00] [-1.48318145e-02 -3.13212359e-04 9.99889954e-01 -1.82758012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.994203822 meters 0.028380271767697546 Centerline is valid? [True, True] Translation: X:67.39, Y:-2.40, Z:-1.83 [[ 9.90914088e-01 1.33759335e-01 1.40609883e-02 6.73935419e+01] [-1.33750434e-01 9.91013793e-01 -1.57577734e-03 -2.39528125e+00] [-1.41454083e-02 -3.19203318e-04 9.99899898e-01 -1.83030112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024203822 meters 0.032189540616347684 Centerline is valid? [True, True] Translation: X:67.43, Y:-2.39, Z:-1.83 [[ 9.90417852e-01 1.37249351e-01 1.53327793e-02 6.74250114e+01] [-1.37239127e-01 9.90536449e-01 -1.72199940e-03 -2.39269546e+00] [-1.54240201e-02 -3.98758306e-04 9.99880963e-01 -1.83068909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054203822 meters 0.03325223102273592 Centerline is valid? [True, True] Translation: X:67.46, Y:-2.39, Z:-1.83 [[ 9.90203943e-01 1.38707273e-01 1.60138852e-02 6.74572288e+01] [-1.38696304e-01 9.90333327e-01 -1.79893940e-03 -2.39412915e+00] [-1.61086102e-02 -4.39749810e-04 9.99870151e-01 -1.83039722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084203822 meters 0.033118250032475774 Centerline is valid? [True, True] Translation: X:67.49, Y:-2.40, Z:-1.83 [[ 9.90064777e-01 1.39695634e-01 1.60271009e-02 6.74893041e+01] [-1.39684734e-01 9.90194387e-01 -1.80303081e-03 -2.39718716e+00] [-1.61218208e-02 -4.53624031e-04 9.99869932e-01 -1.83068764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114203822 meters 0.03377920461198915 Centerline is valid? [True, True] Translation: X:67.52, Y:-2.40, Z:-1.83 [[ 9.90146323e-01 1.39130025e-01 1.59089599e-02 6.75209938e+01] [-1.39119156e-01 9.90274025e-01 -1.79323608e-03 -2.39740670e+00] [-1.60037227e-02 -4.37674974e-04 9.99871836e-01 -1.83284124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144203822 meters 0.0317644796428824 Centerline is valid? [True, True] Translation: X:67.55, Y:-2.40, Z:-1.83 [[ 9.90393437e-01 1.37385487e-01 1.56865552e-02 6.75530620e+01] [-1.37374672e-01 9.90517575e-01 -1.77006498e-03 -2.40253352e+00] [-1.57809898e-02 -4.01874624e-04 9.99875392e-01 -1.83428152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174203822 meters 0.02720893779678739 Centerline is valid? [True, True] Translation: X:67.58, Y:-2.41, Z:-1.83 [[ 9.90737113e-01 1.34922207e-01 1.53613162e-02 6.75839906e+01] [-1.34911522e-01 9.90856131e-01 -1.73450694e-03 -2.41173752e+00] [-1.54548778e-02 -3.53978152e-04 9.99880504e-01 -1.83468091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204203822 meters 0.021868752149001303 Centerline is valid? [True, True] Translation: X:67.61, Y:-2.42, Z:-1.84 [[ 9.91439151e-01 1.29673446e-01 1.52711276e-02 6.76139982e+01] [-1.29662253e-01 9.91556718e-01 -1.72503079e-03 -2.42379841e+00] [-1.53658798e-02 -2.69825746e-04 9.99881901e-01 -1.83529389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.234203822 meters 0.021150845203486122 Centerline is valid? [True, True] Translation: X:67.64, Y:-2.43, Z:-1.84 [[ 9.91702079e-01 1.27545677e-01 1.60961893e-02 6.76448653e+01] [-1.27532980e-01 9.91832666e-01 -1.81704035e-03 -2.42801634e+00] [-1.61964819e-02 -2.50832294e-04 9.99868797e-01 -1.83630897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264203822 meters 0.01913469883074262 Centerline is valid? [True, True] Translation: X:67.68, Y:-2.43, Z:-1.84 [[ 9.91944930e-01 1.25514072e-01 1.70725748e-02 6.76760712e+01] [-1.25499436e-01 9.92091813e-01 -1.93018814e-03 -2.43320202e+00] [-1.71798275e-02 -2.27958173e-04 9.99852390e-01 -1.83528332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294203822 meters 0.01781202320813086 Centerline is valid? [True, True] Translation: X:67.71, Y:-2.44, Z:-1.84 [[ 9.92143175e-01 1.23891983e-01 1.73981906e-02 6.77067184e+01] [-1.23876481e-01 9.92295690e-01 -1.97007897e-03 -2.43765246e+00] [-1.75082265e-02 -2.00626228e-04 9.99846699e-01 -1.83581229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324203822 meters 0.01529892656549016 Centerline is valid? [True, True] Translation: X:67.74, Y:-2.44, Z:-1.83 [[ 9.92347386e-01 1.22262896e-01 1.72756926e-02 6.77383876e+01] [-1.22247323e-01 9.92497736e-01 -1.95858871e-03 -2.44231346e+00] [-1.73855485e-02 -1.68306782e-04 9.99848846e-01 -1.83476225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354203822 meters 0.015467020040393516 Centerline is valid? [True, True] Translation: X:67.77, Y:-2.44, Z:-1.84 [[ 9.92322098e-01 1.22486324e-01 1.71451055e-02 6.77714365e+01] [-1.22470974e-01 9.92470187e-01 -1.94635983e-03 -2.44432623e+00] [-1.72544085e-02 -1.68361905e-04 9.99851117e-01 -1.83582518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384203822 meters 0.016025688874028318 Centerline is valid? [True, True] Translation: X:67.80, Y:-2.45, Z:-1.84 [[ 9.92277441e-01 1.22899873e-01 1.67661033e-02 6.78037402e+01] [-1.22885199e-01 9.92419061e-01 -1.90655590e-03 -2.44585621e+00] [-1.68733160e-02 -1.68473530e-04 9.99857621e-01 -1.83808796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414203822 meters 0.01599260952470411 Centerline is valid? [True, True] Translation: X:67.84, Y:-2.45, Z:-1.84 [[ 9.92287163e-01 1.22960604e-01 1.57122607e-02 6.78354213e+01] [-1.22947681e-01 9.92411540e-01 -1.78947391e-03 -2.44702189e+00] [-1.58130636e-02 -1.56114023e-04 9.99874954e-01 -1.84037507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444203822 meters 0.01574430664450644 Centerline is valid? [True, True] Translation: X:67.87, Y:-2.45, Z:-1.84 [[ 9.92347053e-01 1.22476563e-01 1.57104193e-02 6.78660407e+01] [-1.22463544e-01 9.92471395e-01 -1.79171647e-03 -2.44998081e+00] [-1.58115850e-02 -1.45949061e-04 9.99874978e-01 -1.84158229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47420382199999 meters 0.01313184129392476 Centerline is valid? [True, True] Translation: X:67.90, Y:-2.45, Z:-1.84 [[ 9.92595305e-01 1.20311099e-01 1.67272363e-02 6.78977785e+01] [-1.20295988e-01 9.92736232e-01 -1.91034782e-03 -2.45395547e+00] [-1.68355696e-02 -1.16017126e-04 9.99858265e-01 -1.83941646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504203822 meters 0.0121640005967658 Centerline is valid? [True, True] Translation: X:67.93, Y:-2.46, Z:-1.84 [[ 9.92720918e-01 1.19142705e-01 1.76123506e-02 6.79301111e+01] [-1.19125709e-01 9.92877136e-01 -2.01471963e-03 -2.45671830e+00] [-1.77269394e-02 -9.80294435e-05 9.99842861e-01 -1.83867331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534203822 meters 0.01149275453245095 Centerline is valid? [True, True] Translation: X:67.96, Y:-2.46, Z:-1.84 [[ 9.92844097e-01 1.18055262e-01 1.79876209e-02 6.79625795e+01] [-1.18037298e-01 9.93007024e-01 -2.06084863e-03 -2.45993318e+00] [-1.81051279e-02 -7.71087820e-05 9.99836086e-01 -1.83911473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564203822 meters 0.011562527902000448 Centerline is valid? [True, True] Translation: X:67.99, Y:-2.46, Z:-1.84 [[ 9.92920095e-01 1.17493665e-01 1.74620534e-02 6.79945809e+01] [-1.17476600e-01 9.93073630e-01 -2.00338724e-03 -2.46256098e+00] [-1.75764901e-02 -6.21792144e-05 9.99845520e-01 -1.84146583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594203822 meters 0.012005481159937563 Centerline is valid? [True, True] Translation: X:68.03, Y:-2.46, Z:-1.84 [[ 9.92802149e-01 1.18628265e-01 1.64689996e-02 6.80267489e+01] [-1.18613194e-01 9.92938734e-01 -1.89236428e-03 -2.46109222e+00] [-1.65771955e-02 -7.46973187e-05 9.99862586e-01 -1.84329499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624203822 meters 0.012663714586708213 Centerline is valid? [True, True] Translation: X:68.06, Y:-2.46, Z:-1.84 [[ 9.92619705e-01 1.20126181e-01 1.66078602e-02 6.80597789e+01] [-1.20111021e-01 9.92758627e-01 -1.91093122e-03 -2.46155721e+00] [-1.67171493e-02 -9.79590613e-05 9.99860254e-01 -1.84459215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654203822 meters 0.015194112694647332 Centerline is valid? [True, True] Translation: X:68.09, Y:-2.46, Z:-1.85 [[ 9.92234891e-01 1.23251014e-01 1.67065530e-02 6.80911561e+01] [-1.23236027e-01 9.92375517e-01 -1.92756722e-03 -2.45684176e+00] [-1.68167488e-02 -1.46249759e-04 9.99858578e-01 -1.84547202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684203822 meters 0.017089307284708977 Centerline is valid? [True, True] Translation: X:68.12, Y:-2.45, Z:-1.85 [[ 9.92045413e-01 1.24708368e-01 1.71383077e-02 6.81232412e+01] [-1.24692835e-01 9.92193425e-01 -1.97613918e-03 -2.45387812e+00] [-1.72509573e-02 -1.76604357e-04 9.99851176e-01 -1.84623165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.714203822 meters 0.018529866445885654 Centerline is valid? [True, True] Translation: X:68.16, Y:-2.45, Z:-1.85 [[ 9.91952205e-01 1.25363026e-01 1.77464013e-02 6.81562528e+01] [-1.25346420e-01 9.92110919e-01 -2.04942824e-03 -2.45417767e+00] [-1.78633210e-02 -1.91513003e-04 9.99840420e-01 -1.84548191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744203822 meters 0.016061856234679726 Centerline is valid? [True, True] Translation: X:68.19, Y:-2.45, Z:-1.84 [[ 9.91970974e-01 1.25137731e-01 1.82793440e-02 6.81871649e+01] [-1.25120000e-01 9.92139361e-01 -2.11497778e-03 -2.45488863e+00] [-1.84003202e-02 -1.89114954e-04 9.99830682e-01 -1.84439921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774203822 meters 0.015473745026716822 Centerline is valid? [True, True] Translation: X:68.22, Y:-2.46, Z:-1.84 [[ 9.92004776e-01 1.24730809e-01 1.92028406e-02 6.82191623e+01] [-1.24711105e-01 9.92190602e-01 -2.22488969e-03 -2.45626043e+00] [-1.93303903e-02 -1.87706283e-04 9.99813133e-01 -1.84402023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804203822 meters 0.014111349145554102 Centerline is valid? [True, True] Translation: X:68.25, Y:-2.46, Z:-1.85 [[ 9.92228591e-01 1.23012285e-01 1.87190161e-02 6.82502363e+01] [-1.22993198e-01 9.92405137e-01 -2.17190057e-03 -2.45603693e+00] [-1.88440182e-02 -1.47289812e-04 9.99822425e-01 -1.84552174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834203822 meters 0.013252279936563255 Centerline is valid? [True, True] Translation: X:68.28, Y:-2.46, Z:-1.85 [[ 9.92331361e-01 1.22204219e-01 1.85633521e-02 6.82833954e+01] [-1.22185261e-01 9.92504968e-01 -2.15628071e-03 -2.45858609e+00] [-1.86877258e-02 -1.28423046e-04 9.99825361e-01 -1.84653037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864203822 meters 0.012128265847429617 Centerline is valid? [True, True] Translation: X:68.32, Y:-2.46, Z:-1.85 [[ 9.92459770e-01 1.21089789e-01 1.89965158e-02 6.83159224e+01] [-1.21069657e-01 9.92641553e-01 -2.21051495e-03 -2.46132233e+00] [-1.91244017e-02 -1.06054492e-04 9.99817106e-01 -1.84620946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894203822 meters 0.010727781078883392 Centerline is valid? [True, True] Translation: X:68.35, Y:-2.46, Z:-1.85 [[ 9.92804768e-01 1.18129062e-01 1.96014366e-02 6.83475433e+01] [-1.18106980e-01 9.92998249e-01 -2.28445342e-03 -2.46313166e+00] [-1.97340526e-02 -4.70502425e-05 9.99805264e-01 -1.84685844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924203822 meters 0.010449057566815847 Centerline is valid? [True, True] Translation: X:68.38, Y:-2.47, Z:-1.85 [[ 9.92998746e-01 1.16532656e-01 1.93295112e-02 6.83802004e+01] [-1.16510829e-01 9.93186860e-01 -2.25539621e-03 -2.46586666e+00] [-1.94606439e-02 -1.24917763e-05 9.99810624e-01 -1.84795331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954203822 meters 0.010294064915840732 Centerline is valid? [True, True] Translation: X:68.41, Y:-2.47, Z:-1.85 [[ 9.93182925e-01 1.14890584e-01 1.96934414e-02 6.84132715e+01] [-1.14867530e-01 9.93378152e-01 -2.30160603e-03 -2.46839204e+00] [-1.98274673e-02 2.37788438e-05 9.99803416e-01 -1.84704114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.984203822 meters 0.011652081252031194 Centerline is valid? [True, True] Translation: X:68.44, Y:-2.47, Z:-1.85 [[ 9.93605988e-01 1.10783572e-01 2.17747799e-02 6.84444940e+01] [-1.10754291e-01 9.93844548e-01 -2.54983281e-03 -2.47477109e+00] [-2.19232258e-02 1.21878851e-04 9.99759650e-01 -1.84562793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.014203822 meters 0.013923528796066275 Centerline is valid? [True, True] Translation: X:68.48, Y:-2.48, Z:-1.85 [[ 9.93870670e-01 1.08580429e-01 2.07697298e-02 6.84752028e+01] [-1.08553229e-01 9.94087653e-01 -2.43593311e-03 -2.48214963e+00] [-2.09114266e-02 1.66381241e-04 9.99781318e-01 -1.84827801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044203822 meters 0.018166956748866522 Centerline is valid? [True, True] Translation: X:68.51, Y:-2.49, Z:-1.85 [[ 9.94497384e-01 1.03086363e-01 1.86588874e-02 6.85064554e+01] [-1.03063378e-01 9.94672376e-01 -2.19189911e-03 -2.48895325e+00] [-1.87854348e-02 2.56789978e-04 9.99823505e-01 -1.85230263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.074203822 meters 0.023340002925129014 Centerline is valid? [True, True] Translation: X:68.54, Y:-2.50, Z:-1.86 [[ 9.94748498e-01 1.00595015e-01 1.88697785e-02 6.85366322e+01] [-1.00571048e-01 9.94927409e-01 -2.21721456e-03 -2.49810015e+00] [-1.89971006e-02 3.07817450e-04 9.99819491e-01 -1.85574987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104203822 meters 0.023947670467414636 Centerline is valid? [True, True] Translation: X:68.57, Y:-2.50, Z:-1.86 [[ 9.94949393e-01 9.86396185e-02 1.85992122e-02 6.85686700e+01] [-9.86159752e-02 9.95123163e-01 -2.18635528e-03 -2.50189195e+00] [-1.87241681e-02 3.41133412e-04 9.99824629e-01 -1.85591370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.134203822 meters 0.023624997435690877 Centerline is valid? [True, True] Translation: X:68.60, Y:-2.50, Z:-1.86 [[ 9.95090189e-01 9.73407189e-02 1.78969068e-02 6.86002538e+01] [-9.73185542e-02 9.95251053e-01 -2.10731927e-03 -2.50484397e+00] [-1.80170433e-02 3.55271639e-04 9.99837617e-01 -1.85638617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164203822 meters 0.0255995379242546 Centerline is valid? [True, True] Translation: X:68.63, Y:-2.51, Z:-1.86 [[ 9.95191048e-01 9.64210803e-02 1.72555108e-02 6.86312110e+01] [-9.64003248e-02 9.95340568e-01 -2.03254059e-03 -2.50943595e+00] [-1.73710896e-02 3.59329356e-04 9.99849047e-01 -1.85871218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194203822 meters 0.026586712768440803 Centerline is valid? [True, True] Translation: X:68.66, Y:-2.51, Z:-1.86 [[ 9.95167129e-01 9.66253496e-02 1.74907675e-02 6.86632546e+01] [-9.66040100e-02 9.95320757e-01 -2.06285157e-03 -2.51382458e+00] [-1.76082477e-02 3.63203797e-04 9.99844897e-01 -1.85970668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22420382199999 meters 0.026586712768440803 Centerline is valid? [True, True] Translation: X:68.70, Y:-2.52, Z:-1.86 [[ 9.95149205e-01 9.68098370e-02 1.74904115e-02 6.86955184e+01] [-9.67884730e-02 9.95302830e-01 -2.06586404e-03 -2.51782788e+00] [-1.76082520e-02 3.62972738e-04 9.99844897e-01 -1.86062988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254203822 meters 0.025702567935530045 Centerline is valid? [True, True] Translation: X:68.73, Y:-2.52, Z:-1.86 [[ 9.95091888e-01 9.74083098e-02 1.74285787e-02 6.87279788e+01] [-9.73871270e-02 9.95244440e-01 -2.06205081e-03 -2.52009154e+00] [-1.75465569e-02 3.54610829e-04 9.99845984e-01 -1.86099288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284203822 meters 0.024593506439629657 Centerline is valid? [True, True] Translation: X:68.76, Y:-2.52, Z:-1.86 [[ 9.94943015e-01 9.90019988e-02 1.69411187e-02 6.87595644e+01] [-9.89821559e-02 9.95087183e-01 -2.00786508e-03 -2.52165166e+00] [-1.70566728e-02 3.20842884e-04 9.99854473e-01 -1.86261230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314203822 meters 0.023074547936330462 Centerline is valid? [True, True] Translation: X:68.79, Y:-2.52, Z:-1.86 [[ 9.94808781e-01 1.00317348e-01 1.70856446e-02 6.87922754e+01] [-1.00297324e-01 9.94955445e-01 -2.02703882e-03 -2.52322084e+00] [-1.72028023e-02 3.02871585e-04 9.99851975e-01 -1.86266881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.344203822 meters 0.021973317986921807 Centerline is valid? [True, True] Translation: X:68.82, Y:-2.52, Z:-1.86 [[ 9.94627086e-01 1.01986360e-01 1.77691125e-02 6.88231714e+01] [-1.01964955e-01 9.94785756e-01 -2.10887803e-03 -2.52495150e+00] [-1.78915368e-02 2.85720454e-04 9.99839893e-01 -1.86360302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.374203822 meters 0.016677731662350745 Centerline is valid? [True, True] Translation: X:68.86, Y:-2.52, Z:-1.87 [[ 9.94188463e-01 1.06373777e-01 1.65505277e-02 6.88567130e+01] [-1.06355794e-01 9.94326195e-01 -1.96546509e-03 -2.52014435e+00] [-1.66656971e-02 1.93798211e-04 9.99861099e-01 -1.86533608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404203822 meters 0.015641861936900953 Centerline is valid? [True, True] Translation: X:68.89, Y:-2.52, Z:-1.87 [[ 9.93906167e-01 1.09051395e-01 1.60724524e-02 6.88877250e+01] [-1.09034757e-01 9.94036102e-01 -1.91046215e-03 -2.52140105e+00] [-1.61849365e-02 1.46364172e-04 9.99869005e-01 -1.86900822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.434203822 meters 0.011427626329810613 Centerline is valid? [True, True] Translation: X:68.92, Y:-2.52, Z:-1.87 [[ 9.93233903e-01 1.14908013e-01 1.68095834e-02 6.89200355e+01] [-1.14890607e-01 9.93376135e-01 -2.00072294e-03 -2.51602530e+00] [-1.69281381e-02 5.59226101e-05 9.99856707e-01 -1.86788611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464203822 meters 0.010673932635339198 Centerline is valid? [True, True] Translation: X:68.95, Y:-2.52, Z:-1.87 [[ 9.92872510e-01 1.17801154e-01 1.80850211e-02 6.89507166e+01] [-1.17781475e-01 9.93037204e-01 -2.15315875e-03 -2.51520820e+00] [-1.82127434e-02 7.73168047e-06 9.99834134e-01 -1.86806297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.494203822 meters 0.010506411399723007 Centerline is valid? [True, True] Translation: X:68.98, Y:-2.51, Z:-1.87 [[ 9.92570913e-01 1.20161600e-01 1.90833226e-02 6.89821794e+01] [-1.20140122e-01 9.92754344e-01 -2.27215641e-03 -2.51456100e+00] [-1.92180774e-02 -3.73963448e-05 9.99815315e-01 -1.86683391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524203822 meters 0.011239784005454567 Centerline is valid? [True, True] Translation: X:69.01, Y:-2.51, Z:-1.87 [[ 9.92286324e-01 1.22317169e-01 2.01584170e-02 6.90126445e+01] [-1.22293633e-01 9.92491060e-01 -2.40080042e-03 -2.51364884e+00] [-2.03007077e-02 -8.29646375e-05 9.99793916e-01 -1.86715513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554203822 meters 0.011043955406760671 Centerline is valid? [True, True] Translation: X:69.04, Y:-2.52, Z:-1.87 [[ 9.92344507e-01 1.21844353e-01 2.01577144e-02 6.90428765e+01] [-1.21820740e-01 9.92549217e-01 -2.39982457e-03 -2.51940834e+00] [-2.02999287e-02 -7.41749606e-05 9.99793932e-01 -1.86838801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584203822 meters 0.010500505620754226 Centerline is valid? [True, True] Translation: X:69.07, Y:-2.53, Z:-1.87 [[ 9.92506876e-01 1.20506744e-01 2.02045990e-02 6.90740737e+01] [-1.20482682e-01 9.92712508e-01 -2.40844953e-03 -2.52693935e+00] [-2.03475925e-02 -4.39015525e-05 9.99792965e-01 -1.86960812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614203822 meters 0.010302489146114415 Centerline is valid? [True, True] Translation: X:69.11, Y:-2.54, Z:-1.87 [[ 9.92707718e-01 1.18966490e-01 1.94514964e-02 6.91068155e+01] [-1.18943838e-01 9.92898270e-01 -2.32143776e-03 -2.53509809e+00] [-1.95895304e-02 -9.12645935e-06 9.99808107e-01 -1.87069569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644203822 meters 0.011168837983649255 Centerline is valid? [True, True] Translation: X:69.14, Y:-2.55, Z:-1.88 [[ 9.93009812e-01 1.16624025e-01 1.81755363e-02 6.91361475e+01] [-1.16603789e-01 9.93176135e-01 -2.17278613e-03 -2.54789998e+00] [-1.83049080e-02 3.82615410e-05 9.99832450e-01 -1.87642505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674203822 meters 0.011348175891658941 Centerline is valid? [True, True] Translation: X:69.17, Y:-2.56, Z:-1.88 [[ 9.93057656e-01 1.16277574e-01 1.77768730e-02 6.91681484e+01] [-1.16258118e-01 9.93216756e-01 -2.12750539e-03 -2.55619781e+00] [-1.79036693e-02 4.60297218e-05 9.99839715e-01 -1.87748697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704203822 meters 0.011329712623221277 Centerline is valid? [True, True] Translation: X:69.20, Y:-2.56, Z:-1.88 [[ 9.92995889e-01 1.16792671e-01 1.78503760e-02 6.91993115e+01] [-1.16773072e-01 9.93156317e-01 -2.13994820e-03 -2.56367078e+00] [-1.79781440e-02 4.05165216e-05 9.99838379e-01 -1.87928438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.734203822 meters 0.011176323983207226 Centerline is valid? [True, True] Translation: X:69.23, Y:-2.57, Z:-1.88 [[ 9.92833025e-01 1.18198639e-01 1.76540546e-02 6.92323031e+01] [-1.18179636e-01 9.92989970e-01 -2.11949580e-03 -2.56883473e+00] [-1.77808207e-02 1.79556809e-05 9.99841909e-01 -1.88090613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764203822 meters 0.011118298216100905 Centerline is valid? [True, True] Translation: X:69.26, Y:-2.57, Z:-1.88 [[ 9.92442054e-01 1.21426000e-01 1.77340632e-02 6.92642239e+01] [-1.21407274e-01 9.92600486e-01 -2.13271331e-03 -2.57270186e+00] [-1.78618066e-02 -3.64498992e-05 9.99840465e-01 -1.88099709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.794203822 meters 0.011432868821366697 Centerline is valid? [True, True] Translation: X:69.30, Y:-2.58, Z:-1.88 [[ 9.92279279e-01 1.22725705e-01 1.78951056e-02 6.92960141e+01] [-1.22706796e-01 9.92440627e-01 -2.15501132e-03 -2.57731248e+00] [-1.80243051e-02 -5.74779934e-05 9.99837547e-01 -1.88201891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824203822 meters 0.01168907485787184 Centerline is valid? [True, True] Translation: X:69.33, Y:-2.58, Z:-1.88 [[ 9.92189629e-01 1.23412218e-01 1.81428984e-02 6.93270700e+01] [-1.23392832e-01 9.92355491e-01 -2.18842425e-03 -2.58230059e+00] [-1.82742831e-02 -6.73717604e-05 9.99833009e-01 -1.88336088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.854203822 meters 0.011404287430930398 Centerline is valid? [True, True] Translation: X:69.36, Y:-2.59, Z:-1.88 [[ 9.92157277e-01 1.23647641e-01 1.83084063e-02 6.93591919e+01] [-1.23627894e-01 9.92326184e-01 -2.21084589e-03 -2.58917007e+00] [-1.84412768e-02 -6.99228617e-05 9.99829943e-01 -1.88358109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884203822 meters 0.011017650162712715 Centerline is valid? [True, True] Translation: X:69.39, Y:-2.60, Z:-1.89 [[ 9.92361834e-01 1.22106580e-01 1.75491991e-02 6.93908092e+01] [-1.22088140e-01 9.92516993e-01 -2.12235384e-03 -2.60366071e+00] [-1.76770317e-02 -3.64061316e-05 9.99843748e-01 -1.88597721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914203822 meters 0.011200531829402864 Centerline is valid? [True, True] Translation: X:69.42, Y:-2.61, Z:-1.89 [[ 9.92451260e-01 1.21408324e-01 1.73353784e-02 6.94218124e+01] [-1.21390162e-01 9.92602649e-01 -2.09999588e-03 -2.61347891e+00] [-1.74620995e-02 -2.02008394e-05 9.99847526e-01 -1.88830378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944203822 meters 0.011428661211798466 Centerline is valid? [True, True] Translation: X:69.45, Y:-2.63, Z:-1.89 [[ 9.92532568e-01 1.20874498e-01 1.63846837e-02 6.94530537e+01] [-1.20858153e-01 9.92667797e-01 -1.98777444e-03 -2.62614916e+00] [-1.65048191e-02 -7.29173024e-06 9.99863786e-01 -1.89087462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97420382199999 meters 0.011272311431265737 Centerline is valid? [True, True] Translation: X:69.49, Y:-2.63, Z:-1.89 [[ 9.92453109e-01 1.21522866e-01 1.64018112e-02 6.94856017e+01] [-1.21506535e-01 9.92588632e-01 -1.99224749e-03 -2.63284873e+00] [-1.65223549e-02 -1.57150293e-05 9.99863496e-01 -1.89115452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004203822 meters 0.011546864538610084 Centerline is valid? [True, True] Translation: X:69.52, Y:-2.64, Z:-1.89 [[ 9.92287053e-01 1.22878319e-01 1.63500046e-02 6.95175162e+01] [-1.22862220e-01 9.92421744e-01 -1.98931584e-03 -2.63767248e+00] [-1.64705438e-02 -3.48255004e-05 9.99864351e-01 -1.89270062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034203822 meters 0.012137768700492105 Centerline is valid? [True, True] Translation: X:69.55, Y:-2.64, Z:-1.89 [[ 9.92078093e-01 1.24519986e-01 1.66081232e-02 6.95491083e+01] [-1.24503552e-01 9.92217098e-01 -2.02389943e-03 -2.64099743e+00] [-1.67308797e-02 -5.99040325e-05 9.99860027e-01 -1.89445887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064203822 meters 0.014279615994123277 Centerline is valid? [True, True] Translation: X:69.58, Y:-2.64, Z:-1.89 [[ 9.91517060e-01 1.28791184e-01 1.75142960e-02 6.95818501e+01] [-1.28773509e-01 9.91671726e-01 -2.13796314e-03 -2.64216773e+00] [-1.76437829e-02 -1.35550428e-04 9.99844327e-01 -1.89463086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.094203822 meters 0.01593979141503885 Centerline is valid? [True, True] Translation: X:69.61, Y:-2.64, Z:-1.90 [[ 9.91181063e-01 1.31355660e-01 1.74868575e-02 6.96139240e+01] [-1.31338389e-01 9.91335291e-01 -2.13748658e-03 -2.64468515e+00] [-1.76161099e-02 -1.78059470e-04 9.99844808e-01 -1.89541006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124203822 meters 0.01850336907153076 Centerline is valid? [True, True] Translation: X:69.65, Y:-2.65, Z:-1.90 [[ 9.90820834e-01 1.34105949e-01 1.70196614e-02 6.96454437e+01] [-1.34089944e-01 9.90966976e-01 -2.08325150e-03 -2.64511652e+00] [-1.71452988e-02 -2.18036461e-04 9.99852985e-01 -1.89730167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.154203822 meters 0.025078297429858242 Centerline is valid? [True, True] Translation: X:69.68, Y:-2.64, Z:-1.90 [[ 9.90109259e-01 1.39365753e-01 1.61506270e-02 6.96765042e+01] [-1.39351980e-01 9.90240932e-01 -1.98057878e-03 -2.63919691e+00] [-1.62690367e-02 -2.89632461e-04 9.99867609e-01 -1.90132642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184203822 meters 0.026615929693669823 Centerline is valid? [True, True] Translation: X:69.71, Y:-2.64, Z:-1.90 [[ 9.89780677e-01 1.41780100e-01 1.52517041e-02 6.97073999e+01] [-1.41768091e-01 9.89898130e-01 -1.87115136e-03 -2.64106236e+00] [-1.53629253e-02 -3.10175509e-04 9.99881935e-01 -1.90264661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.214203822 meters 0.028469661832420657 Centerline is valid? [True, True] Translation: X:69.74, Y:-2.64, Z:-1.90 [[ 9.89516645e-01 1.43654209e-01 1.48417463e-02 6.97383041e+01] [-1.43643043e-01 9.89627889e-01 -1.82117845e-03 -2.64256382e+00] [-1.49494260e-02 -3.29827208e-04 9.99888197e-01 -1.90436947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244203822 meters 0.029091216148446123 Centerline is valid? [True, True] Translation: X:69.77, Y:-2.65, Z:-1.90 [[ 9.89325829e-01 1.44936212e-01 1.50963022e-02 6.97682432e+01] [-1.44924806e-01 9.89440937e-01 -1.85256957e-03 -2.64551981e+00] [-1.52054038e-02 -3.55033747e-04 9.99884328e-01 -1.90446482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274203822 meters 0.028064137705058084 Centerline is valid? [True, True] Translation: X:69.80, Y:-2.65, Z:-1.91 [[ 9.89427005e-01 1.44248998e-01 1.50475126e-02 6.97982226e+01] [-1.44237592e-01 9.89541363e-01 -1.84624837e-03 -2.64960862e+00] [-1.51564556e-02 -3.43688980e-04 9.99885075e-01 -1.90505180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304203822 meters 0.027910182748423593 Centerline is valid? [True, True] Translation: X:69.83, Y:-2.65, Z:-1.91 [[ 9.89580552e-01 1.43152717e-01 1.54152438e-02 6.98281284e+01] [-1.43140611e-01 9.89700554e-01 -1.89151912e-03 -2.65127156e+00] [-1.55272514e-02 -3.34736888e-04 9.99879389e-01 -1.90577631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334203822 meters 0.025003807265937577 Centerline is valid? [True, True] Translation: X:69.86, Y:-2.65, Z:-1.91 [[ 9.89939439e-01 1.40547239e-01 1.63211759e-02 6.98586961e+01] [-1.40533320e-01 9.90073925e-01 -2.00232531e-03 -2.65345532e+00] [-1.64405920e-02 -3.11488243e-04 9.99864796e-01 -1.90612231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364203822 meters 0.02334443625035511 Centerline is valid? [True, True] Translation: X:69.89, Y:-2.66, Z:-1.91 [[ 9.90080946e-01 1.39558500e-01 1.62217600e-02 6.98889569e+01] [-1.39544617e-01 9.90213785e-01 -1.99012870e-03 -2.65790514e+00] [-1.63407498e-02 -2.93270786e-04 9.99866438e-01 -1.90690371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394203822 meters 0.022874996183132403 Centerline is valid? [True, True] Translation: X:69.92, Y:-2.66, Z:-1.91 [[ 9.90184793e-01 1.38872694e-01 1.57623422e-02 6.99196103e+01] [-1.38859500e-01 9.90310204e-01 -1.93376611e-03 -2.66169108e+00] [-1.58781557e-02 -2.73965167e-04 9.99873897e-01 -1.90865637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424203822 meters 0.022129659211215683 Centerline is valid? [True, True] Translation: X:69.95, Y:-2.67, Z:-1.91 [[ 9.90290890e-01 1.38299049e-01 1.40472550e-02 6.99505646e+01] [-1.38288518e-01 9.90390487e-01 -1.72301057e-03 -2.66605112e+00] [-1.41505584e-02 -2.36292403e-04 9.99899848e-01 -1.91221884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454203822 meters 0.021290377493459467 Centerline is valid? [True, True] Translation: X:69.98, Y:-2.67, Z:-1.91 [[ 9.90300480e-01 1.38232751e-01 1.40237498e-02 6.99807066e+01] [-1.38222238e-01 9.90399743e-01 -1.72081264e-03 -2.67021368e+00] [-1.41269909e-02 -2.34272502e-04 9.99900182e-01 -1.91288660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.484203822 meters 0.023240098263563123 Centerline is valid? [True, True] Translation: X:70.01, Y:-2.67, Z:-1.92 [[ 9.90401611e-01 1.37466340e-01 1.44102015e-02 7.00099739e+01] [-1.37455156e-01 9.90506412e-01 -1.76840287e-03 -2.67061402e+00] [-1.45164928e-02 -2.29327441e-04 9.99894604e-01 -1.91623126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.514203822 meters 0.018465062342537114 Centerline is valid? [True, True] Translation: X:70.04, Y:-2.68, Z:-1.91 [[ 9.90744368e-01 1.34960826e-01 1.45317759e-02 7.00408085e+01] [-1.34949194e-01 9.90850916e-01 -1.78263330e-03 -2.67732830e+00] [-1.46394092e-02 -1.94917539e-04 9.99892819e-01 -1.91370446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544203822 meters 0.018820838784624094 Centerline is valid? [True, True] Translation: X:70.07, Y:-2.68, Z:-1.92 [[ 9.90969673e-01 1.33356138e-01 1.39730676e-02 7.00709867e+01] [-1.33345217e-01 9.91068168e-01 -1.71459167e-03 -2.67859287e+00] [-1.40769138e-02 -1.64133372e-04 9.99900902e-01 -1.91831902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.574203822 meters 0.017167198131415817 Centerline is valid? [True, True] Translation: X:70.10, Y:-2.68, Z:-1.92 [[ 9.91212447e-01 1.31536609e-01 1.40001820e-02 7.01022535e+01] [-1.31525463e-01 9.91311304e-01 -1.71793606e-03 -2.68406558e+00] [-1.41045101e-02 -1.38540814e-04 9.99900517e-01 -1.92081903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604203822 meters 0.015543614217203886 Centerline is valid? [True, True] Translation: X:70.13, Y:-2.69, Z:-1.92 [[ 9.91457364e-01 1.29677036e-01 1.40057467e-02 7.01328961e+01] [-1.29665691e-01 9.91556279e-01 -1.71894507e-03 -2.69114423e+00] [-1.41103938e-02 -1.11804071e-04 9.99900437e-01 -1.92185370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.634203822 meters 0.013798798963663705 Centerline is valid? [True, True] Translation: X:70.16, Y:-2.70, Z:-1.92 [[ 9.91873445e-01 1.26486090e-01 1.37236227e-02 7.01633622e+01] [-1.26474914e-01 9.91968379e-01 -1.68275917e-03 -2.70091645e+00] [-1.38262454e-02 -6.66098578e-05 9.99904411e-01 -1.92374720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664203822 meters 0.012998616613508181 Centerline is valid? [True, True] Translation: X:70.20, Y:-2.71, Z:-1.92 [[ 9.91991442e-01 1.25532325e-01 1.39504568e-02 7.01952983e+01] [-1.25520653e-01 9.92089529e-01 -1.71257697e-03 -2.70570722e+00] [-1.40550859e-02 -5.22087496e-05 9.99901221e-01 -1.92307461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694203822 meters 0.012773905121534285 Centerline is valid? [True, True] Translation: X:70.23, Y:-2.71, Z:-1.92 [[ 9.92080383e-01 1.24847042e-01 1.37742647e-02 7.02274722e+01] [-1.24835566e-01 9.92176000e-01 -1.69319526e-03 -2.71045264e+00] [-1.38778852e-02 -3.97323250e-05 9.99903697e-01 -1.92476698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72420382199999 meters 0.016941071855426655 Centerline is valid? [True, True] Translation: X:70.26, Y:-2.72, Z:-1.93 [[ 9.92153804e-01 1.24451348e-01 1.19453210e-02 7.02581527e+01] [-1.24442670e-01 9.92225711e-01 -1.46995832e-03 -2.71596230e+00] [-1.20353929e-02 -2.80828997e-05 9.99927572e-01 -1.92991918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754203822 meters 0.01417714981336883 Centerline is valid? [True, True] Translation: X:70.29, Y:-2.72, Z:-1.93 [[ 9.92121454e-01 1.24962776e-01 8.90643855e-03 7.02900210e+01] [-1.24957952e-01 9.92161430e-01 -1.09829850e-03 -2.72161259e+00] [-8.97387124e-03 -2.32848138e-05 9.99959734e-01 -1.93300865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784203822 meters 0.01487503250850276 Centerline is valid? [True, True] Translation: X:70.32, Y:-2.72, Z:-1.94 [[ 9.91987990e-01 1.25964754e-01 9.62850327e-03 7.03195039e+01] [-1.25959146e-01 9.92034717e-01 -1.18909162e-03 -2.72184696e+00] [-9.70159315e-03 -3.32334361e-05 9.99952938e-01 -1.93574470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814203822 meters 0.015452734433302282 Centerline is valid? [True, True] Translation: X:70.35, Y:-2.72, Z:-1.93 [[ 9.91638385e-01 1.28594082e-01 1.08109295e-02 7.03507537e+01] [-1.28587173e-01 9.91697311e-01 -1.33472550e-03 -2.72170599e+00] [-1.08928075e-02 -6.65818187e-05 9.99940669e-01 -1.93428351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.844203822 meters 0.01660350620067744 Centerline is valid? [True, True] Translation: X:70.38, Y:-2.72, Z:-1.94 [[ 9.91465771e-01 1.29911858e-01 1.08873324e-02 7.03797327e+01] [-1.29904927e-01 9.91525543e-01 -1.34436412e-03 -2.72431108e+00] [-1.09697170e-02 -8.14271116e-05 9.99939828e-01 -1.93603299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.874203822 meters 0.017318699167884855 Centerline is valid? [True, True] Translation: X:70.41, Y:-2.73, Z:-1.94 [[ 9.91347694e-01 1.30823815e-01 1.07181283e-02 7.04103279e+01] [-1.30817155e-01 9.91405629e-01 -1.32314049e-03 -2.72716340e+00] [-1.07991110e-02 -9.04227788e-05 9.99941684e-01 -1.93681711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904203822 meters 0.01628853722008684 Centerline is valid? [True, True] Translation: X:70.44, Y:-2.73, Z:-1.93 [[ 9.91299422e-01 1.30992079e-01 1.29047235e-02 7.04412061e+01] [-1.30982441e-01 9.91383409e-01 -1.59289080e-03 -2.73126916e+00] [-1.30021848e-02 -1.11260449e-04 9.99915462e-01 -1.93359995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.934203822 meters 0.015120219802326071 Centerline is valid? [True, True] Translation: X:70.47, Y:-2.74, Z:-1.93 [[ 9.91385829e-01 1.30127658e-01 1.48637555e-02 7.04711167e+01] [-1.30114769e-01 9.91497241e-01 -1.83509092e-03 -2.73736733e+00] [-1.49761687e-02 -1.14710984e-04 9.99887844e-01 -1.93091648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964203822 meters 0.01273371421378431 Centerline is valid? [True, True] Translation: X:70.50, Y:-2.75, Z:-1.93 [[ 9.91723660e-01 1.27348062e-01 1.63295294e-02 7.05025608e+01] [-1.27332160e-01 9.91858087e-01 -2.01408870e-03 -2.74839004e+00] [-1.64530661e-02 -8.18548392e-05 9.99864636e-01 -1.92913502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.994203822 meters 0.01206309041164607 Centerline is valid? [True, True] Translation: X:70.54, Y:-2.76, Z:-1.93 [[ 9.92018059e-01 1.25149278e-01 1.54216858e-02 7.05350178e+01] [-1.25134799e-01 9.92137922e-01 -1.90408954e-03 -2.75720605e+00] [-1.55387347e-02 -4.08983390e-05 9.99879266e-01 -1.93189066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024203822 meters 0.012022368664333375 Centerline is valid? [True, True] Translation: X:70.57, Y:-2.77, Z:-1.93 [[ 9.92352081e-01 1.22643708e-01 1.39953143e-02 7.05656407e+01] [-1.22631500e-01 9.92450765e-01 -1.73042092e-03 -2.76763665e+00] [-1.41018856e-02 9.20426984e-07 9.99900563e-01 -1.93493963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054203822 meters 0.013525338518316325 Centerline is valid? [True, True] Translation: X:70.60, Y:-2.78, Z:-1.94 [[ 9.92668470e-01 1.20211761e-01 1.25873170e-02 7.05954655e+01] [-1.20201666e-01 9.92748272e-01 -1.55823940e-03 -2.78029335e+00] [-1.26833559e-02 3.37986566e-05 9.99919562e-01 -1.94094231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084203822 meters 0.015573214987050436 Centerline is valid? [True, True] Translation: X:70.63, Y:-2.79, Z:-1.95 [[ 9.92964534e-01 1.17876953e-01 1.12454058e-02 7.06250122e+01] [-1.17868717e-01 9.93028207e-01 -1.39467372e-03 -2.79429419e+00] [-1.13314050e-02 5.93799862e-05 9.99935796e-01 -1.94512352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114203822 meters 0.015573214987050436 Centerline is valid? [True, True] Translation: X:70.66, Y:-2.80, Z:-1.95 [[ 9.92942869e-01 1.18059300e-01 1.12454898e-02 7.06572393e+01] [-1.18051084e-01 9.93006545e-01 -1.39399948e-03 -2.79850540e+00] [-1.13314196e-02 5.66195836e-05 9.99935796e-01 -1.94604648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144203822 meters 0.01673107680275978 Centerline is valid? [True, True] Translation: X:70.69, Y:-2.81, Z:-1.95 [[ 9.93297854e-01 1.15281444e-01 8.34032167e-03 7.06879824e+01] [-1.15276802e-01 9.93332867e-01 -1.03677345e-03 -2.81360490e+00] [-8.40423637e-03 6.83792301e-05 9.99964681e-01 -1.94755136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174203822 meters 0.017219517383539582 Centerline is valid? [True, True] Translation: X:70.72, Y:-2.82, Z:-1.95 [[ 9.93244995e-01 1.15833379e-01 6.85619955e-03 7.07187244e+01] [-1.15830271e-01 9.93268657e-01 -8.49994369e-04 -2.81873062e+00] [-6.90850585e-03 5.00972012e-05 9.99976135e-01 -1.95093863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204203822 meters 0.017570544785382038 Centerline is valid? [True, True] Translation: X:70.75, Y:-2.82, Z:-1.96 [[ 9.93029482e-01 1.17694054e-01 6.36839826e-03 7.07505025e+01] [-1.17691410e-01 9.93049902e-01 -7.89696566e-04 -2.82252201e+00] [-6.41707986e-03 3.46862014e-05 9.99979410e-01 -1.95587334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.234203822 meters 0.015385906304450957 Centerline is valid? [True, True] Translation: X:70.78, Y:-2.83, Z:-1.96 [[ 9.92362254e-01 1.23203514e-01 6.16854706e-03 7.07830159e+01] [-1.23201116e-01 9.92381426e-01 -7.68642402e-04 -2.82511330e+00] [-6.21625098e-03 2.79982300e-06 9.99980679e-01 -1.95514270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264203822 meters 0.014659076485919898 Centerline is valid? [True, True] Translation: X:70.82, Y:-2.83, Z:-1.95 [[ 9.91987953e-01 1.26154052e-01 6.71235199e-03 7.08154062e+01] [-1.26151293e-01 9.92010663e-01 -8.34475551e-04 -2.82971463e+00] [-6.76399722e-03 -1.89821910e-05 9.99977124e-01 -1.95285895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.294203822 meters 0.016026797358105926 Centerline is valid? [True, True] Translation: X:70.85, Y:-2.83, Z:-1.96 [[ 9.91632063e-01 1.28913489e-01 6.86765199e-03 7.08467994e+01] [-1.28910660e-01 9.91655843e-01 -8.54889248e-04 -2.83325856e+00] [-6.92055398e-03 -3.75779649e-05 9.99976052e-01 -1.95570188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324203822 meters 0.018941983180573316 Centerline is valid? [True, True] Translation: X:70.88, Y:-2.83, Z:-1.96 [[ 9.91108537e-01 1.32929829e-01 5.79032214e-03 7.08775582e+01] [-1.32927864e-01 9.91125450e-01 -7.24724380e-04 -2.83442409e+00] [-5.83527313e-03 -5.14146316e-05 9.99982973e-01 -1.96038375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.354203822 meters 0.01944226373341904 Centerline is valid? [True, True] Translation: X:70.91, Y:-2.84, Z:-1.96 [[ 9.90877003e-01 1.34660563e-01 5.41279204e-03 7.09090566e+01] [-1.34658889e-01 9.90891785e-01 -6.74235006e-04 -2.83880956e+00] [-5.45428403e-03 -6.07966003e-05 9.99985123e-01 -1.96097069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384203822 meters 0.021326313043396092 Centerline is valid? [True, True] Translation: X:70.94, Y:-2.84, Z:-1.96 [[ 9.90626330e-01 1.36504741e-01 5.09223113e-03 7.09396779e+01] [-1.36503279e-01 9.90639415e-01 -6.35192967e-04 -2.84206406e+00] [-5.13127172e-03 -6.58673681e-05 9.99986833e-01 -1.96357057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414203822 meters 0.021553561776357498 Centerline is valid? [True, True] Translation: X:70.97, Y:-2.85, Z:-1.96 [[ 9.90360209e-01 1.38431925e-01 4.82279597e-03 7.09705332e+01] [-1.38430619e-01 9.90371949e-01 -6.05202438e-04 -2.84659790e+00] [-4.86014118e-03 -6.82542187e-05 9.99988187e-01 -1.96292186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444203822 meters 0.02736200063718077 Centerline is valid? [True, True] Translation: X:71.00, Y:-2.84, Z:-1.97 [[ 9.89832216e-01 1.42173312e-01 4.35124599e-03 7.10007696e+01] [-1.42172281e-01 9.89841777e-01 -5.46951431e-04 -2.84398073e+00] [-4.38480696e-03 -7.72364218e-05 9.99990384e-01 -1.96851199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47420382199999 meters 0.025281198961325548 Centerline is valid? [True, True] Translation: X:71.03, Y:-2.85, Z:-1.96 [[ 9.89608944e-01 1.43719386e-01 4.34456554e-03 7.10306506e+01] [-1.43718375e-01 9.89618477e-01 -5.45765311e-04 -2.84985875e+00] [-4.37789939e-03 -8.42996653e-05 9.99990413e-01 -1.96379053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504203822 meters 0.029702618427223954 Centerline is valid? [True, True] Translation: X:71.06, Y:-2.85, Z:-1.97 [[ 9.89314429e-01 1.45704469e-01 5.21231316e-03 7.10605118e+01] [-1.45703039e-01 9.89328153e-01 -6.55056875e-04 -2.84699286e+00] [-5.25213287e-03 -1.11392650e-04 9.99986201e-01 -1.96769476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534203822 meters 0.027833815618387627 Centerline is valid? [True, True] Translation: X:71.09, Y:-2.85, Z:-1.97 [[ 9.89289482e-01 1.45893248e-01 4.63476134e-03 7.10908913e+01] [-1.45892121e-01 9.89300334e-01 -5.82162214e-04 -2.85271815e+00] [-4.67010447e-03 -1.00248206e-04 9.99989090e-01 -1.96743397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564203822 meters 0.030181572555211946 Centerline is valid? [True, True] Translation: X:71.12, Y:-2.85, Z:-1.97 [[ 9.89343281e-01 1.45539357e-01 4.26237278e-03 7.11201295e+01] [-1.45538399e-01 9.89352459e-01 -5.35680445e-04 -2.85442064e+00] [-4.29495157e-03 -9.03670619e-05 9.99990773e-01 -1.97292725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.594203822 meters 0.028886124423749042 Centerline is valid? [True, True] Translation: X:71.15, Y:-2.86, Z:-1.97 [[ 9.89452591e-01 1.44781874e-01 4.66687697e-03 7.11497396e+01] [-1.44780719e-01 9.89463592e-01 -5.86138926e-04 -2.86014259e+00] [-4.70256714e-03 -9.57171265e-05 9.99988938e-01 -1.97281733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624203822 meters 0.02573079592362193 Centerline is valid? [True, True] Translation: X:71.18, Y:-2.86, Z:-1.97 [[ 9.89653986e-01 1.43350436e-01 5.96994933e-03 7.11797439e+01] [-1.43348521e-01 9.89671986e-01 -7.49799001e-04 -2.86498959e+00] [-6.01577563e-03 -1.13741835e-04 9.99981899e-01 -1.96917226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.654203822 meters 0.024994171932901498 Centerline is valid? [True, True] Translation: X:71.21, Y:-2.87, Z:-1.97 [[ 9.89839511e-01 1.42104012e-01 4.91861637e-03 7.12098438e+01] [-1.42102696e-01 9.89851727e-01 -6.17756272e-04 -2.86754516e+00] [-4.95648656e-03 -8.74690835e-05 9.99987713e-01 -1.97173387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684203822 meters 0.02440975955306237 Centerline is valid? [True, True] Translation: X:71.24, Y:-2.87, Z:-1.98 [[ 9.90345637e-01 1.38602477e-01 2.20755965e-03 7.12382170e+01] [-1.38602203e-01 9.90348097e-01 -2.77259642e-04 -2.87365574e+00] [-2.22468137e-03 -3.13897533e-05 9.99997525e-01 -1.98090297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.714203822 meters 0.02072474943342542 Centerline is valid? [True, True] Translation: X:71.27, Y:-2.88, Z:-1.98 [[ 9.90657479e-01 1.36353520e-01 2.34028123e-03 7.12684030e+01] [-1.36353207e-01 9.90660243e-01 -2.93606430e-04 -2.88334108e+00] [-2.35845784e-03 -2.82414442e-05 9.99997218e-01 -1.97722200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744203822 meters 0.022011028644672866 Centerline is valid? [True, True] Translation: X:71.30, Y:-2.89, Z:-1.98 [[ 9.90963273e-01 1.34104241e-01 2.80069925e-03 7.12987074e+01] [-1.34103787e-01 9.90967230e-01 -3.50038714e-04 -2.88726477e+00] [-2.82234285e-03 -2.87088659e-05 9.99996017e-01 -1.98340153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774203822 meters 0.01854391618602881 Centerline is valid? [True, True] Translation: X:71.33, Y:-2.89, Z:-1.98 [[ 9.91232481e-01 1.32093425e-01 3.08152352e-03 7.13294202e+01] [-1.32092861e-01 9.91237271e-01 -3.86659273e-04 -2.89426235e+00] [-3.10559611e-03 -2.37780275e-05 9.99995177e-01 -1.97837658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804203822 meters 0.017507493788254298 Centerline is valid? [True, True] Translation: X:71.36, Y:-2.90, Z:-1.98 [[ 9.91710714e-01 1.28437969e-01 3.68077559e-03 7.13595246e+01] [-1.28437151e-01 9.91717544e-01 -4.58777647e-04 -2.90274845e+00] [-3.70921419e-03 -1.77736204e-05 9.99993121e-01 -1.98010301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834203822 meters 0.017269974623765214 Centerline is valid? [True, True] Translation: X:71.39, Y:-2.91, Z:-1.98 [[ 9.91854414e-01 1.27324869e-01 3.63315800e-03 7.13909149e+01] [-1.27324063e-01 9.91861068e-01 -4.53125609e-04 -2.90989817e+00] [-3.66128213e-03 -1.31538016e-05 9.99993297e-01 -1.98076620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864203822 meters 0.01785680083584892 Centerline is valid? [True, True] Translation: X:71.42, Y:-2.92, Z:-1.98 [[ 9.91962620e-01 1.26480992e-01 3.56638087e-03 7.14216872e+01] [-1.26480207e-01 9.91969031e-01 -4.45622727e-04 -2.91612894e+00] [-3.59410218e-03 -9.03550448e-06 9.99993541e-01 -1.98390342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894203822 meters 0.017673482247789987 Centerline is valid? [True, True] Translation: X:71.45, Y:-2.92, Z:-1.98 [[ 9.92082254e-01 1.25561880e-01 2.64856481e-03 7.14531085e+01] [-1.25561447e-01 9.92085790e-01 -3.29908181e-04 -2.92265769e+00] [-2.66902741e-03 -5.26157833e-06 9.99996438e-01 -1.98448964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924203822 meters 0.01819122938849253 Centerline is valid? [True, True] Translation: X:71.48, Y:-2.93, Z:-1.99 [[ 9.92456027e-01 1.22597639e-01 9.23583469e-04 7.14840685e+01] [-1.22597588e-01 9.92456457e-01 -1.12012825e-04 -2.93379155e+00] [-9.30348885e-04 -2.06130179e-06 9.99999567e-01 -1.98639435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954203822 meters 0.01950009185534019 Centerline is valid? [True, True] Translation: X:71.51, Y:-2.94, Z:-1.99 [[ 9.92681780e-01 1.20748730e-01 1.62106914e-03 7.15148140e+01] [-1.20748564e-01 9.92683104e-01 -2.00509908e-04 -2.94260025e+00] [-1.63341926e-03 3.30076145e-06 9.99998666e-01 -1.98944717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.984203822 meters 0.020120420218356985 Centerline is valid? [True, True] Translation: X:71.55, Y:-2.96, Z:-1.99 [[ 9.93175173e-01 1.16625579e-01 1.24481316e-03 7.15458513e+01] [-1.16625479e-01 9.93175953e-01 -1.52959762e-04 -2.95619495e+00] [-1.25415752e-03 6.73890722e-06 9.99999214e-01 -1.98633301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.014203822 meters 0.02124855571435963 Centerline is valid? [True, True] Translation: X:71.58, Y:-2.97, Z:-1.99 [[ 9.93386437e-01 1.14812320e-01 1.23218002e-03 7.15770315e+01] [-1.14812220e-01 9.93387201e-01 -1.51574801e-04 -2.96660523e+00] [-1.24143452e-03 9.10302758e-06 9.99999229e-01 -1.98685672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044203822 meters 0.022504856392261477 Centerline is valid? [True, True] Translation: X:71.61, Y:-2.98, Z:-1.99 [[ 9.93553020e-01 1.13351618e-01 1.95117505e-03 7.16082656e+01] [-1.13351359e-01 9.93554936e-01 -2.42967774e-04 -2.97808181e+00] [-1.96614039e-03 2.02330215e-05 9.99998067e-01 -1.98703805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.074203822 meters 0.024207418560529895 Centerline is valid? [True, True] Translation: X:71.64, Y:-2.99, Z:-1.99 [[ 9.93740791e-01 1.11685709e-01 2.35416608e-03 7.16376932e+01] [-1.11685323e-01 9.93743579e-01 -2.95380482e-04 -2.99459482e+00] [-2.37242721e-03 3.06058347e-05 9.99997185e-01 -1.98769919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104203822 meters 0.025632192935098694 Centerline is valid? [True, True] Translation: X:71.67, Y:-3.00, Z:-1.99 [[ 9.93720377e-01 1.11883608e-01 1.36742515e-03 7.16677025e+01] [-1.11883480e-01 9.93721318e-01 -1.69949840e-04 -3.00247582e+00] [-1.37785412e-03 1.58903355e-05 9.99999051e-01 -1.99238405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.134203822 meters 0.02666468552835911 Centerline is valid? [True, True] Translation: X:71.70, Y:-3.01, Z:-2.00 [[ 9.93653332e-01 1.12485771e-01 8.90036784e-05 7.16984031e+01] [-1.12485771e-01 9.93653336e-01 -6.99525678e-06 -3.00848896e+00] [-8.92256688e-05 -3.06078716e-06 9.99999996e-01 -1.99767198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164203822 meters 0.024859446110898683 Centerline is valid? [True, True] Translation: X:71.73, Y:-3.01, Z:-2.00 [[ 9.93444457e-01 1.14289207e-01 -2.46755592e-03 7.17295049e+01] [-1.14288764e-01 9.93447521e-01 3.20043675e-04 -3.01458912e+00] [ 2.48796485e-03 -3.59316983e-05 9.99996904e-01 -2.00071904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194203822 meters 0.0267024776998182 Centerline is valid? [True, True] Translation: X:71.76, Y:-3.02, Z:-2.00 [[ 9.93268921e-01 1.15780333e-01 -3.43015514e-03 7.17610287e+01] [-1.15779490e-01 9.93274842e-01 4.44089247e-04 -3.01907333e+00] [ 3.45850361e-03 -4.39584349e-05 9.99994018e-01 -2.00360694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22420382199999 meters 0.023172902245353472 Centerline is valid? [True, True] Translation: X:71.79, Y:-3.02, Z:-2.00 [[ 9.93012001e-01 1.17957226e-01 -3.64123267e-03 7.17927249e+01] [-1.17956289e-01 9.93018676e-01 4.71764499e-04 -3.02137424e+00] [ 3.67146007e-03 -3.89615174e-05 9.99993259e-01 -2.00428034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254203822 meters 0.022331498253251536 Centerline is valid? [True, True] Translation: X:71.83, Y:-3.02, Z:-2.01 [[ 9.92342950e-01 1.23422653e-01 -4.72426191e-03 7.18252863e+01] [-1.23421148e-01 9.92354195e-01 6.09828507e-04 -3.02118810e+00] [ 4.76340777e-03 -2.20851913e-05 9.99988655e-01 -2.00967803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284203822 meters 0.02429576470017128 Centerline is valid? [True, True] Translation: X:71.86, Y:-3.02, Z:-2.01 [[ 9.92024441e-01 1.25947896e-01 -4.96338489e-03 7.18574958e+01] [-1.25946257e-01 9.92036858e-01 6.42698464e-04 -3.02370275e+00] [ 5.00480727e-03 -1.24528374e-05 9.99987476e-01 -2.00947731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314203822 meters 0.020384233653813047 Centerline is valid? [True, True] Translation: X:71.89, Y:-3.02, Z:-2.01 [[ 9.91628992e-01 1.29042372e-01 -4.47299155e-03 7.18901979e+01] [-1.29041066e-01 9.91639081e-01 5.80559271e-04 -3.02474503e+00] [ 4.51050998e-03 1.50019274e-06 9.99989828e-01 -2.00645074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.344203822 meters 0.022593900880914324 Centerline is valid? [True, True] Translation: X:71.92, Y:-3.02, Z:-2.01 [[ 9.90673869e-01 1.36240359e-01 -1.96213435e-03 7.19215350e+01] [-1.36240125e-01 9.90675812e-01 2.52888533e-04 -3.01573214e+00] [ 1.97829266e-03 1.67913688e-05 9.99998043e-01 -2.00693289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.374203822 meters 0.023328324782792453 Centerline is valid? [True, True] Translation: X:71.95, Y:-3.02, Z:-2.00 [[ 9.90062007e-01 1.40627354e-01 -1.08161676e-03 7.19542381e+01] [-1.40627280e-01 9.90062598e-01 1.44230377e-04 -3.01568485e+00] [ 1.09115103e-03 9.30780636e-06 9.99999405e-01 -2.00264726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404203822 meters 0.026347060701478884 Centerline is valid? [True, True] Translation: X:71.99, Y:-3.02, Z:-2.00 [[ 9.89482334e-01 1.44645913e-01 -1.50668168e-03 7.19864120e+01] [-1.44645778e-01 9.89483481e-01 1.98866321e-04 -3.01503764e+00] [ 1.51960184e-03 2.11604325e-05 9.99998845e-01 -2.00398098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.434203822 meters 0.03274513749551982 Centerline is valid? [True, True] Translation: X:72.02, Y:-3.01, Z:-2.01 [[ 9.88646541e-01 1.50231144e-01 -2.93597905e-03 7.20167634e+01] [-1.50230678e-01 9.88650899e-01 3.79629681e-04 -3.00675434e+00] [ 2.95969053e-03 6.57545526e-05 9.99995618e-01 -2.00853364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464203822 meters 0.030893473298564393 Centerline is valid? [True, True] Translation: X:72.05, Y:-3.01, Z:-2.00 [[ 9.88503844e-01 1.51191185e-01 -1.17334584e-03 7.20475103e+01] [-1.51191111e-01 9.88504540e-01 1.51433942e-04 -3.00851898e+00] [ 1.18275316e-03 2.77064270e-05 9.99999300e-01 -2.00370904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.494203822 meters 0.03297212787500951 Centerline is valid? [True, True] Translation: X:72.08, Y:-3.01, Z:-2.00 [[ 9.88498709e-01 1.51224968e-01 1.14481926e-03 7.20779753e+01] [-1.51224898e-01 9.88499372e-01 -1.47752255e-04 -3.00663166e+00] [-1.15399695e-03 -2.70722624e-05 9.99999334e-01 -2.00467732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524203822 meters 0.03052444123629731 Centerline is valid? [True, True] Translation: X:72.11, Y:-3.01, Z:-2.01 [[ 9.89092684e-01 1.47277141e-01 2.25985580e-03 7.21075990e+01] [-1.47276858e-01 9.89095264e-01 -2.91660704e-04 -3.01256561e+00] [-2.27816762e-03 -4.43449940e-05 9.99997404e-01 -2.00598357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554203822 meters 0.0247018871736313 Centerline is valid? [True, True] Translation: X:72.14, Y:-3.02, Z:-2.00 [[ 9.89563134e-01 1.44082225e-01 2.26197257e-03 7.21380932e+01] [-1.44081936e-01 9.89565718e-01 -2.90988750e-04 -3.02486468e+00] [-2.28029682e-03 -3.79576472e-05 9.99997399e-01 -2.00275655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584203822 meters 0.022254792742627424 Centerline is valid? [True, True] Translation: X:72.17, Y:-3.03, Z:-2.00 [[ 9.90055798e-01 1.40657929e-01 2.20548072e-03 7.21683933e+01] [-1.40657653e-01 9.90058254e-01 -2.80637248e-04 -3.03465512e+00] [-2.22302824e-03 -3.23712070e-05 9.99997529e-01 -2.00453860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614203822 meters 0.0201051347244931 Centerline is valid? [True, True] Translation: X:72.20, Y:-3.05, Z:-2.01 [[ 9.90560507e-01 1.37068181e-01 1.48175061e-03 7.21988617e+01] [-1.37068055e-01 9.90561615e-01 -1.87001548e-04 -3.04630392e+00] [-1.49339724e-03 -1.78643251e-05 9.99998885e-01 -2.00670954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644203822 meters 0.018371966723075388 Centerline is valid? [True, True] Translation: X:72.23, Y:-3.06, Z:-2.01 [[ 9.91408411e-01 1.30800808e-01 -7.15586364e-04 7.22287461e+01] [-1.30800772e-01 9.91408669e-01 9.76312047e-05 -3.06294108e+00] [ 7.22208765e-04 -3.19314878e-06 9.99999739e-01 -2.01004947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674203822 meters 0.018195175579108214 Centerline is valid? [True, True] Translation: X:72.26, Y:-3.07, Z:-2.01 [[ 9.91676772e-01 1.28750175e-01 -7.56550138e-04 7.22614146e+01] [-1.28750134e-01 9.91677060e-01 1.03844008e-04 -3.07024734e+00] [ 7.63623351e-04 -5.57375933e-06 9.99999708e-01 -2.01155346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704203822 meters 0.018339358263809554 Centerline is valid? [True, True] Translation: X:72.29, Y:-3.08, Z:-2.01 [[ 9.92071194e-01 1.25677042e-01 -1.62503473e-04 7.22920646e+01] [-1.25677039e-01 9.92071208e-01 2.60618847e-05 -3.08115206e+00] [ 1.64490397e-04 -5.43228972e-06 9.99999986e-01 -2.01128072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.734203822 meters 0.019796271402830072 Centerline is valid? [True, True] Translation: X:72.32, Y:-3.09, Z:-2.01 [[ 9.92228743e-01 1.24420337e-01 -1.30406844e-03 7.23221114e+01] [-1.24420218e-01 9.92229600e-01 1.72212979e-04 -3.09206060e+00] [ 1.31536210e-03 -8.62218816e-06 9.99999135e-01 -2.01495492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764203822 meters 0.02166923682606476 Centerline is valid? [True, True] Translation: X:72.35, Y:-3.10, Z:-2.02 [[ 9.92360135e-01 1.23355484e-01 -2.18796804e-03 7.23521810e+01] [-1.23355145e-01 9.92362547e-01 2.89424323e-04 -3.10353137e+00] [ 2.20695961e-03 -1.73160447e-05 9.99997565e-01 -2.01924254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.794203822 meters 0.02066313766781633 Centerline is valid? [True, True] Translation: X:72.38, Y:-3.11, Z:-2.02 [[ 9.92498354e-01 1.22253274e-01 -1.07403368e-03 7.23836332e+01] [-1.22253189e-01 9.92498935e-01 1.44940421e-04 -3.11112448e+00] [ 1.08369673e-03 -1.25490867e-05 9.99999413e-01 -2.01509255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824203822 meters 0.020311318209463622 Centerline is valid? [True, True] Translation: X:72.42, Y:-3.11, Z:-2.01 [[ 9.92479061e-01 1.22414267e-01 -2.44460357e-04 7.24157629e+01] [-1.22414262e-01 9.92479092e-01 3.67815422e-05 -3.11457488e+00] [ 2.47124379e-04 -6.57947633e-06 9.99999969e-01 -2.01484713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.854203822 meters 0.02038458196284471 Centerline is valid? [True, True] Translation: X:72.45, Y:-3.12, Z:-2.02 [[ 9.92271719e-01 1.24081061e-01 -8.52562021e-04 7.24469898e+01] [-1.24081008e-01 9.92272085e-01 1.15941357e-04 -3.11864649e+00] [ 8.60359620e-04 -9.25857523e-06 9.99999630e-01 -2.01775910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884203822 meters 0.020426286474861624 Centerline is valid? [True, True] Translation: X:72.48, Y:-3.12, Z:-2.02 [[ 9.92183752e-01 1.24778424e-01 -1.32148896e-03 7.24777447e+01] [-1.24778301e-01 9.92184632e-01 1.75521188e-04 -3.12464846e+00] [ 1.33306229e-03 -9.25612395e-06 9.99999111e-01 -2.01955191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914203822 meters 0.020581913071273626 Centerline is valid? [True, True] Translation: X:72.51, Y:-3.13, Z:-2.02 [[ 9.92145805e-01 1.25079007e-01 -1.39422425e-03 7.25097301e+01] [-1.25078866e-01 9.92146784e-01 1.88123652e-04 -3.13231942e+00] [ 1.40680542e-03 -1.22581042e-05 9.99999010e-01 -2.02118752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944203822 meters 0.021043832379132724 Centerline is valid? [True, True] Translation: X:72.54, Y:-3.14, Z:-2.02 [[ 9.92143821e-01 1.25085351e-01 -2.07228033e-03 7.25407442e+01] [-1.25085046e-01 9.92145985e-01 2.76631535e-04 -3.13986913e+00] [ 2.09060716e-03 -1.52469880e-05 9.99997815e-01 -2.02271813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97420382199999 meters 0.0210966388860604 Centerline is valid? [True, True] Translation: X:72.57, Y:-3.15, Z:-2.02 [[ 9.92148119e-01 1.25044021e-01 -2.47049632e-03 7.25725362e+01] [-1.25043588e-01 9.92151194e-01 3.29318501e-04 -3.14638973e+00] [ 2.49228518e-03 -1.78130073e-05 9.99996894e-01 -2.02360915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004203822 meters 0.021338582985786177 Centerline is valid? [True, True] Translation: X:72.60, Y:-3.15, Z:-2.02 [[ 9.92183454e-01 1.24749576e-01 -3.08802292e-03 7.26040811e+01] [-1.24748901e-01 9.92188260e-01 4.10991844e-04 -3.15395071e+00] [ 3.11517114e-03 -2.25518420e-05 9.99995148e-01 -2.02470414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034203822 meters 0.021338582985786177 Centerline is valid? [True, True] Translation: X:72.64, Y:-3.16, Z:-2.03 [[ 9.92159467e-01 1.24940217e-01 -3.08785636e-03 7.26362706e+01] [-1.24939539e-01 9.92164271e-01 4.12253712e-04 -3.15838076e+00] [ 3.11516782e-03 -2.32260724e-05 9.99995148e-01 -2.02562746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064203822 meters 0.022686728142488594 Centerline is valid? [True, True] Translation: X:72.67, Y:-3.16, Z:-2.03 [[ 9.92184445e-01 1.24730244e-01 -3.52047785e-03 7.26665019e+01] [-1.24729373e-01 9.92190690e-01 4.66703911e-04 -3.16442922e+00] [ 3.55119744e-03 -2.39493647e-05 9.99993694e-01 -2.03015401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.094203822 meters 0.02119564507101268 Centerline is valid? [True, True] Translation: X:72.70, Y:-3.17, Z:-2.03 [[ 9.92214425e-01 1.24470884e-01 -4.18734661e-03 7.26982198e+01] [-1.24469639e-01 9.92223260e-01 5.57654846e-04 -3.16878575e+00] [ 4.22419450e-03 -3.21156624e-05 9.99991078e-01 -2.02687922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124203822 meters 0.022826495933461564 Centerline is valid? [True, True] Translation: X:72.73, Y:-3.18, Z:-2.03 [[ 9.92296964e-01 1.23810531e-01 -4.20576427e-03 7.27283698e+01] [-1.23809277e-01 9.92305876e-01 5.58276485e-04 -3.17705316e+00] [ 4.24252511e-03 -3.32634285e-05 9.99991000e-01 -2.03046781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.154203822 meters 0.0225125140277614 Centerline is valid? [True, True] Translation: X:72.76, Y:-3.18, Z:-2.03 [[ 9.92369550e-01 1.23259778e-01 -3.11496451e-03 7.27596210e+01] [-1.23259077e-01 9.92374439e-01 4.16807307e-04 -3.18412391e+00] [ 3.14258673e-03 -2.96792304e-05 9.99995062e-01 -2.02939010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184203822 meters 0.02243477681729374 Centerline is valid? [True, True] Translation: X:72.79, Y:-3.19, Z:-2.03 [[ 9.92443456e-01 1.22685689e-01 -2.05123811e-03 7.27914122e+01] [-1.22685379e-01 9.92445576e-01 2.76466796e-04 -3.19092180e+00] [ 2.06966070e-03 -2.27207378e-05 9.99997858e-01 -2.02835813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.214203822 meters 0.02211973387372475 Centerline is valid? [True, True] Translation: X:72.82, Y:-3.20, Z:-2.03 [[ 9.92588104e-01 1.21509808e-01 -2.05488195e-03 7.28228156e+01] [-1.21509494e-01 9.92590231e-01 2.77462016e-04 -3.19795525e+00] [ 2.07337011e-03 -2.57178300e-05 9.99997850e-01 -2.02647563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244203822 meters 0.022417550022773593 Centerline is valid? [True, True] Translation: X:72.85, Y:-3.20, Z:-2.03 [[ 9.92680574e-01 1.20760932e-01 -1.44067740e-03 7.28547902e+01] [-1.20760774e-01 9.92681619e-01 1.96278786e-04 -3.20486118e+00] [ 1.45383678e-03 -2.08648191e-05 9.99998943e-01 -2.02617113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274203822 meters 0.02566330351953352 Centerline is valid? [True, True] Translation: X:72.88, Y:-3.22, Z:-2.03 [[ 9.93000191e-01 1.18098772e-01 1.81696952e-03 7.28848114e+01] [-1.18098536e-01 9.93001853e-01 -2.36642963e-04 -3.21893205e+00] [-1.83220134e-03 2.04050671e-05 9.99998321e-01 -2.02632504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304203822 meters 0.024827155181270173 Centerline is valid? [True, True] Translation: X:72.92, Y:-3.22, Z:-2.02 [[ 9.93121111e-01 1.17082027e-01 1.50239307e-03 7.29163527e+01] [-1.17081866e-01 9.93122248e-01 -1.95144431e-04 -3.22493128e+00] [-1.51490789e-03 1.78990708e-05 9.99998852e-01 -2.02422482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334203822 meters 0.02761279991972977 Centerline is valid? [True, True] Translation: X:72.95, Y:-3.23, Z:-2.03 [[ 9.93248526e-01 1.16005829e-01 1.18744334e-04 7.29462896e+01] [-1.16005829e-01 9.93248533e-01 -1.13097292e-05 -3.23334557e+00] [-1.19254630e-04 -2.54166299e-06 9.99999993e-01 -2.02992011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364203822 meters 0.028089677948906686 Centerline is valid? [True, True] Translation: X:72.98, Y:-3.24, Z:-2.03 [[ 9.93311267e-01 1.15462606e-01 -1.05493852e-03 7.29780231e+01] [-1.15462516e-01 9.93311827e-01 1.45614382e-04 -3.24000695e+00] [ 1.06469592e-03 -2.28345500e-05 9.99999433e-01 -2.03177068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394203822 meters 0.026499352387185603 Centerline is valid? [True, True] Translation: X:73.01, Y:-3.25, Z:-2.03 [[ 9.93311248e-01 1.15465962e-01 -6.12766576e-04 7.30094781e+01] [-1.15465931e-01 9.93311437e-01 8.68658102e-05 -3.24726695e+00] [ 6.18698093e-04 -1.55311234e-05 9.99999808e-01 -2.02821148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424203822 meters 0.02622777972330293 Centerline is valid? [True, True] Translation: X:73.04, Y:-3.25, Z:-2.03 [[ 9.93195992e-01 1.16449529e-01 -1.10810581e-03 7.30415106e+01] [-1.16449430e-01 9.93196610e-01 1.53987211e-04 -3.25330907e+00] [ 1.11849868e-03 -2.39011909e-05 9.99999374e-01 -2.02938823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454203822 meters 0.028060974162320812 Centerline is valid? [True, True] Translation: X:73.07, Y:-3.26, Z:-2.04 [[ 9.93019373e-01 1.17928299e-01 -2.33269243e-03 7.30722523e+01] [-1.17927880e-01 9.93022112e-01 3.17188230e-04 -3.25954856e+00] [ 2.35382063e-03 -3.98845853e-05 9.99997229e-01 -2.03634329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.484203822 meters 0.026967109183022378 Centerline is valid? [True, True] Translation: X:73.10, Y:-3.26, Z:-2.04 [[ 9.92600708e-01 1.21367276e-01 -3.71748867e-03 7.31039332e+01] [-1.21366240e-01 9.92607668e-01 5.03863463e-04 -3.26128099e+00] [ 3.75116029e-03 -4.89576097e-05 9.99992963e-01 -2.04223982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.514203822 meters 0.02341889549877729 Centerline is valid? [True, True] Translation: X:73.14, Y:-3.26, Z:-2.04 [[ 9.92351081e-01 1.23380797e-01 -4.06346357e-03 7.31362833e+01] [-1.23379575e-01 9.92359399e-01 5.50857017e-04 -3.26213354e+00] [ 4.10038144e-03 -4.52951471e-05 9.99991592e-01 -2.03806908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544203822 meters 0.024224140254917887 Centerline is valid? [True, True] Translation: X:73.17, Y:-3.27, Z:-2.05 [[ 9.91888970e-01 1.26988276e-01 -5.49987300e-03 7.31671383e+01] [-1.26986101e-01 9.91904217e-01 7.44356804e-04 -3.26519789e+00] [ 5.54987181e-03 -3.99118774e-05 9.99984599e-01 -2.04627783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.574203822 meters 0.023016137753963113 Centerline is valid? [True, True] Translation: X:73.20, Y:-3.27, Z:-2.05 [[ 9.91679165e-01 1.28576470e-01 -6.36592854e-03 7.31986188e+01] [-1.28573602e-01 9.91699597e-01 8.59523990e-04 -3.26905455e+00] [ 6.42360333e-03 -3.38816708e-05 9.99979368e-01 -2.04621384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604203822 meters 0.022633183552005432 Centerline is valid? [True, True] Translation: X:73.23, Y:-3.27, Z:-2.05 [[ 9.91480460e-01 1.30056852e-01 -7.19117838e-03 7.32307934e+01] [-1.30053207e-01 9.91506538e-01 9.74085441e-04 -3.27368763e+00] [ 7.25678686e-03 -3.05508674e-05 9.99973669e-01 -2.04796551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.634203822 meters 0.02254296236456844 Centerline is valid? [True, True] Translation: X:73.26, Y:-3.28, Z:-2.05 [[ 9.91133280e-01 1.32523118e-01 -9.61479899e-03 7.32622824e+01] [-1.32516772e-01 9.91179915e-01 1.29688575e-03 -3.27628958e+00] [ 9.70186298e-03 -1.12645008e-05 9.99952936e-01 -2.05126355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664203822 meters 0.02232220446038162 Centerline is valid? [True, True] Translation: X:73.29, Y:-3.28, Z:-2.05 [[ 9.90972903e-01 1.33687976e-01 -1.00115506e-02 7.32940321e+01] [-1.33681094e-01 9.91023474e-01 1.35640591e-03 -3.27977253e+00] [ 1.01030168e-02 -5.80646608e-06 9.99948963e-01 -2.05264762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694203822 meters 0.02594307947740564 Centerline is valid? [True, True] Translation: X:73.32, Y:-3.29, Z:-2.06 [[ 9.90890300e-01 1.34347504e-01 -9.33600141e-03 7.33248043e+01] [-1.34341536e-01 9.90934280e-01 1.26635637e-03 -3.28514506e+00] [ 9.42149565e-03 -6.07479066e-07 9.99955617e-01 -2.06354204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72420382199999 meters 0.023698992312042238 Centerline is valid? [True, True] Translation: X:73.36, Y:-3.29, Z:-2.06 [[ 9.90851260e-01 1.34566290e-01 -1.02807584e-02 7.33561660e+01] [-1.34559048e-01 9.90904594e-01 1.39604431e-03 -3.29294187e+00] [ 1.03751113e-02 9.67999840e-08 9.99946177e-01 -2.05867146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754203822 meters 0.02522642337035726 Centerline is valid? [True, True] Translation: X:73.39, Y:-3.30, Z:-2.06 [[ 9.90874664e-01 1.34323317e-01 -1.11645262e-02 7.33869156e+01] [-1.34314750e-01 9.90937559e-01 1.51701725e-03 -3.29884030e+00] [ 1.12671191e-02 -3.61340933e-06 9.99936524e-01 -2.06365602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784203822 meters 0.023541146817153375 Centerline is valid? [True, True] Translation: X:73.42, Y:-3.31, Z:-2.06 [[ 9.90938879e-01 1.33871323e-01 -1.08906607e-02 7.34182680e+01] [-1.33863118e-01 9.90998723e-01 1.48223561e-03 -3.30561235e+00] [ 1.09910597e-02 -1.09471022e-05 9.99939596e-01 -2.05943647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814203822 meters 0.02351373432636917 Centerline is valid? [True, True] Translation: X:73.45, Y:-3.31, Z:-2.06 [[ 9.90987335e-01 1.33607168e-01 -9.65543627e-03 7.34488891e+01] [-1.33600689e-01 9.91034371e-01 1.31584691e-03 -3.31284322e+00] [ 9.74467579e-03 -1.40146859e-05 9.99952519e-01 -2.05986860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.844203822 meters 0.023627495558660026 Centerline is valid? [True, True] Translation: X:73.48, Y:-3.32, Z:-2.06 [[ 9.91031179e-01 1.33300015e-01 -9.39729309e-03 7.34798583e+01] [-1.33293845e-01 9.91075732e-01 1.28267484e-03 -3.32436654e+00] [ 9.48440970e-03 -1.85694273e-05 9.99955022e-01 -2.05975543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.874203822 meters 0.023469363635698178 Centerline is valid? [True, True] Translation: X:73.51, Y:-3.33, Z:-2.06 [[ 9.90948148e-01 1.33850156e-01 -1.02909819e-02 7.35114728e+01] [-1.33842772e-01 9.91001582e-01 1.40606824e-03 -3.32945671e+00] [ 1.03865818e-02 -1.59671825e-05 9.99946058e-01 -2.06030735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904203822 meters 0.02432590406506287 Centerline is valid? [True, True] Translation: X:73.54, Y:-3.33, Z:-2.06 [[ 9.90535809e-01 1.36774734e-01 -1.14666193e-02 7.35427876e+01] [-1.36765784e-01 9.90602176e-01 1.56477513e-03 -3.32881681e+00] [ 1.15728797e-02 1.82753731e-05 9.99933032e-01 -2.06457493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.934203822 meters 0.029281449777268126 Centerline is valid? [True, True] Translation: X:73.57, Y:-3.33, Z:-2.07 [[ 9.90293236e-01 1.38480411e-01 -1.19365976e-02 7.35734642e+01] [-1.38470790e-01 9.90365172e-01 1.63266795e-03 -3.33136991e+00] [ 1.20476830e-02 3.60500662e-05 9.99927423e-01 -2.07024563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964203822 meters 0.02486339821540617 Centerline is valid? [True, True] Translation: X:73.61, Y:-3.33, Z:-2.07 [[ 9.89868854e-01 1.41466974e-01 -1.21139371e-02 7.36061370e+01] [-1.41457260e-01 9.89942973e-01 1.65932321e-03 -3.33272261e+00] [ 1.22268463e-02 7.10919858e-05 9.99925247e-01 -2.06646936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.994203822 meters 0.025086348636975928 Centerline is valid? [True, True] Translation: X:73.64, Y:-3.33, Z:-2.07 [[ 9.89701437e-01 1.42751160e-01 -1.06382805e-02 7.36371592e+01] [-1.42743722e-01 9.89758607e-01 1.45910475e-03 -3.33406368e+00] [ 1.07376186e-02 7.44696861e-05 9.99942347e-01 -2.06652619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024203822 meters 0.024905230070613668 Centerline is valid? [True, True] Translation: X:73.67, Y:-3.34, Z:-2.07 [[ 9.89625387e-01 1.43400106e-01 -8.83188372e-03 7.36674602e+01] [-1.43395035e-01 9.89664794e-01 1.20808157e-03 -3.33609070e+00] [ 8.91384340e-03 7.09000786e-05 9.99960268e-01 -2.06569034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054203822 meters 0.025486758121140776 Centerline is valid? [True, True] Translation: X:73.70, Y:-3.34, Z:-2.07 [[ 9.89562850e-01 1.43879523e-01 -8.00301009e-03 7.36987934e+01] [-1.43875332e-01 9.89595210e-01 1.09997364e-03 -3.33913210e+00] [ 8.07800413e-03 6.29426782e-05 9.99967370e-01 -2.06690919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084203822 meters 0.023540264655931693 Centerline is valid? [True, True] Translation: X:73.73, Y:-3.34, Z:-2.06 [[ 9.89570921e-01 1.43922049e-01 -5.98625495e-03 7.37301437e+01] [-1.43919720e-01 9.89589026e-01 8.20353666e-04 -3.34361581e+00] [ 6.04199919e-03 4.97420007e-05 9.99981746e-01 -2.06074832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114203822 meters 0.02182602067340832 Centerline is valid? [True, True] Translation: X:73.76, Y:-3.35, Z:-2.06 [[ 9.89690826e-01 1.43143094e-01 -4.70351190e-03 7.37620841e+01] [-1.43141640e-01 9.89702002e-01 6.46035902e-04 -3.35102254e+00] [ 4.74755073e-03 3.38926031e-05 9.99988730e-01 -2.05684449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144203822 meters 0.02118174526217794 Centerline is valid? [True, True] Translation: X:73.79, Y:-3.36, Z:-2.06 [[ 9.89950811e-01 1.41303569e-01 -5.54014786e-03 7.37931125e+01] [-1.41301503e-01 9.89966313e-01 7.64683424e-04 -3.36018932e+00] [ 5.59261225e-03 2.58322412e-05 9.99984361e-01 -2.05759137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174203822 meters 0.022108277655345676 Centerline is valid? [True, True] Translation: X:73.82, Y:-3.36, Z:-2.06 [[ 9.89966970e-01 1.41161920e-01 -6.22177943e-03 7.38238155e+01] [-1.41159307e-01 9.89986521e-01 8.59193463e-04 -3.36472603e+00] [ 6.28076317e-03 2.76889261e-05 9.99980275e-01 -2.06166941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204203822 meters 0.021914704132975724 Centerline is valid? [True, True] Translation: X:73.86, Y:-3.37, Z:-2.06 [[ 9.89850612e-01 1.41979715e-01 -6.12584076e-03 7.38564210e+01] [-1.41977186e-01 9.89869567e-01 8.47955140e-04 -3.36896200e+00] [ 6.18417577e-03 3.03807191e-05 9.99980877e-01 -2.06234072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.234203822 meters 0.02323051820528455 Centerline is valid? [True, True] Translation: X:73.89, Y:-3.37, Z:-2.06 [[ 9.89300167e-01 1.45780054e-01 -5.77541051e-03 7.38884676e+01] [-1.45777883e-01 9.89317023e-01 7.97405065e-04 -3.36739871e+00] [ 5.82995769e-03 5.30541538e-05 9.99983004e-01 -2.06307458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264203822 meters 0.02357547521790936 Centerline is valid? [True, True] Translation: X:73.92, Y:-3.37, Z:-2.06 [[ 9.88858969e-01 1.48722385e-01 -6.29218573e-03 7.39212319e+01] [-1.48719847e-01 9.88878985e-01 8.71934930e-04 -3.36809564e+00] [ 6.35188648e-03 7.35522246e-05 9.99979824e-01 -2.06202494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.294203822 meters 0.026379388580410668 Centerline is valid? [True, True] Translation: X:73.95, Y:-3.37, Z:-2.07 [[ 9.88451044e-01 1.51391432e-01 -6.72064187e-03 7.39529910e+01] [-1.51388596e-01 9.88473887e-01 9.31684545e-04 -3.36754051e+00] [ 6.78422805e-03 9.65039767e-05 9.99976982e-01 -2.06592467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324203822 meters 0.029317308448268558 Centerline is valid? [True, True] Translation: X:73.98, Y:-3.37, Z:-2.07 [[ 9.88031941e-01 1.54085062e-01 -7.11874511e-03 7.39847724e+01] [-1.54081944e-01 9.88057579e-01 9.87575280e-04 -3.36705016e+00] [ 7.18590065e-03 1.21114166e-04 9.99974174e-01 -2.06930102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.354203822 meters 0.03140564320942243 Centerline is valid? [True, True] Translation: X:74.02, Y:-3.36, Z:-2.07 [[ 9.87420625e-01 1.57903247e-01 -8.18986683e-03 7.40168443e+01] [-1.57899287e-01 9.87454573e-01 1.13198751e-03 -3.36474244e+00] [ 8.26586596e-03 1.75426316e-04 9.99965822e-01 -2.06966990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384203822 meters 0.035475174038214416 Centerline is valid? [True, True] Translation: X:74.05, Y:-3.36, Z:-2.08 [[ 9.87235418e-01 1.59042942e-01 -8.45999009e-03 7.40482553e+01] [-1.59038715e-01 9.87271648e-01 1.17435181e-03 -3.36257913e+00] [ 8.53908073e-03 1.86104252e-04 9.99963524e-01 -2.07663832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414203822 meters 0.03438002384334101 Centerline is valid? [True, True] Translation: X:74.08, Y:-3.37, Z:-2.07 [[ 9.87170375e-01 1.59475642e-01 -7.88482877e-03 7.40801278e+01] [-1.59471970e-01 9.87201848e-01 1.09629779e-03 -3.36779849e+00] [ 7.95875033e-03 1.75176475e-04 9.99968313e-01 -2.07413332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444203822 meters 0.03318951113325094 Centerline is valid? [True, True] Translation: X:74.11, Y:-3.37, Z:-2.07 [[ 9.87222897e-01 1.59202961e-01 -6.73570901e-03 7.41120675e+01] [-1.59200263e-01 9.87245864e-01 9.38330302e-04 -3.37424278e+00] [ 6.79918582e-03 1.45985484e-04 9.99976875e-01 -2.07172471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474203822 meters 0.03114792830956024 Centerline is valid? [True, True] Translation: X:74.14, Y:-3.38, Z:-2.07 [[ 9.87282170e-01 1.58876088e-01 -5.68375627e-03 7.41435288e+01] [-1.58874151e-01 9.87298523e-01 7.93555546e-04 -3.38019510e+00] [ 5.73764117e-03 1.19538709e-04 9.99983532e-01 -2.06836811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504203822 meters 0.031136278148922458 Centerline is valid? [True, True] Translation: X:74.18, Y:-3.38, Z:-2.07 [[ 9.87162321e-01 1.59631156e-01 -5.33350938e-03 7.41769020e+01] [-1.59629450e-01 9.87176722e-01 7.46701549e-04 -3.37996251e+00] [ 5.38431314e-03 1.14269537e-04 9.99985498e-01 -2.06749605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534203822 meters 0.035237047729828753 Centerline is valid? [True, True] Translation: X:74.21, Y:-3.38, Z:-2.07 [[ 9.86975535e-01 1.60787581e-01 -5.16218602e-03 7.42079407e+01] [-1.60786003e-01 9.86989027e-01 7.21876684e-04 -3.37835608e+00] [ 5.21108977e-03 1.17532632e-04 9.99986415e-01 -2.07359071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564203822 meters 0.03230667193375843 Centerline is valid? [True, True] Translation: X:74.24, Y:-3.39, Z:-2.07 [[ 9.86822381e-01 1.61743484e-01 -4.54252236e-03 7.42399515e+01] [-1.61742258e-01 9.86832830e-01 6.38247066e-04 -3.38556270e+00] [ 4.58594250e-03 1.04881337e-04 9.99989479e-01 -2.06818245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.594203822 meters 0.034210810675457934 Centerline is valid? [True, True] Translation: X:74.27, Y:-3.38, Z:-2.07 [[ 9.86552493e-01 1.63418225e-01 -2.94315762e-03 7.42729209e+01] [-1.63417723e-01 9.86556880e-01 4.11863691e-04 -3.38232272e+00] [ 2.97089844e-03 7.46389663e-05 9.99995584e-01 -2.06746102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624203822 meters 0.03457708551009199 Centerline is valid? [True, True] Translation: X:74.31, Y:-3.38, Z:-2.07 [[ 9.86434020e-01 1.64136593e-01 -2.66525283e-03 7.43066442e+01] [-1.64136172e-01 9.86437618e-01 3.77365194e-04 -3.38220115e+00] [ 2.69104509e-03 6.52185328e-05 9.99996377e-01 -2.06810882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.654203822 meters 0.03338791711199156 Centerline is valid? [True, True] Translation: X:74.34, Y:-3.38, Z:-2.07 [[ 9.86369704e-01 1.64522670e-01 -2.66415268e-03 7.43400929e+01] [-1.64522249e-01 9.86373300e-01 3.77829931e-04 -3.38482915e+00] [ 2.69001066e-03 6.56323928e-05 9.99996380e-01 -2.06720801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684203822 meters 0.03769269788459923 Centerline is valid? [True, True] Translation: X:74.37, Y:-3.38, Z:-2.07 [[ 9.86585118e-01 1.63240823e-01 -1.49612651e-03 7.43715136e+01] [-1.63240692e-01 9.86586252e-01 2.09815041e-04 -3.38098127e+00] [ 1.51030823e-03 3.72283306e-05 9.99998859e-01 -2.07391058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.714203822 meters 0.03024416304505037 Centerline is valid? [True, True] Translation: X:74.40, Y:-3.39, Z:-2.07 [[ 9.86872179e-01 1.61497718e-01 -1.33770853e-03 7.44028587e+01] [-1.61497610e-01 9.86873085e-01 1.88793710e-04 -3.39404771e+00] [ 1.35063830e-03 2.97214714e-05 9.99999087e-01 -2.06560612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744203822 meters 0.031045837380709648 Centerline is valid? [True, True] Translation: X:74.43, Y:-3.40, Z:-2.07 [[ 9.87268946e-01 1.59051358e-01 -1.64148134e-03 7.44348516e+01] [-1.59051193e-01 9.87270310e-01 2.31408293e-04 -3.40197870e+00] [ 1.65739160e-03 3.26173453e-05 9.99998626e-01 -2.06527501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774203822 meters 0.026506597837188287 Centerline is valid? [True, True] Translation: X:74.46, Y:-3.41, Z:-2.07 [[ 9.87745129e-01 1.56072578e-01 -9.54724955e-04 7.44644337e+01] [-1.56072521e-01 9.87745590e-01 1.33936205e-04 -3.40754314e+00] [ 9.63929133e-04 1.67114967e-05 9.99999535e-01 -2.06735639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804203822 meters 0.02272260324249296 Centerline is valid? [True, True] Translation: X:74.50, Y:-3.41, Z:-2.07 [[ 9.88646901e-01 1.50247428e-01 -1.73655658e-03 7.44954726e+01] [-1.50247232e-01 9.88648426e-01 2.43701392e-04 -3.41307888e+00] [ 1.75345944e-03 1.99781933e-05 9.99998462e-01 -2.07074580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834203822 meters 0.02168132443785037 Centerline is valid? [True, True] Translation: X:74.53, Y:-3.42, Z:-2.07 [[ 9.89010202e-01 1.47835313e-01 -1.88167651e-03 7.45266329e+01] [-1.47835070e-01 9.89011992e-01 2.68055783e-04 -3.41676889e+00] [ 1.90062874e-03 1.30678747e-05 9.99998194e-01 -2.07344455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864203822 meters 0.020780681655918027 Centerline is valid? [True, True] Translation: X:74.56, Y:-3.43, Z:-2.08 [[ 9.89879494e-01 1.41903920e-01 -1.36581275e-03 7.45568956e+01] [-1.41903784e-01 9.89880436e-01 1.96310183e-04 -3.42649588e+00] [ 1.37984851e-03 -5.09426861e-07 9.99999048e-01 -2.07808574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894203822 meters 0.01916880173748237 Centerline is valid? [True, True] Translation: X:74.59, Y:-3.44, Z:-2.07 [[ 9.90304675e-01 1.38904642e-01 -1.46634123e-03 7.45889239e+01] [-1.38904481e-01 9.90305761e-01 2.11468876e-04 -3.43613731e+00] [ 1.48150018e-03 -5.73724817e-06 9.99998903e-01 -2.07394763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924203822 meters 0.01916880173748237 Centerline is valid? [True, True] Translation: X:74.62, Y:-3.44, Z:-2.07 [[ 9.90278027e-01 1.39094496e-01 -1.46630244e-03 7.46210712e+01] [-1.39094335e-01 9.90279113e-01 2.11741096e-04 -3.44084583e+00] [ 1.48150070e-03 -5.72819146e-06 9.99998903e-01 -2.07487100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954203822 meters 0.019317232088703416 Centerline is valid? [True, True] Translation: X:74.65, Y:-3.45, Z:-2.07 [[ 9.90659600e-01 1.36341840e-01 -2.11168764e-03 7.46521988e+01] [-1.36341505e-01 9.90661851e-01 3.02311236e-04 -3.44857481e+00] [ 2.13318606e-03 -1.15768564e-05 9.99997725e-01 -2.07496273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.984203822 meters 0.023825187505581734 Centerline is valid? [True, True] Translation: X:74.68, Y:-3.46, Z:-2.08 [[ 9.91184666e-01 1.32412504e-01 -4.45944484e-03 7.46807964e+01] [-1.32411010e-01 9.91194697e-01 6.30023900e-04 -3.45835313e+00] [ 4.50360112e-03 -3.39904346e-05 9.99989858e-01 -2.08421848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.014203822 meters 0.024224949631538116 Centerline is valid? [True, True] Translation: X:74.71, Y:-3.46, Z:-2.08 [[ 9.91303303e-01 1.31534545e-01 -4.05272388e-03 7.47130542e+01] [-1.31533285e-01 9.91311587e-01 5.77138519e-04 -3.46347869e+00] [ 4.09342579e-03 -3.90512371e-05 9.99991621e-01 -2.08395942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044203822 meters 0.023940799005191634 Centerline is valid? [True, True] Translation: X:74.74, Y:-3.47, Z:-2.08 [[ 9.91310829e-01 1.31510364e-01 -2.80442250e-03 7.47446485e+01] [-1.31509757e-01 9.91314795e-01 4.00412852e-04 -3.46513103e+00] [ 2.83272396e-03 -2.81246744e-05 9.99995987e-01 -2.08326733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.074203822 meters 0.02173481975017625 Centerline is valid? [True, True] Translation: X:74.78, Y:-3.46, Z:-2.08 [[ 9.91251481e-01 1.31974903e-01 -1.76787280e-03 7.47772810e+01] [-1.31974659e-01 9.91253058e-01 2.54836646e-04 -3.46465012e+00] [ 1.78604136e-03 -1.92927935e-05 9.99998405e-01 -2.07908623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104203822 meters 0.021109386603280426 Centerline is valid? [True, True] Translation: X:74.81, Y:-3.46, Z:-2.08 [[ 9.90936119e-01 1.34316240e-01 -2.18055509e-03 7.48104788e+01] [-1.34315874e-01 9.90938518e-01 3.14305378e-04 -3.46494203e+00] [ 2.20301235e-03 -1.85733892e-05 9.99997573e-01 -2.08113235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.134203822 meters 0.020481658386713203 Centerline is valid? [True, True] Translation: X:74.84, Y:-3.47, Z:-2.08 [[ 9.90719883e-01 1.35892321e-01 -2.71856996e-03 7.48427673e+01] [-1.35891762e-01 9.90723613e-01 3.90323355e-04 -3.46752312e+00] [ 2.74639340e-03 -1.72698464e-05 9.99996229e-01 -2.08147902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164203822 meters 0.020303204447156276 Centerline is valid? [True, True] Translation: X:74.88, Y:-3.46, Z:-2.08 [[ 9.90397545e-01 1.38223718e-01 -2.62814318e-03 7.48751051e+01] [-1.38223202e-01 9.90401032e-01 3.77911721e-04 -3.46466720e+00] [ 2.65515208e-03 -1.10124758e-05 9.99996475e-01 -2.08317858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194203822 meters 0.020381328983958065 Centerline is valid? [True, True] Translation: X:74.91, Y:-3.47, Z:-2.08 [[ 9.90308903e-01 1.38867607e-01 -2.01600487e-03 7.49060895e+01] [-1.38867302e-01 9.90310955e-01 2.90922206e-04 -3.46576903e+00] [ 2.03687138e-03 -8.14569322e-06 9.99997926e-01 -2.08463883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224203822 meters 0.020497879628631643 Centerline is valid? [True, True] Translation: X:74.94, Y:-3.47, Z:-2.09 [[ 9.90309613e-01 1.38868204e-01 -1.57844185e-03 7.49372182e+01] [-1.38868018e-01 9.90310871e-01 2.27143478e-04 -3.46845323e+00] [ 1.59469113e-03 -5.74727744e-06 9.99998728e-01 -2.08595894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254203822 meters 0.019604056537745496 Centerline is valid? [True, True] Translation: X:74.97, Y:-3.47, Z:-2.08 [[ 9.90391465e-01 1.38282266e-01 -1.66170984e-03 7.49694941e+01] [-1.38282054e-01 9.90392859e-01 2.42171281e-04 -3.47346939e+00] [ 1.67923356e-03 -1.00597191e-05 9.99998590e-01 -2.08387926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284203822 meters 0.02125078179338446 Centerline is valid? [True, True] Translation: X:75.00, Y:-3.48, Z:-2.09 [[ 9.90683317e-01 1.36181588e-01 -1.06757379e-03 7.49999324e+01] [-1.36181499e-01 9.90683893e-01 1.56682132e-04 -3.48129114e+00] [ 1.07896538e-03 -9.83857608e-06 9.99999418e-01 -2.08756894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314203822 meters 0.02135046743364337 Centerline is valid? [True, True] Translation: X:75.03, Y:-3.49, Z:-2.09 [[ 9.90847190e-01 1.34987408e-01 -4.96487478e-04 7.50309162e+01] [-1.34987387e-01 9.90847314e-01 7.55564680e-05 -3.48888458e+00] [ 5.02142456e-04 -7.84536655e-06 9.99999874e-01 -2.08659913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.344203822 meters 0.021194889066175674 Centerline is valid? [True, True] Translation: X:75.06, Y:-3.50, Z:-2.08 [[ 9.91211247e-01 1.32288048e-01 3.67707931e-04 7.50628961e+01] [-1.32288040e-01 9.91211316e-01 -4.69707201e-05 -3.49974376e+00] [-3.70689927e-04 -2.08545543e-06 9.99999931e-01 -2.08178543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.374203822 meters 0.02186966296554246 Centerline is valid? [True, True] Translation: X:75.09, Y:-3.51, Z:-2.08 [[ 9.91367932e-01 1.31109199e-01 2.66685166e-05 7.50946852e+01] [-1.31109199e-01 9.91367933e-01 1.12884241e-06 -3.50770902e+00] [-2.62903107e-05 -4.61558602e-06 1.00000000e+00 -2.08250498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404203822 meters 0.02313006508483957 Centerline is valid? [True, True] Translation: X:75.12, Y:-3.51, Z:-2.08 [[ 9.91492085e-01 1.30166987e-01 4.24817439e-05 7.51246209e+01] [-1.30166987e-01 9.91492085e-01 -1.51185054e-06 -3.51494021e+00] [-4.23171060e-05 -4.03073278e-06 9.99999999e-01 -2.08463479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.434203822 meters 0.02360592328945646 Centerline is valid? [True, True] Translation: X:75.16, Y:-3.52, Z:-2.09 [[ 9.91572306e-01 1.29553093e-01 5.98435325e-04 7.51564302e+01] [-1.29553067e-01 9.91572487e-01 -8.09913192e-05 -3.52144438e+00] [-6.03884680e-04 2.77961716e-06 9.99999818e-01 -2.08510896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464203822 meters 0.025243229342692845 Centerline is valid? [True, True] Translation: X:75.19, Y:-3.53, Z:-2.09 [[ 9.91661371e-01 1.28845427e-01 2.56543085e-03 7.51859122e+01] [-1.28844917e-01 9.91664689e-01 -3.63919763e-04 -3.53402573e+00] [-2.59093658e-03 3.03424468e-05 9.99996643e-01 -2.08500272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.494203822 meters 0.021614452270811532 Centerline is valid? [True, True] Translation: X:75.22, Y:-3.54, Z:-2.08 [[ 9.91653631e-01 1.28880907e-01 3.57597029e-03 7.52182399e+01] [-1.28879909e-01 9.91660078e-01 -5.09070492e-04 -3.53863818e+00] [-3.61175644e-03 4.39508770e-05 9.99993477e-01 -2.07732092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524203822 meters 0.022186141521087274 Centerline is valid? [True, True] Translation: X:75.25, Y:-3.54, Z:-2.08 [[ 9.91571354e-01 1.29507775e-01 3.73989261e-03 7.52491842e+01] [-1.29506683e-01 9.91578405e-01 -5.33660167e-04 -3.54491006e+00] [-3.77750989e-03 4.48210465e-05 9.99992864e-01 -2.07932593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554203822 meters 0.022950790803810264 Centerline is valid? [True, True] Translation: X:75.28, Y:-3.55, Z:-2.09 [[ 9.91342061e-01 1.31293351e-01 1.72438704e-03 7.52793968e+01] [-1.31293122e-01 9.91343561e-01 -2.45907796e-04 -3.54873751e+00] [-1.74174605e-03 1.73785831e-05 9.99998483e-01 -2.08631233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584203822 meters 0.02160599704990175 Centerline is valid? [True, True] Translation: X:75.31, Y:-3.55, Z:-2.09 [[ 9.91120799e-01 1.32953616e-01 1.70224756e-03 7.53114000e+01] [-1.32953399e-01 9.91122261e-01 -2.40671614e-04 -3.55281197e+00] [-1.71913361e-03 1.22150426e-05 9.99998522e-01 -2.08728091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614203822 meters 0.020115215858530804 Centerline is valid? [True, True] Translation: X:75.34, Y:-3.56, Z:-2.09 [[ 9.90841090e-01 1.35023329e-01 1.62316867e-03 7.53440011e+01] [-1.35023129e-01 9.90842420e-01 -2.32443413e-04 -3.55580629e+00] [-1.63968966e-03 1.11491703e-05 9.99998656e-01 -2.08738511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644203822 meters 0.0171555928112915 Centerline is valid? [True, True] Translation: X:75.38, Y:-3.55, Z:-2.08 [[ 9.90051087e-01 1.40698674e-01 1.65170337e-03 7.53766748e+01] [-1.40698480e-01 9.90052465e-01 -2.33580369e-04 -3.55291153e+00] [-1.66813744e-03 -1.13565594e-06 9.99998609e-01 -2.08481041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674203822 meters 0.026406147415298065 Centerline is valid? [True, True] Translation: X:75.41, Y:-3.55, Z:-2.09 [[ 9.89634047e-01 1.43601281e-01 1.76754971e-03 7.54089038e+01] [-1.43601063e-01 9.89635626e-01 -2.50323593e-04 -3.55464355e+00] [-1.78517695e-03 -6.09326572e-06 9.99998407e-01 -2.08699772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704203822 meters 0.017967171357762487 Centerline is valid? [True, True] Translation: X:75.44, Y:-3.56, Z:-2.09 [[ 9.89204977e-01 1.46525335e-01 1.95974184e-03 7.54410961e+01] [-1.46525071e-01 9.89206918e-01 -2.78549363e-04 -3.55709489e+00] [-1.97940472e-03 -1.16088943e-05 9.99998041e-01 -2.08793622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.734203822 meters 0.018664587727624502 Centerline is valid? [True, True] Translation: X:75.47, Y:-3.56, Z:-2.09 [[ 9.88793314e-01 1.49283876e-01 1.45156073e-03 7.54735142e+01] [-1.49283734e-01 9.88794379e-01 -2.05643745e-04 -3.55800658e+00] [-1.46599439e-03 -1.33552463e-05 9.99998925e-01 -2.08902988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764203822 meters 0.02192437755434831 Centerline is valid? [True, True] Translation: X:75.51, Y:-3.55, Z:-2.09 [[ 9.88034500e-01 1.54233030e-01 6.62801844e-07 7.55051257e+01] [-1.54233030e-01 9.88034500e-01 9.21743480e-07 -3.55131994e+00] [-5.12707885e-07 -1.01294030e-06 1.00000000e+00 -2.09350012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.794203822 meters 0.03442053647983926 Centerline is valid? [True, True] Translation: X:75.54, Y:-3.55, Z:-2.10 [[ 9.87639808e-01 1.56740307e-01 -2.93981601e-04 7.55364431e+01] [-1.56740300e-01 9.87639851e-01 4.70828008e-05 -3.54965382e+00] [ 2.97727717e-04 -4.22084040e-07 9.99999956e-01 -2.09693415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824203822 meters 0.02677755138990448 Centerline is valid? [True, True] Translation: X:75.57, Y:-3.55, Z:-2.09 [[ 9.86719711e-01 1.62426521e-01 1.35532076e-03 7.55696781e+01] [-1.62426410e-01 9.86720641e-01 -1.92210836e-04 -3.54505556e+00] [-1.36854311e-03 -3.04816646e-05 9.99999063e-01 -2.09139701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.854203822 meters 0.029239775271276518 Centerline is valid? [True, True] Translation: X:75.60, Y:-3.54, Z:-2.09 [[ 9.86269218e-01 1.65137213e-01 1.65225000e-03 7.56007479e+01] [-1.65137043e-01 9.86270602e-01 -2.39528828e-04 -3.54435692e+00] [-1.66912072e-03 -3.66077704e-05 9.99998606e-01 -2.09082085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884203822 meters 0.03283950982361544 Centerline is valid? [True, True] Translation: X:75.63, Y:-3.54, Z:-2.09 [[ 9.85853341e-01 1.67601692e-01 1.69215774e-03 7.56320502e+01] [-1.67601520e-01 9.85854792e-01 -2.43790474e-04 -3.54207878e+00] [-1.70908151e-03 -4.32665557e-05 9.99998539e-01 -2.09317605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914203822 meters 0.04007504800438035 Centerline is valid? [True, True] Translation: X:75.66, Y:-3.53, Z:-2.10 [[ 9.84961129e-01 1.72775588e-01 4.13674799e-04 7.56630992e+01] [-1.72775578e-01 9.84961216e-01 -5.97121982e-05 -3.53110870e+00] [-4.17770443e-04 -1.26587083e-05 9.99999913e-01 -2.09808118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944203822 meters 0.04353850596291527 Centerline is valid? [True, True] Translation: X:75.69, Y:-3.53, Z:-2.10 [[ 9.84613840e-01 1.74743525e-01 -5.35454656e-04 7.56922463e+01] [-1.74743509e-01 9.84613985e-01 7.71549397e-05 -3.52658923e+00] [ 5.40698469e-04 1.75994038e-05 9.99999854e-01 -2.10210491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974203822 meters 0.03958998234797505 Centerline is valid? [True, True] Translation: X:75.72, Y:-3.53, Z:-2.10 [[ 9.84362108e-01 1.76149485e-01 -1.61198444e-03 7.57218418e+01] [-1.76149338e-01 9.84363427e-01 2.34116075e-04 -3.53145552e+00] [ 1.62801795e-03 5.34949979e-05 9.99998673e-01 -2.09912751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004203822 meters 0.04431851971488704 Centerline is valid? [True, True] Translation: X:75.75, Y:-3.52, Z:-2.10 [[ 9.84314597e-01 1.76420190e-01 -8.31214000e-04 7.57508424e+01] [-1.76420153e-01 9.84314947e-01 1.19047669e-04 -3.52423333e+00] [ 8.39178777e-04 2.94625421e-05 9.99999647e-01 -2.10341004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034203822 meters 0.039758454725554525 Centerline is valid? [True, True] Translation: X:75.78, Y:-3.53, Z:-2.10 [[ 9.84492067e-01 1.75428991e-01 1.99102405e-04 7.57802881e+01] [-1.75428989e-01 9.84492087e-01 -2.96142747e-05 -3.53078277e+00] [-2.01209944e-04 -5.77331497e-06 9.99999980e-01 -2.09822709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064203822 meters 0.03993077934894267 Centerline is valid? [True, True] Translation: X:75.81, Y:-3.53, Z:-2.10 [[ 9.84729146e-01 1.74091926e-01 7.14877400e-04 7.58092666e+01] [-1.74091896e-01 9.84729405e-01 -1.04894769e-04 -3.53119917e+00] [-7.22222129e-04 -2.11614254e-05 9.99999739e-01 -2.09897432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.094203822 meters 0.03873818038651666 Centerline is valid? [True, True] Translation: X:75.84, Y:-3.53, Z:-2.10 [[ 9.84937205e-01 1.72910906e-01 7.22130554e-04 7.58392950e+01] [-1.72910875e-01 9.84937469e-01 -1.05587518e-04 -3.53339603e+00] [-7.29510673e-04 -2.08671513e-05 9.99999734e-01 -2.09895631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124203822 meters 0.03580804890237801 Centerline is valid? [True, True] Translation: X:75.87, Y:-3.54, Z:-2.10 [[ 9.85490968e-01 1.69727844e-01 1.08249173e-04 7.58686913e+01] [-1.69727843e-01 9.85490974e-01 -1.63899465e-05 -3.53584377e+00] [-1.09460414e-04 -2.22075447e-06 9.99999994e-01 -2.10094612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.154203822 meters 0.0335016824323491 Centerline is valid? [True, True] Translation: X:75.90, Y:-3.54, Z:-2.10 [[ 9.85821979e-01 1.67789413e-01 -1.31832959e-03 7.58978726e+01] [-1.67789308e-01 9.85822860e-01 1.90817034e-04 -3.54022870e+00] [ 1.33165653e-03 3.30899836e-05 9.99999113e-01 -2.10295566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184203822 meters 0.031592829507548804 Centerline is valid? [True, True] Translation: X:75.93, Y:-3.54, Z:-2.11 [[ 9.86197816e-01 1.65560733e-01 -1.87392120e-03 7.59262559e+01] [-1.65560517e-01 9.86199595e-01 2.70751597e-04 -3.54305065e+00] [ 1.89288616e-03 4.32327296e-05 9.99998208e-01 -2.10581191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.214203822 meters 0.030280047882628502 Centerline is valid? [True, True] Translation: X:75.95, Y:-3.54, Z:-2.11 [[ 9.86543805e-01 1.63488030e-01 -1.72744260e-03 7.59541812e+01] [-1.63487845e-01 9.86545317e-01 2.49050511e-04 -3.54469366e+00] [ 1.74491719e-03 3.67166293e-05 9.99998477e-01 -2.10728463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244203822 meters 0.026833551297839126 Centerline is valid? [True, True] Translation: X:75.98, Y:-3.55, Z:-2.11 [[ 9.87338199e-01 1.58628107e-01 -6.35470396e-04 7.59836060e+01] [-1.58628081e-01 9.87338404e-01 9.15529648e-05 -3.54565745e+00] [ 6.41947200e-04 1.04097099e-05 9.99999794e-01 -2.10770393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274203822 meters 0.022486085408454037 Centerline is valid? [True, True] Translation: X:76.01, Y:-3.55, Z:-2.10 [[ 9.87783275e-01 1.55833311e-01 -4.24614377e-04 7.60131074e+01] [-1.55833299e-01 9.87783367e-01 6.09080228e-05 -3.55240598e+00] [ 4.28918517e-04 6.00513287e-06 9.99999908e-01 -2.10233229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304203822 meters 0.022820798890578323 Centerline is valid? [True, True] Translation: X:76.04, Y:-3.56, Z:-2.11 [[ 9.88240755e-01 1.52904439e-01 -6.65689596e-04 7.60417730e+01] [-1.52904409e-01 9.88240979e-01 9.55139386e-05 -3.55603889e+00] [ 6.72466243e-04 7.39610753e-06 9.99999774e-01 -2.10722180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334203822 meters 0.020027253703119918 Centerline is valid? [True, True] Translation: X:76.07, Y:-3.56, Z:-2.11 [[ 9.89235890e-01 1.46307624e-01 -2.53624038e-03 7.60712949e+01] [-1.46307161e-01 9.89239142e-01 3.67904853e-04 -3.56360219e+00] [ 2.56277555e-03 7.12544568e-06 9.99996716e-01 -2.10702232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364203822 meters 0.020169864544513826 Centerline is valid? [True, True] Translation: X:76.10, Y:-3.57, Z:-2.11 [[ 9.89814163e-01 1.42327847e-01 -3.27223044e-03 7.61003876e+01] [-1.42327058e-01 9.89819571e-01 4.73882954e-04 -3.57009510e+00] [ 3.30636448e-03 -3.32912783e-06 9.99994534e-01 -2.10864180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394203822 meters 0.022383831379804937 Centerline is valid? [True, True] Translation: X:76.13, Y:-3.58, Z:-2.11 [[ 9.90411413e-01 1.38105665e-01 -3.47239465e-03 7.61287012e+01] [-1.38104749e-01 9.90417500e-01 5.03223793e-04 -3.57796980e+00] [ 3.50861849e-03 -1.88443959e-05 9.99993845e-01 -2.11315488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424203822 meters 0.027328448118958265 Centerline is valid? [True, True] Translation: X:76.16, Y:-3.59, Z:-2.11 [[ 9.91569138e-01 1.29515119e-01 -4.05944406e-03 7.61582441e+01] [-1.29513793e-01 9.91577446e-01 5.89096467e-04 -3.59007610e+00] [ 4.10155007e-03 -5.83758789e-05 9.99991587e-01 -2.11498076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454203822 meters 0.02856330456957802 Centerline is valid? [True, True] Translation: X:76.19, Y:-3.60, Z:-2.11 [[ 9.92125868e-01 1.25198288e-01 -3.41325303e-03 7.61885441e+01] [-1.25197326e-01 9.92131738e-01 4.95037097e-04 -3.59541309e+00] [ 3.44837445e-03 -6.38089588e-05 9.99994052e-01 -2.11163593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.484203822 meters 0.031032237741425748 Centerline is valid? [True, True] Translation: X:76.22, Y:-3.60, Z:-2.11 [[ 9.92619042e-01 1.21256486e-01 -2.07422088e-03 7.62189363e+01] [-1.21256121e-01 9.92621208e-01 3.01586080e-04 -3.60227869e+00] [ 2.09548490e-03 -4.78481090e-05 9.99997803e-01 -2.10976153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.514203822 meters 0.0377284394220753 Centerline is valid? [True, True] Translation: X:76.25, Y:-3.61, Z:-2.11 [[ 9.92999041e-01 1.18117869e-01 -1.03643049e-03 7.62486108e+01] [-1.18117771e-01 9.92999581e-01 1.55035735e-04 -3.61466131e+00] [ 1.04748753e-03 -3.15294775e-05 9.99999451e-01 -2.11333840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544203822 meters 0.040915880537823246 Centerline is valid? [True, True] Translation: X:76.28, Y:-3.62, Z:-2.11 [[ 9.93612295e-01 1.12843235e-01 -1.00577959e-03 7.62792001e+01] [-1.12843145e-01 9.93612803e-01 1.46417643e-04 -3.62239344e+00] [ 1.01587772e-03 -3.19870381e-05 9.99999483e-01 -2.10756643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.574203822 meters 0.04038284335266223 Centerline is valid? [True, True] Translation: X:76.31, Y:-3.63, Z:-2.11 [[ 9.93735529e-01 1.11753407e-01 -9.35361774e-04 7.63093227e+01] [-1.11753324e-01 9.93735968e-01 1.40498707e-04 -3.62973501e+00] [ 9.45203847e-04 -3.50887686e-05 9.99999553e-01 -2.10771197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604203822 meters 0.046753059997114384 Centerline is valid? [True, True] Translation: X:76.34, Y:-3.63, Z:-2.11 [[ 9.93781540e-01 1.11323843e-01 -2.29183278e-03 7.63410360e+01] [-1.11323364e-01 9.93784180e-01 3.35906689e-04 -3.63220355e+00] [ 2.31498158e-03 -7.86833325e-05 9.99997317e-01 -2.10923203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.634203822 meters 0.040763362307716135 Centerline is valid? [True, True] Translation: X:76.37, Y:-3.63, Z:-2.11 [[ 9.93445075e-01 1.14257300e-01 -3.48598270e-03 7.63724396e+01] [-1.14256204e-01 9.93451185e-01 5.12573376e-04 -3.63264209e+00] [ 3.52171889e-03 -1.10918345e-04 9.99993793e-01 -2.11461028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664203822 meters 0.03664848511976114 Centerline is valid? [True, True] Translation: X:76.40, Y:-3.63, Z:-2.11 [[ 9.93187575e-01 1.16479304e-01 -3.31842263e-03 7.64037032e+01] [-1.16478337e-01 9.93193115e-01 4.83727005e-04 -3.63275295e+00] [ 3.35217869e-03 -9.39073012e-05 9.99994377e-01 -2.11334403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694203822 meters 0.034437112483006654 Centerline is valid? [True, True] Translation: X:76.43, Y:-3.64, Z:-2.11 [[ 9.92900062e-01 1.18923978e-01 -2.56032692e-03 7.64341152e+01] [-1.18923411e-01 9.92903360e-01 3.72951788e-04 -3.63699269e+00] [ 2.58651011e-03 -6.58210418e-05 9.99996653e-01 -2.11396566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724203822 meters 0.036038681488375655 Centerline is valid? [True, True] Translation: X:76.46, Y:-3.64, Z:-2.11 [[ 9.92203952e-01 1.24623713e-01 -4.97975630e-04 7.64636957e+01] [-1.24623693e-01 9.92204077e-01 7.22234442e-05 -3.63766038e+00] [ 5.03094204e-04 -9.60082499e-06 9.99999873e-01 -2.11404111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754203822 meters 0.027414334174859615 Centerline is valid? [True, True] Translation: X:76.49, Y:-3.64, Z:-2.11 [[ 9.91801424e-01 1.27786210e-01 7.87658670e-04 7.64941562e+01] [-1.27786159e-01 9.91801736e-01 -1.14726173e-04 -3.63916815e+00] [-7.95861659e-04 1.31337058e-05 9.99999683e-01 -2.11135110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784203822 meters 0.023942309942469497 Centerline is valid? [True, True] Translation: X:76.53, Y:-3.64, Z:-2.11 [[ 9.91415308e-01 1.30741308e-01 1.54870965e-03 7.65256259e+01] [-1.30741116e-01 9.91416517e-01 -2.24923869e-04 -3.64027586e+00] [-1.56482317e-03 2.05129383e-05 9.99998775e-01 -2.10875661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814203822 meters 0.020834408350360926 Centerline is valid? [True, True] Translation: X:76.56, Y:-3.64, Z:-2.11 [[ 9.90613590e-01 1.36687100e-01 1.16304335e-03 7.65561231e+01] [-1.36686996e-01 9.90614272e-01 -1.69431336e-04 -3.63775908e+00] [-1.17528642e-03 8.86808329e-06 9.99999309e-01 -2.11019779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.844203822 meters 0.020834408350360926 Centerline is valid? [True, True] Translation: X:76.59, Y:-3.64, Z:-2.11 [[ 9.90613590e-01 1.36687100e-01 1.16304335e-03 7.65858096e+01] [-1.36686996e-01 9.90614272e-01 -1.69431336e-04 -3.64208379e+00] [-1.17528642e-03 8.86808339e-06 9.99999309e-01 -2.11104961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.874203822 meters 0.019349759148213748 Centerline is valid? [True, True] Translation: X:76.62, Y:-3.64, Z:-2.11 [[ 9.90153763e-01 1.39983853e-01 2.16361027e-04 7.66168516e+01] [-1.39983849e-01 9.90153786e-01 -3.15193222e-05 -3.64202675e+00] [-2.18642887e-04 9.21925979e-07 9.99999976e-01 -2.11210871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904203822 meters 0.019715269348668057 Centerline is valid? [True, True] Translation: X:76.64, Y:-3.64, Z:-2.12 [[ 9.89099421e-01 1.47249070e-01 2.16831784e-04 7.66448989e+01] [-1.47249066e-01 9.89099445e-01 -3.34201765e-05 -3.63985888e+00] [-2.19389287e-04 1.12759953e-06 9.99999976e-01 -2.11543341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.934203822 meters 0.020103061808076885 Centerline is valid? [True, True] Translation: X:76.67, Y:-3.64, Z:-2.11 [[ 9.88550361e-01 1.50889655e-01 7.03626875e-04 7.66746678e+01] [-1.50889620e-01 9.88550612e-01 -1.03124659e-04 -3.64105777e+00] [-7.11131222e-04 -4.22607303e-06 9.99999747e-01 -2.11361313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964203822 meters 0.022343515814505232 Centerline is valid? [True, True] Translation: X:76.70, Y:-3.64, Z:-2.11 [[ 9.87968107e-01 1.54647482e-01 1.78232825e-03 7.67030528e+01] [-1.54647263e-01 9.87969714e-01 -2.61079520e-04 -3.64007329e+00] [-1.80126163e-03 -1.76939469e-05 9.99998378e-01 -2.11306308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.994203822 meters 0.022728211743074773 Centerline is valid? [True, True] Translation: X:76.73, Y:-3.64, Z:-2.11 [[ 9.87378292e-01 1.58343678e-01 3.37453432e-03 7.67324507e+01] [-1.58342921e-01 9.87384058e-01 -4.92019171e-04 -3.64167952e+00] [-3.40986951e-03 -4.85245710e-05 9.99994185e-01 -2.10770524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024203822 meters 0.027089245148979365 Centerline is valid? [True, True] Translation: X:76.76, Y:-3.64, Z:-2.11 [[ 9.86796327e-01 1.61921536e-01 3.79806343e-03 7.67615483e+01] [-1.61920604e-01 9.86803634e-01 -5.53488021e-04 -3.64024922e+00] [-3.83756443e-03 -6.88047805e-05 9.99992634e-01 -2.11014068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054203822 meters 0.03529965990600743 Centerline is valid? [True, True] Translation: X:76.79, Y:-3.64, Z:-2.12 [[ 9.85767838e-01 1.68107182e-01 -1.32079583e-03 7.67914439e+01] [-1.68107075e-01 9.85768722e-01 1.92269439e-04 -3.63634300e+00] [ 1.33432109e-03 3.25020957e-05 9.99999109e-01 -2.12192530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084203822 meters 0.037088476691912654 Centerline is valid? [True, True] Translation: X:76.82, Y:-3.64, Z:-2.13 [[ 9.85434969e-01 1.70019719e-01 -3.34913679e-03 7.68217331e+01] [-1.70019045e-01 9.85440656e-01 4.87162403e-04 -3.63854802e+00] [ 3.38320277e-03 8.93501708e-05 9.99994273e-01 -2.12580931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114203822 meters 0.037771371475357 Centerline is valid? [True, True] Translation: X:76.85, Y:-3.64, Z:-2.13 [[ 9.85261032e-01 1.71015346e-01 -3.80140154e-03 7.68498205e+01] [-1.71014492e-01 9.85268359e-01 5.51040776e-04 -3.64210030e+00] [ 3.83963708e-03 1.07175749e-04 9.99992623e-01 -2.12753043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144203822 meters 0.03451120769965695 Centerline is valid? [True, True] Translation: X:76.88, Y:-3.65, Z:-2.12 [[ 9.85305975e-01 1.70772786e-01 -2.96512064e-03 7.68778710e+01] [-1.70772264e-01 9.85310433e-01 4.29967599e-04 -3.65340269e+00] [ 2.99499107e-03 8.27107221e-05 9.99995512e-01 -2.12271136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174203822 meters 0.03604197285872139 Centerline is valid? [True, True] Translation: X:76.91, Y:-3.66, Z:-2.13 [[ 9.85438962e-01 1.69996423e-01 -3.35681743e-03 7.69056607e+01] [-1.69995753e-01 9.85444675e-01 4.86009732e-04 -3.65755155e+00] [ 3.39057778e-03 9.17117798e-05 9.99994248e-01 -2.12600741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204203822 meters 0.03548121840555861 Centerline is valid? [True, True] Translation: X:76.93, Y:-3.66, Z:-2.13 [[ 9.85546324e-01 1.69348036e-01 -4.43690480e-03 7.69336286e+01] [-1.69346856e-01 9.85556304e-01 6.43103468e-04 -3.66236312e+00] [ 4.48172780e-03 1.17567617e-04 9.99989950e-01 -2.12743859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.234203822 meters 0.03562966337326529 Centerline is valid? [True, True] Translation: X:76.96, Y:-3.66, Z:-2.13 [[ 9.85666041e-01 1.68639395e-01 -4.81773065e-03 7.69613500e+01] [-1.68637997e-01 9.85677807e-01 6.97790381e-04 -3.66360694e+00] [ 4.86640513e-03 1.24664165e-04 9.99988151e-01 -2.12938135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264203822 meters 0.03792818830754756 Centerline is valid? [True, True] Translation: X:76.99, Y:-3.66, Z:-2.13 [[ 9.85806019e-01 1.67835657e-01 -4.20531085e-03 7.69889432e+01] [-1.67834587e-01 9.85814983e-01 6.08640070e-04 -3.66407248e+00] [ 4.24780995e-03 1.05795563e-04 9.99990972e-01 -2.13412593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.294203822 meters 0.03406926231321448 Centerline is valid? [True, True] Translation: X:77.02, Y:-3.67, Z:-2.13 [[ 9.86101051e-01 1.66131440e-01 -2.24980296e-03 7.70180074e+01] [-1.66131129e-01 9.86103616e-01 3.25804609e-04 -3.67192611e+00] [ 2.27266523e-03 5.24860377e-05 9.99997416e-01 -2.12917643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324203822 meters 0.030648928143938214 Centerline is valid? [True, True] Translation: X:77.05, Y:-3.68, Z:-2.12 [[ 9.86209910e-01 1.65496284e-01 -9.96920823e-04 7.70465499e+01] [-1.65496223e-01 9.86210413e-01 1.43592352e-04 -3.68033348e+00] [ 1.00693770e-03 2.33744308e-05 9.99999493e-01 -2.12414341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.354203822 meters 0.031638383048433354 Centerline is valid? [True, True] Translation: X:77.07, Y:-3.68, Z:-2.13 [[ 9.86322854e-01 1.64823983e-01 -5.30861485e-04 7.70744252e+01] [-1.64823966e-01 9.86322997e-01 7.52693251e-05 -3.68437306e+00] [ 5.36007081e-04 1.32588398e-05 9.99999856e-01 -2.12666753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384203822 meters 0.03025992485765623 Centerline is valid? [True, True] Translation: X:77.10, Y:-3.69, Z:-2.13 [[ 9.86484734e-01 1.63850544e-01 -9.32403744e-04 7.71028969e+01] [-1.63850490e-01 9.86485174e-01 1.33813974e-04 -3.69088000e+00] [ 9.41727962e-04 2.07693677e-05 9.99999556e-01 -2.12696178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414203822 meters 0.02962332968618861 Centerline is valid? [True, True] Translation: X:77.13, Y:-3.69, Z:-2.13 [[ 9.86866976e-01 1.61519186e-01 -2.26381731e-03 7.71311108e+01] [-1.61518862e-01 9.86869571e-01 3.26352077e-04 -3.69237203e+00] [ 2.28680454e-03 4.35831095e-05 9.99997384e-01 -2.13135857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444203822 meters 0.026452612163565238 Centerline is valid? [True, True] Translation: X:77.16, Y:-3.70, Z:-2.13 [[ 9.87041828e-01 1.60450749e-01 -1.99657810e-03 7.71598740e+01] [-1.60450495e-01 9.87043847e-01 2.87805827e-04 -3.69586828e+00] [ 2.01688879e-03 3.62755542e-05 9.99997965e-01 -2.12816358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474203822 meters 0.025819375493037703 Centerline is valid? [True, True] Translation: X:77.19, Y:-3.70, Z:-2.13 [[ 9.87241495e-01 1.59226296e-01 -1.10308082e-03 7.71874093e+01] [-1.59226218e-01 9.87242111e-01 1.58037016e-04 -3.69743707e+00] [ 1.11417148e-03 1.96186874e-05 9.99999379e-01 -2.12859168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504203822 meters 0.024946527193835277 Centerline is valid? [True, True] Translation: X:77.21, Y:-3.70, Z:-2.13 [[ 9.87538325e-01 1.57378707e-01 -1.42881614e-05 7.72149188e+01] [-1.57378707e-01 9.87538325e-01 3.47729922e-07 -3.70169779e+00] [ 1.41648322e-05 1.90525574e-06 1.00000000e+00 -2.12942080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534203822 meters 0.021658800986286756 Centerline is valid? [True, True] Translation: X:77.24, Y:-3.71, Z:-2.13 [[ 9.88215180e-01 1.53067151e-01 -1.09787384e-03 7.72430484e+01] [-1.53067071e-01 9.88215790e-01 1.57809710e-04 -3.71237286e+00] [ 1.10909175e-03 1.20983817e-05 9.99999385e-01 -2.13001000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564203822 meters 0.020826158749993436 Centerline is valid? [True, True] Translation: X:77.27, Y:-3.72, Z:-2.13 [[ 9.88517945e-01 1.51080432e-01 -2.64121342e-03 7.72714526e+01] [-1.51079953e-01 9.88521473e-01 3.80998921e-04 -3.71955298e+00] [ 2.66845767e-03 2.24101305e-05 9.99996439e-01 -2.13199349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.594203822 meters 0.01899107416543541 Centerline is valid? [True, True] Translation: X:77.30, Y:-3.73, Z:-2.13 [[ 9.88928974e-01 1.48380922e-01 -1.60839792e-03 7.73006738e+01] [-1.48380742e-01 9.88930282e-01 2.31897380e-04 -3.72726803e+00] [ 1.62500255e-03 9.32523815e-06 9.99998680e-01 -2.12998437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624203822 meters 0.020039522683734382 Centerline is valid? [True, True] Translation: X:77.33, Y:-3.73, Z:-2.13 [[ 9.89026182e-01 1.47738070e-01 -8.21589853e-04 7.73289548e+01] [-1.47738023e-01 9.89026523e-01 1.17711343e-04 -3.72977702e+00] [ 8.29964602e-04 4.96046071e-06 9.99999656e-01 -2.13400371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.654203822 meters 0.01957342707897895 Centerline is valid? [True, True] Translation: X:77.36, Y:-3.73, Z:-2.13 [[ 9.89077514e-01 1.47391864e-01 -1.14442142e-03 7.73585293e+01] [-1.47391772e-01 9.89078176e-01 1.64749312e-04 -3.73239568e+00] [ 1.15620495e-03 5.72845975e-06 9.99999332e-01 -2.13330032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684203822 meters 0.020236438109542027 Centerline is valid? [True, True] Translation: X:77.39, Y:-3.73, Z:-2.14 [[ 9.89136619e-01 1.46992420e-01 -1.40589082e-03 7.73863113e+01] [-1.46992282e-01 9.89137619e-01 2.01424005e-04 -3.73428181e+00] [ 1.42022730e-03 7.41924093e-06 9.99998991e-01 -2.13634638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.714203822 meters 0.02008806688673399 Centerline is valid? [True, True] Translation: X:77.41, Y:-3.74, Z:-2.14 [[ 9.89421341e-01 1.45062365e-01 -1.52336891e-03 7.74143681e+01] [-1.45062200e-01 9.89422513e-01 2.18696984e-04 -3.73817719e+00] [ 1.53898019e-03 4.59978207e-06 9.99998816e-01 -2.13801269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744203822 meters 0.018435104652505533 Centerline is valid? [True, True] Translation: X:77.44, Y:-3.74, Z:-2.13 [[ 9.89626303e-01 1.43664494e-01 -5.42323712e-04 7.74436752e+01] [-1.43664473e-01 9.89626451e-01 7.76181429e-05 -3.74463354e+00] [ 5.47848862e-04 1.09969443e-06 9.99999850e-01 -2.13433875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774203822 meters 0.018940757931473713 Centerline is valid? [True, True] Translation: X:77.47, Y:-3.75, Z:-2.14 [[ 9.89898664e-01 1.41775249e-01 6.43722521e-04 7.74718379e+01] [-1.41775218e-01 9.89898873e-01 -9.40065316e-05 -3.75192457e+00] [-6.50547998e-04 1.79303941e-06 9.99999788e-01 -2.13679486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804203822 meters 0.01886615444172364 Centerline is valid? [True, True] Translation: X:77.50, Y:-3.76, Z:-2.14 [[ 9.90340609e-01 1.38655963e-01 5.22493818e-05 7.75010816e+01] [-1.38655963e-01 9.90340610e-01 -7.54445840e-06 -3.76385773e+00] [-5.27907689e-05 2.26895174e-07 9.99999999e-01 -2.13528658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834203822 meters 0.021076825944633927 Centerline is valid? [True, True] Translation: X:77.53, Y:-3.77, Z:-2.14 [[ 9.90496121e-01 1.37538770e-01 -7.22184257e-04 7.75299750e+01] [-1.37538731e-01 9.90496384e-01 1.04445650e-04 -3.77108310e+00] [ 7.29686221e-04 -4.12470463e-06 9.99999734e-01 -2.14156852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864203822 meters 0.021425591499372496 Centerline is valid? [True, True] Translation: X:77.56, Y:-3.78, Z:-2.14 [[ 9.90544725e-01 1.37182713e-01 -1.43213740e-03 7.75592859e+01] [-1.37182559e-01 9.90545760e-01 2.06092584e-04 -3.77583613e+00] [ 1.44686997e-03 -7.67964922e-06 9.99998953e-01 -2.14341932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894203822 meters 0.02004094491681107 Centerline is valid? [True, True] Translation: X:77.59, Y:-3.78, Z:-2.14 [[ 9.90553707e-01 1.37121652e-01 -1.00302373e-03 7.75890130e+01] [-1.37121577e-01 9.90554215e-01 1.44086441e-04 -3.77756222e+00] [ 1.01330676e-03 -5.18916210e-06 9.99999487e-01 -2.14074058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924203822 meters 0.018812001203177574 Centerline is valid? [True, True] Translation: X:77.62, Y:-3.78, Z:-2.14 [[ 9.90523526e-01 1.37343068e-01 -1.61316265e-04 7.76192610e+01] [-1.37343066e-01 9.90523539e-01 2.32860312e-05 -3.78097899e+00] [ 1.62985733e-04 -9.09691292e-07 9.99999987e-01 -2.13828797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954203822 meters 0.019974190807908042 Centerline is valid? [True, True] Translation: X:77.65, Y:-3.79, Z:-2.14 [[ 9.90467216e-01 1.37748430e-01 2.52846303e-04 7.76481504e+01] [-1.37748425e-01 9.90467248e-01 -3.68516309e-05 -3.78661408e+00] [-2.55512237e-04 1.67115207e-06 9.99999967e-01 -2.14207541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.984203822 meters 0.01860639439973334 Centerline is valid? [True, True] Translation: X:77.68, Y:-3.79, Z:-2.14 [[ 9.90296697e-01 1.38969245e-01 -2.76482034e-05 7.76787340e+01] [-1.38969245e-01 9.90296697e-01 3.99067206e-06 -3.79122680e+00] [ 2.79345051e-05 -1.09699392e-07 1.00000000e+00 -2.13955126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.014203822 meters 0.01918371851454799 Centerline is valid? [True, True] Translation: X:77.71, Y:-3.79, Z:-2.14 [[ 9.90103818e-01 1.40336839e-01 2.85233249e-05 7.77078386e+01] [-1.40336839e-01 9.90103819e-01 -4.47049485e-06 -3.79244360e+00] [-2.88684281e-05 4.23380752e-07 1.00000000e+00 -2.14317291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044203822 meters 0.025393991454108734 Centerline is valid? [True, True] Translation: X:77.74, Y:-3.79, Z:-2.14 [[ 9.89787883e-01 1.42547856e-01 -2.37217920e-04 7.77375982e+01] [-1.42547853e-01 9.89787911e-01 3.28328968e-05 -3.79112774e+00] [ 2.39475688e-04 1.31730160e-06 9.99999971e-01 -2.14278287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.074203822 meters 0.0190579732115025 Centerline is valid? [True, True] Translation: X:77.77, Y:-3.78, Z:-2.14 [[ 9.88806269e-01 1.49157096e-01 3.78467195e-03 7.77682476e+01] [-1.49156096e-01 9.88813511e-01 -5.46635019e-04 -3.78445950e+00] [-3.82386925e-03 -2.39907591e-05 9.99992689e-01 -2.13947941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104203822 meters 0.021079424829493307 Centerline is valid? [True, True] Translation: X:77.80, Y:-3.78, Z:-2.14 [[ 9.88181544e-01 1.53209130e-01 4.91922796e-03 7.77973753e+01] [-1.53207490e-01 9.88193787e-01 -7.10707451e-04 -3.78306660e+00] [-4.97003738e-03 -5.13545837e-05 9.99987648e-01 -2.13792041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.134203822 meters 0.024518735904228546 Centerline is valid? [True, True] Translation: X:77.83, Y:-3.78, Z:-2.14 [[ 9.87505321e-01 1.57524405e-01 4.39349536e-03 7.78276128e+01] [-1.57523143e-01 9.87515092e-01 -6.34120249e-04 -3.78114925e+00] [-4.43853239e-03 -6.58800766e-05 9.99990147e-01 -2.13885120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164203822 meters 0.031843613346805355 Centerline is valid? [True, True] Translation: X:77.86, Y:-3.77, Z:-2.14 [[ 9.86346617e-01 1.64665712e-01 2.35698153e-03 7.78593112e+01] [-1.64665370e-01 9.86349431e-01 -3.39861897e-04 -3.77161310e+00] [-2.38077099e-03 -5.28916034e-05 9.99997165e-01 -2.14378693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194203822 meters 0.03623527737666332 Centerline is valid? [True, True] Translation: X:77.89, Y:-3.77, Z:-2.15 [[ 9.85977249e-01 1.66853319e-01 2.97230434e-03 7.78883302e+01] [-1.66852781e-01 9.85981726e-01 -4.30015782e-04 -3.76745747e+00] [-3.00238732e-03 -7.19514663e-05 9.99995490e-01 -2.14753271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224203822 meters 0.035281406343553305 Centerline is valid? [True, True] Translation: X:77.92, Y:-3.77, Z:-2.15 [[ 9.85708227e-01 1.68439628e-01 2.71728148e-03 7.79173639e+01] [-1.68439185e-01 9.85711969e-01 -3.92820152e-04 -3.76968166e+00] [-2.74462336e-03 -7.04906224e-05 9.99996231e-01 -2.14575771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254203822 meters 0.03690856664420116 Centerline is valid? [True, True] Translation: X:77.95, Y:-3.77, Z:-2.15 [[ 9.85575476e-01 1.69230420e-01 1.43059695e-03 7.79459800e+01] [-1.69230297e-01 9.85576513e-01 -2.07277511e-04 -3.76820776e+00] [-1.44504041e-03 -3.78127147e-05 9.99998955e-01 -2.14948749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284203822 meters 0.037285512199343965 Centerline is valid? [True, True] Translation: X:77.98, Y:-3.76, Z:-2.15 [[ 9.85552250e-01 1.69370218e-01 7.01411347e-04 7.79757088e+01] [-1.69370188e-01 9.85552499e-01 -1.02317813e-04 -3.76496256e+00] [-7.08607297e-04 -1.79586204e-05 9.99999749e-01 -2.15112213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314203822 meters 0.03480928902365933 Centerline is valid? [True, True] Translation: X:78.00, Y:-3.77, Z:-2.15 [[ 9.85670732e-01 1.68675072e-01 1.38876682e-03 7.80043862e+01] [-1.68674955e-01 9.85671710e-01 -2.01249232e-04 -3.77094873e+00] [-1.40281389e-03 -3.58847039e-05 9.99999015e-01 -2.14859272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.344203822 meters 0.03453839926140788 Centerline is valid? [True, True] Translation: X:78.03, Y:-3.77, Z:-2.15 [[ 9.85875987e-01 1.67462479e-01 2.20374511e-03 7.80319125e+01] [-1.67462185e-01 9.85878448e-01 -3.18750653e-04 -3.77449153e+00] [-2.22600358e-03 -5.47953562e-05 9.99997521e-01 -2.14908693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.374203822 meters 0.030887717251307793 Centerline is valid? [True, True] Translation: X:78.06, Y:-3.78, Z:-2.15 [[ 9.86197102e-01 1.65535791e-01 3.63003011e-03 7.80608525e+01] [-1.65534988e-01 9.86203779e-01 -5.22854025e-04 -3.78136168e+00] [-3.66650046e-03 -8.52598644e-05 9.99993275e-01 -2.14557135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404203822 meters 0.025672804751983042 Centerline is valid? [True, True] Translation: X:78.09, Y:-3.79, Z:-2.14 [[ 9.87234335e-01 1.59103368e-01 7.38140456e-03 7.80898071e+01] [-1.59099873e-01 9.87261922e-01 -1.06208944e-03 -3.78804261e+00] [-7.45636165e-03 -1.25849369e-04 9.99972193e-01 -2.14238042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.434203822 meters 0.021003202697524048 Centerline is valid? [True, True] Translation: X:78.12, Y:-3.80, Z:-2.14 [[ 9.87960122e-01 1.54529537e-01 7.44440862e-03 7.81171626e+01] [-1.54525847e-01 9.87988165e-01 -1.07174155e-03 -3.79918509e+00] [-7.52060333e-03 -9.15156325e-05 9.99971716e-01 -2.14289833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464203822 meters 0.01611847704650684 Centerline is valid? [True, True] Translation: X:78.14, Y:-3.82, Z:-2.15 [[ 9.89538128e-01 1.44160358e-01 5.66431328e-03 7.81444363e+01] [-1.44158057e-01 9.89554340e-01 -8.14714804e-04 -3.82035997e+00] [-5.72259537e-03 -1.03650324e-05 9.99983626e-01 -2.14785667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.494203822 meters 0.01714455909932424 Centerline is valid? [True, True] Translation: X:78.17, Y:-3.83, Z:-2.15 [[ 9.90190263e-01 1.39628786e-01 5.20043715e-03 7.81728942e+01] [-1.39626783e-01 9.90203919e-01 -7.47958445e-04 -3.83116604e+00] [-5.25392978e-03 1.45008584e-05 9.99986198e-01 -2.15225344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524203822 meters 0.018815005597993834 Centerline is valid? [True, True] Translation: X:78.20, Y:-3.84, Z:-2.15 [[ 9.90771021e-01 1.35477886e-01 4.30428351e-03 7.82018023e+01] [-1.35476476e-01 9.90780370e-01 -6.18781681e-04 -3.84198915e+00] [-4.34843084e-03 2.99417959e-05 9.99990545e-01 -2.15399668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554203822 meters 0.019980227136153515 Centerline is valid? [True, True] Translation: X:78.23, Y:-3.85, Z:-2.15 [[ 9.91242796e-01 1.32009960e-01 3.33026950e-03 7.82311365e+01] [-1.32009097e-01 9.91248389e-01 -4.78757905e-04 -3.85202211e+00] [-3.36432509e-03 3.49394557e-05 9.99994340e-01 -2.15405303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584203822 meters 0.025331025630111047 Centerline is valid? [True, True] Translation: X:78.26, Y:-3.87, Z:-2.16 [[ 9.91790409e-01 1.27858590e-01 1.99149522e-03 7.82589510e+01] [-1.27858275e-01 9.91792408e-01 -2.85321312e-04 -3.86919603e+00] [-2.01163062e-03 2.83497981e-05 9.99997976e-01 -2.15998674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614203822 meters 0.023932582647041796 Centerline is valid? [True, True] Translation: X:78.29, Y:-3.87, Z:-2.16 [[ 9.91853236e-01 1.27380439e-01 1.17576375e-03 7.82897126e+01] [-1.27380329e-01 9.91853932e-01 -1.68397095e-04 -3.87344177e+00] [-1.18763640e-03 1.72560293e-05 9.99999295e-01 -2.15748624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644203822 meters 0.024139263412584128 Centerline is valid? [True, True] Translation: X:78.32, Y:-3.88, Z:-2.16 [[ 9.91766903e-01 1.28056041e-01 -2.46438975e-04 7.83202715e+01] [-1.28056037e-01 9.91766933e-01 3.54433285e-05 -3.87724870e+00] [ 2.48948759e-04 -3.59352179e-06 9.99999969e-01 -2.16055218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674203822 meters 0.023810786000260035 Centerline is valid? [True, True] Translation: X:78.35, Y:-3.88, Z:-2.17 [[ 9.91278485e-01 1.31762098e-01 -2.39043171e-03 7.83484737e+01] [-1.31761651e-01 9.91281367e-01 3.43929101e-04 -3.87782390e+00] [ 2.41490723e-03 -2.59622890e-05 9.99997084e-01 -2.16791628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704203822 meters 0.021836270374503794 Centerline is valid? [True, True] Translation: X:78.38, Y:-3.88, Z:-2.17 [[ 9.90857443e-01 1.34909131e-01 -1.02641981e-03 7.83771104e+01] [-1.34909052e-01 9.90857975e-01 1.46578862e-04 -3.87931635e+00] [ 1.03681108e-03 -6.76543322e-06 9.99999462e-01 -2.16746561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.734203822 meters 0.021836270374503794 Centerline is valid? [True, True] Translation: X:78.41, Y:-3.88, Z:-2.17 [[ 9.90863804e-01 1.34862404e-01 -1.02647486e-03 7.84051685e+01] [-1.34862325e-01 9.90864336e-01 1.46195772e-04 -3.88325769e+00] [ 1.03681364e-03 -6.42731266e-06 9.99999462e-01 -2.16827007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764203822 meters 0.018336714367287007 Centerline is valid? [True, True] Translation: X:78.44, Y:-3.88, Z:-2.16 [[ 9.90368641e-01 1.38455107e-01 3.71747707e-04 7.84351731e+01] [-1.38455097e-01 9.90368711e-01 -5.41364809e-05 -3.88338858e+00] [-3.75662769e-04 2.14470837e-06 9.99999929e-01 -2.16241276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.794203822 meters 0.020300548159166345 Centerline is valid? [True, True] Translation: X:78.46, Y:-3.88, Z:-2.17 [[ 9.89155589e-01 1.46870449e-01 5.40659331e-04 7.84642563e+01] [-1.46870428e-01 9.89155737e-01 -7.95854045e-05 -3.87676952e+00] [-5.46485023e-04 -6.84519658e-07 9.99999851e-01 -2.16681359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824203822 meters 0.02281897915599692 Centerline is valid? [True, True] Translation: X:78.49, Y:-3.87, Z:-2.17 [[ 9.88376597e-01 1.52023569e-01 7.32125212e-04 7.84941591e+01] [-1.52023532e-01 9.88376869e-01 -1.06463618e-04 -3.87224969e+00] [-7.39800604e-04 -6.07411222e-06 9.99999726e-01 -2.16677901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.854203822 meters 0.02519951298188502 Centerline is valid? [True, True] Translation: X:78.52, Y:-3.87, Z:-2.16 [[ 9.87526191e-01 1.57437199e-01 2.35609498e-03 7.85240229e+01] [-1.57436836e-01 9.87529001e-01 -3.39584746e-04 -3.86781271e+00] [-2.38017539e-03 -3.55873090e-05 9.99997167e-01 -2.16298503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884203822 meters 0.034000816864266876 Centerline is valid? [True, True] Translation: X:78.56, Y:-3.85, Z:-2.16 [[ 9.85857255e-01 1.67541759e-01 3.90273749e-03 7.85571453e+01] [-1.67540853e-01 9.85864975e-01 -5.60345721e-04 -3.85311206e+00] [-3.94145350e-03 -1.01447072e-04 9.99992227e-01 -2.16043039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914203822 meters 0.041714337403454704 Centerline is valid? [True, True] Translation: X:78.59, Y:-3.85, Z:-2.16 [[ 9.85084605e-01 1.72025395e-01 3.94777029e-03 7.85878447e+01] [-1.72024502e-01 9.85092508e-01 -5.67274017e-04 -3.84514825e+00] [-3.98650447e-03 -1.20300317e-04 9.99992047e-01 -2.16432310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944203822 meters 0.04298369041460601 Centerline is valid? [True, True] Translation: X:78.62, Y:-3.85, Z:-2.16 [[ 9.84413905e-01 1.75808795e-01 4.53124927e-03 7.86178368e+01] [-1.75807660e-01 9.84424321e-01 -6.50628122e-04 -3.84640411e+00] [-4.57505813e-03 -1.56140962e-04 9.99989522e-01 -2.16234153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974203822 meters 0.04947508761015752 Centerline is valid? [True, True] Translation: X:78.65, Y:-3.84, Z:-2.17 [[ 9.83790230e-01 1.79255162e-01 4.93672144e-03 7.86482753e+01] [-1.79253859e-01 9.83802598e-01 -7.08757505e-04 -3.84285542e+00] [-4.98380782e-03 -1.87657658e-04 9.99987563e-01 -2.16500100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004203822 meters 0.054305656930182335 Centerline is valid? [True, True] Translation: X:78.68, Y:-3.84, Z:-2.17 [[ 9.82656240e-01 1.85382216e-01 4.48872526e-03 7.86796010e+01] [-1.85381204e-01 9.82666471e-01 -6.44109729e-04 -3.83968971e+00] [-4.53032630e-03 -1.99186850e-04 9.99989718e-01 -2.16537150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034203822 meters 0.05650005313925791 Centerline is valid? [True, True] Translation: X:78.71, Y:-3.84, Z:-2.16 [[ 9.82219390e-01 1.87657117e-01 5.46601471e-03 7.87093220e+01] [-1.87655645e-01 9.82234566e-01 -7.85522267e-04 -3.83766709e+00] [-5.51631743e-03 -2.54173314e-04 9.99984753e-01 -2.16397949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064203822 meters 0.05807847905751015 Centerline is valid? [True, True] Translation: X:78.74, Y:-3.84, Z:-2.16 [[ 9.81823172e-01 1.89656313e-01 7.33087661e-03 7.87399414e+01] [-1.89653732e-01 9.81850475e-01 -1.05211437e-03 -3.83567559e+00] [-7.39736481e-03 -3.57337835e-04 9.99972575e-01 -2.16057653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.094203822 meters 0.06322875230553701 Centerline is valid? [True, True] Translation: X:78.77, Y:-3.82, Z:-2.16 [[ 9.81418391e-01 1.91681327e-01 8.72990537e-03 7.87705794e+01] [-1.91677747e-01 9.81457117e-01 -1.25279305e-03 -3.82306282e+00] [-8.80816479e-03 -4.43814455e-04 9.99961109e-01 -2.15951375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124203822 meters 0.05867145467740802 Centerline is valid? [True, True] Translation: X:78.80, Y:-3.83, Z:-2.16 [[ 9.81521484e-01 1.91211323e-01 7.33528981e-03 7.87988015e+01] [-1.91208781e-01 9.81548824e-01 -1.05281392e-03 -3.82812394e+00] [-7.40125503e-03 -3.69212341e-04 9.99972542e-01 -2.16120083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.154203822 meters 0.05039609370970062 Centerline is valid? [True, True] Translation: X:78.83, Y:-3.84, Z:-2.17 [[ 9.82694159e-01 1.85159109e-01 5.31919202e-03 7.88280479e+01] [-1.85157688e-01 9.82708527e-01 -7.62633398e-04 -3.83626992e+00] [-5.36842388e-03 -2.35453910e-04 9.99985562e-01 -2.16624313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184203822 meters 0.04475314629440645 Centerline is valid? [True, True] Translation: X:78.86, Y:-3.85, Z:-2.17 [[ 9.83741190e-01 1.79489213e-01 6.07396780e-03 7.88565816e+01] [-1.79487251e-01 9.83759914e-01 -8.71063324e-04 -3.84510783e+00] [-6.13167251e-03 -2.33298915e-04 9.99981174e-01 -2.16707673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.214203822 meters 0.035456311661482616 Centerline is valid? [True, True] Translation: X:78.89, Y:-3.86, Z:-2.16 [[ 9.84967183e-01 1.72574351e-01 7.59882751e-03 7.88852635e+01] [-1.72571078e-01 9.84996465e-01 -1.08922912e-03 -3.86007877e+00] [-7.67279125e-03 -2.38482919e-04 9.99970535e-01 -2.16448521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244203822 meters 0.02969043277662848 Centerline is valid? [True, True] Translation: X:78.91, Y:-3.87, Z:-2.17 [[ 9.86265566e-01 1.64958265e-01 8.30686107e-03 7.89131014e+01] [-1.64954085e-01 9.86300528e-01 -1.19051623e-03 -3.87274642e+00] [-8.38944696e-03 -1.96085508e-04 9.99964789e-01 -2.16524901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274203822 meters 0.018478442670771537 Centerline is valid? [True, True] Translation: X:78.94, Y:-3.89, Z:-2.17 [[ 9.88661429e-01 1.49957151e-01 7.83787858e-03 7.89396172e+01] [-1.49952956e-01 9.88692495e-01 -1.12354243e-03 -3.89342861e+00] [-7.91773495e-03 -6.45099965e-05 9.99968652e-01 -2.16813286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304203822 meters 0.014972084875458057 Centerline is valid? [True, True] Translation: X:78.97, Y:-3.90, Z:-2.17 [[ 9.89661659e-01 1.43225642e-01 7.49780743e-03 7.89673373e+01] [-1.43221604e-01 9.89690060e-01 -1.07543066e-03 -3.90453942e+00] [-7.57453474e-03 -9.53551572e-06 9.99971313e-01 -2.16680667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334203822 meters 0.020256627225806213 Centerline is valid? [True, True] Translation: X:78.99, Y:-3.93, Z:-2.17 [[ 9.91367139e-01 1.30905617e-01 7.41048200e-03 7.89931751e+01] [-1.30901335e-01 9.91394832e-01 -1.06202877e-03 -3.92740180e+00] [-7.48573909e-03 8.28184291e-05 9.99971978e-01 -2.17171610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364203822 meters 0.025408047592205295 Centerline is valid? [True, True] Translation: X:79.02, Y:-3.94, Z:-2.18 [[ 9.92040634e-01 1.25756159e-01 6.38507487e-03 7.90206555e+01] [-1.25752877e-01 9.92061176e-01 -9.14474453e-04 -3.94460498e+00] [-6.44938568e-03 1.04254282e-04 9.99979197e-01 -2.17572588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394203822 meters 0.02778554122398107 Centerline is valid? [True, True] Translation: X:79.05, Y:-3.96, Z:-2.18 [[ 9.92612927e-01 1.21220449e-01 5.01789754e-03 7.90506572e+01] [-1.21218367e-01 9.92625605e-01 -7.18096821e-04 -3.95770724e+00] [-5.06794160e-03 1.04530840e-04 9.99987152e-01 -2.17583043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424203822 meters 0.03348995626241039 Centerline is valid? [True, True] Translation: X:79.08, Y:-3.97, Z:-2.18 [[ 9.93026373e-01 1.17818447e-01 4.17556342e-03 7.90792271e+01] [-1.17816974e-01 9.93035147e-01 -5.97836543e-04 -3.97073000e+00] [-4.21691741e-03 1.01715207e-04 9.99991104e-01 -2.18038988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454203822 meters 0.034174361318564585 Centerline is valid? [True, True] Translation: X:79.11, Y:-3.97, Z:-2.18 [[ 9.93462937e-01 1.14100475e-01 3.53186598e-03 7.91099238e+01] [-1.14099398e-01 9.93469210e-01 -5.05663387e-04 -3.97390762e+00] [-3.56649654e-03 9.93740513e-05 9.99993635e-01 -2.17873473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.484203822 meters 0.03459246312396741 Centerline is valid? [True, True] Translation: X:79.14, Y:-3.98, Z:-2.18 [[ 9.93510827e-01 1.13710806e-01 2.46771112e-03 7.91407550e+01] [-1.13710280e-01 9.93513889e-01 -3.52916848e-04 -3.97924334e+00] [-2.49183573e-03 7.00225870e-05 9.99996893e-01 -2.18122922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.514203822 meters 0.03456332672714012 Centerline is valid? [True, True] Translation: X:79.17, Y:-3.99, Z:-2.18 [[ 9.93430816e-01 1.14426438e-01 1.34317893e-03 7.91709341e+01] [-1.14426282e-01 9.93431723e-01 -1.92141186e-04 -3.98543087e+00] [-1.35634259e-03 3.71840037e-05 9.99999079e-01 -2.18420170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544203822 meters 0.033120350907729114 Centerline is valid? [True, True] Translation: X:79.20, Y:-3.99, Z:-2.19 [[ 9.93278001e-01 1.15750842e-01 7.45132267e-04 7.92010548e+01] [-1.15750794e-01 9.93278280e-01 -1.06782606e-04 -3.99037061e+00] [-7.52483874e-04 1.98151622e-05 9.99999717e-01 -2.18610571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.574203822 meters 0.03718154514252269 Centerline is valid? [True, True] Translation: X:79.23, Y:-3.99, Z:-2.19 [[ 9.92773893e-01 1.19992608e-01 1.33091226e-03 7.92308766e+01] [-1.19992460e-01 9.92774785e-01 -1.90728930e-04 -3.99499400e+00] [-1.34418220e-03 2.96512663e-05 9.99999096e-01 -2.18592321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604203822 meters 0.028411763977251592 Centerline is valid? [True, True] Translation: X:79.26, Y:-4.00, Z:-2.19 [[ 9.92458449e-01 1.22558009e-01 2.40043806e-03 7.92605726e+01] [-1.22557536e-01 9.92461350e-01 -3.43999374e-04 -3.99878424e+00] [-2.42450188e-03 4.72133108e-05 9.99997060e-01 -2.18745589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.634203822 meters 0.02440038071771595 Centerline is valid? [True, True] Translation: X:79.29, Y:-4.00, Z:-2.19 [[ 9.92050361e-01 1.25815905e-01 2.53764843e-03 7.92915922e+01] [-1.25815386e-01 9.92053606e-01 -3.63662568e-04 -3.99845802e+00] [-2.56323781e-03 4.14963651e-05 9.99996714e-01 -2.18616352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664203822 meters 0.019686083065928308 Centerline is valid? [True, True] Translation: X:79.32, Y:-3.99, Z:-2.19 [[ 9.91057313e-01 1.33378161e-01 3.95828052e-03 7.93217460e+01] [-1.33376957e-01 9.91065217e-01 -5.67846037e-04 -3.99417566e+00] [-3.99865240e-03 3.48245599e-05 9.99992005e-01 -2.18776133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694203822 meters 0.017782690044446364 Centerline is valid? [True, True] Translation: X:79.35, Y:-4.00, Z:-2.19 [[ 9.90585255e-01 1.36814400e-01 4.76158302e-03 7.93504075e+01] [-1.36812697e-01 9.90596699e-01 -6.83092635e-04 -3.99517527e+00] [-4.81026532e-03 2.52164797e-05 9.99988430e-01 -2.18762595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724203822 meters 0.01631038801731496 Centerline is valid? [True, True] Translation: X:79.38, Y:-4.00, Z:-2.19 [[ 9.89833554e-01 1.42107382e-01 5.91833915e-03 7.93789889e+01] [-1.42104847e-01 9.89851247e-01 -8.48839550e-04 -3.99687855e+00] [-5.97890175e-03 -8.14811464e-07 9.99982126e-01 -2.18568180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754203822 meters 0.015276586090310273 Centerline is valid? [True, True] Translation: X:79.41, Y:-4.00, Z:-2.18 [[ 9.89488822e-01 1.44432038e-01 7.15947714e-03 7.94086422e+01] [-1.44428397e-01 9.89514722e-01 -1.02574645e-03 -4.00096288e+00] [-7.23255869e-03 -1.90671588e-05 9.99973845e-01 -2.18190883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784203822 meters 0.01652706690854887 Centerline is valid? [True, True] Translation: X:79.44, Y:-4.00, Z:-2.18 [[ 9.89095558e-01 1.47070316e-01 7.76522978e-03 7.94363490e+01] [-1.47066110e-01 9.89126039e-01 -1.11303394e-03 -4.00298633e+00] [-7.84448523e-03 -4.11052139e-05 9.99969231e-01 -2.18357747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814203822 meters 0.017454106564698847 Centerline is valid? [True, True] Translation: X:79.47, Y:-4.00, Z:-2.18 [[ 9.88654795e-01 1.50049894e-01 6.83566911e-03 7.94660357e+01] [-1.50046713e-01 9.88678424e-01 -9.78799403e-04 -4.00441689e+00] [-6.90514731e-03 -5.79749575e-05 9.99976158e-01 -2.18301117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.844203822 meters 0.025294299373991826 Centerline is valid? [True, True] Translation: X:79.50, Y:-3.99, Z:-2.19 [[ 9.87513102e-01 1.57411678e-01 6.27990409e-03 7.94962940e+01] [-1.57409141e-01 9.87533065e-01 -8.99342726e-04 -3.99285454e+00] [-6.34317998e-03 -1.00401584e-04 9.99979877e-01 -2.18870928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.874203822 meters 0.026545721096131816 Centerline is valid? [True, True] Translation: X:79.53, Y:-3.99, Z:-2.19 [[ 9.86943419e-01 1.60924231e-01 6.78814630e-03 7.95257449e+01] [-1.60921350e-01 9.86966754e-01 -9.72092315e-04 -3.99333043e+00] [-6.85610793e-03 -1.32957556e-04 9.99976488e-01 -2.18582498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904203822 meters 0.03151998150682818 Centerline is valid? [True, True] Translation: X:79.56, Y:-3.99, Z:-2.19 [[ 9.85993107e-01 1.66663049e-01 6.40474401e-03 7.95569904e+01] [-1.66660614e-01 9.86013895e-01 -9.15885566e-04 -3.99053710e+00] [-6.46781086e-03 -1.64361711e-04 9.99979070e-01 -2.18718189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.934203822 meters 0.038640335581809813 Centerline is valid? [True, True] Translation: X:79.59, Y:-3.99, Z:-2.19 [[ 9.85700428e-01 1.68424165e-01 5.28838917e-03 7.95862890e+01] [-1.68422526e-01 9.85714604e-01 -7.57084571e-04 -3.98617687e+00] [-5.34035377e-03 -1.44425275e-04 9.99985730e-01 -2.19491855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964203822 meters 0.036208619723515044 Centerline is valid? [True, True] Translation: X:79.61, Y:-3.99, Z:-2.19 [[ 9.85563781e-01 1.69247109e-01 4.41024391e-03 7.96144692e+01] [-1.69245976e-01 9.85573640e-01 -6.31644250e-04 -3.99295147e+00] [-4.45352411e-03 -1.23890339e-04 9.99990075e-01 -2.19416405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.994203822 meters 0.040266406787872785 Centerline is valid? [True, True] Translation: X:79.64, Y:-3.99, Z:-2.20 [[ 9.85528627e-01 1.69448430e-01 4.53384264e-03 7.96430139e+01] [-1.69447234e-01 9.85539047e-01 -6.49363848e-04 -3.99216634e+00] [-4.57831264e-03 -1.28280433e-04 9.99989511e-01 -2.19874003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024203822 meters 0.03400542444401859 Centerline is valid? [True, True] Translation: X:79.67, Y:-4.00, Z:-2.19 [[ 9.85785991e-01 1.67864050e-01 6.90224033e-03 7.96723490e+01] [-1.67861256e-01 9.85810137e-01 -9.86286604e-04 -4.00304661e+00] [-6.96986055e-03 -1.86351212e-04 9.99975693e-01 -2.19109120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054203822 meters 0.03076425835290876 Centerline is valid? [True, True] Translation: X:79.70, Y:-4.01, Z:-2.19 [[ 9.86032585e-01 1.66379716e-01 7.58492424e-03 7.97009956e+01] [-1.66376295e-01 9.86061739e-01 -1.08423466e-03 -4.00894599e+00] [-7.65959824e-03 -1.92860888e-04 9.99970646e-01 -2.18897664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084203822 meters 0.02912764559865102 Centerline is valid? [True, True] Translation: X:79.73, Y:-4.01, Z:-2.19 [[ 9.86300836e-01 1.64814778e-01 6.83737446e-03 7.97299101e+01] [-1.64811960e-01 9.86324522e-01 -9.77496506e-04 -4.01257192e+00] [-6.90497596e-03 -1.62775466e-04 9.99976147e-01 -2.19024150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114203822 meters 0.02890963092452418 Centerline is valid? [True, True] Translation: X:79.76, Y:-4.01, Z:-2.20 [[ 9.86862301e-01 1.61454973e-01 5.92380754e-03 7.97573050e+01] [-1.61452797e-01 9.86880072e-01 -8.46770556e-04 -4.01449862e+00] [-5.98280293e-03 -1.20769360e-04 9.99982096e-01 -2.19590299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144203822 meters 0.026149114076055583 Centerline is valid? [True, True] Translation: X:79.79, Y:-4.02, Z:-2.20 [[ 9.87176973e-01 1.59515340e-01 6.03986901e-03 7.97855043e+01] [-1.59513044e-01 9.87195444e-01 -8.63011681e-04 -4.02207871e+00] [-6.10019477e-03 -1.11492633e-04 9.99981387e-01 -2.19530832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174203822 meters 0.023867827341411497 Centerline is valid? [True, True] Translation: X:79.81, Y:-4.03, Z:-2.20 [[ 9.87767912e-01 1.55839019e-01 5.36218433e-03 7.98123486e+01] [-1.55837155e-01 9.87782463e-01 -7.66289155e-04 -4.02896374e+00] [-5.41608940e-03 -7.87117109e-05 9.99985330e-01 -2.19889520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204203822 meters 0.021461165581641285 Centerline is valid? [True, True] Translation: X:79.84, Y:-4.04, Z:-2.20 [[ 9.88049765e-01 1.54058624e-01 4.85830151e-03 7.98400318e+01] [-1.54057074e-01 9.88061707e-01 -6.93944312e-04 -4.03624480e+00] [-4.90720979e-03 -6.28042018e-05 9.99987958e-01 -2.19807656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.234203822 meters 0.020162643790958848 Centerline is valid? [True, True] Translation: X:79.87, Y:-4.04, Z:-2.20 [[ 9.88375510e-01 1.51952982e-01 4.91354311e-03 7.98686974e+01] [-1.51951371e-01 9.88387722e-01 -7.01574615e-04 -4.04215978e+00] [-4.96309204e-03 -5.32004463e-05 9.99987682e-01 -2.19898735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264203822 meters 0.018484649494895783 Centerline is valid? [True, True] Translation: X:79.90, Y:-4.05, Z:-2.20 [[ 9.88703382e-01 1.49777887e-01 5.67513752e-03 7.98967183e+01] [-1.49775706e-01 9.88719668e-01 -8.09818819e-04 -4.04845763e+00] [-5.73241304e-03 -4.93271217e-05 9.99983568e-01 -2.19840250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.294203822 meters 0.016448819989459636 Centerline is valid? [True, True] Translation: X:79.92, Y:-4.06, Z:-2.20 [[ 9.89471366e-01 1.44586722e-01 6.41052864e-03 7.99234944e+01] [-1.44583832e-01 9.89492132e-01 -9.14454055e-04 -4.05916348e+00] [-6.47538557e-03 -2.20326935e-05 9.99979034e-01 -2.19937440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324203822 meters 0.030134696393741896 Centerline is valid? [True, True] Translation: X:79.95, Y:-4.07, Z:-2.20 [[ 9.89884708e-01 1.41714919e-01 6.71905955e-03 7.99521001e+01] [-1.41711686e-01 9.89907512e-01 -9.57263705e-04 -4.06837603e+00] [-6.78690607e-03 -4.58855427e-06 9.99976969e-01 -2.19816956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.354203822 meters 0.016285729629710175 Centerline is valid? [True, True] Translation: X:79.98, Y:-4.08, Z:-2.20 [[ 9.90275409e-01 1.38979379e-01 6.27260295e-03 7.99799756e+01] [-1.38976506e-01 9.90295275e-01 -8.93811143e-04 -4.07842119e+00] [-6.33595038e-03 1.33747552e-05 9.99979928e-01 -2.20115819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384203822 meters 0.01758031950266688 Centerline is valid? [True, True] Translation: X:80.01, Y:-4.09, Z:-2.20 [[ 9.90884955e-01 1.34570375e-01 6.14987147e-03 8.00094750e+01] [-1.34567535e-01 9.90904038e-01 -8.75316675e-04 -4.09020952e+00] [-6.21172416e-03 3.97650824e-05 9.99980706e-01 -2.20019556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414203822 meters 0.018037067904969634 Centerline is valid? [True, True] Translation: X:80.04, Y:-4.10, Z:-2.20 [[ 9.91086691e-01 1.33015736e-01 7.34748214e-03 8.00395303e+01] [-1.33011638e-01 9.91113924e-01 -1.04577367e-03 -4.09670130e+00] [-7.42129621e-03 5.91517290e-05 9.99972460e-01 -2.19919929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444203822 meters 0.018866826275507967 Centerline is valid? [True, True] Translation: X:80.07, Y:-4.10, Z:-2.20 [[ 9.91257473e-01 1.31708493e-01 7.84193830e-03 8.00690572e+01] [-1.31703784e-01 9.91288488e-01 -1.11615005e-03 -4.10403184e+00] [-7.92062960e-03 7.35791287e-05 9.99968629e-01 -2.19989119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474203822 meters 0.027016351164974105 Centerline is valid? [True, True] Translation: X:80.10, Y:-4.12, Z:-2.21 [[ 9.91600862e-01 1.29261474e-01 4.38199363e-03 8.00976026e+01] [-1.29259981e-01 9.91610543e-01 -6.23410372e-04 -4.11739325e+00] [-4.42581403e-03 5.17578487e-05 9.99990205e-01 -2.20694451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504203822 meters 0.02381713038457965 Centerline is valid? [True, True] Translation: X:80.13, Y:-4.13, Z:-2.21 [[ 9.91761930e-01 1.28052441e-01 3.29353671e-03 8.01267188e+01] [-1.28051591e-01 9.91767397e-01 -4.68518324e-04 -4.12776546e+00] [-3.32641724e-03 4.29160219e-05 9.99994467e-01 -2.21126943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534203822 meters 0.02447027892121168 Centerline is valid? [True, True] Translation: X:80.16, Y:-4.14, Z:-2.21 [[ 9.91879491e-01 1.27118564e-01 3.99329509e-03 8.01568393e+01] [-1.27117305e-01 9.91887528e-01 -5.68464028e-04 -4.13597025e+00] [-4.03316193e-03 5.62308990e-05 9.99991865e-01 -2.21159213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564203822 meters 0.024182125763378876 Centerline is valid? [True, True] Translation: X:80.19, Y:-4.14, Z:-2.21 [[ 9.91848979e-01 1.27316665e-01 5.10589596e-03 8.01868478e+01] [-1.27314611e-01 9.91862118e-01 -7.26579674e-04 -4.14285761e+00] [-5.15685049e-03 7.06021499e-05 9.99986701e-01 -2.20969653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.594203822 meters 0.023503680626967154 Centerline is valid? [True, True] Translation: X:80.22, Y:-4.15, Z:-2.21 [[ 9.91664262e-01 1.28774714e-01 4.36636892e-03 8.02180526e+01] [-1.28773228e-01 9.91673873e-01 -6.21073653e-04 -4.14686955e+00] [-4.40999256e-03 5.36251266e-05 9.99990274e-01 -2.21124211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624203822 meters 0.020954364741762252 Centerline is valid? [True, True] Translation: X:80.25, Y:-4.14, Z:-2.21 [[ 9.91052544e-01 1.33437248e-01 3.05871954e-03 8.02475947e+01] [-1.33436539e-01 9.91057264e-01 -4.35819258e-04 -4.14490276e+00] [-3.08952074e-03 2.37748361e-05 9.99995227e-01 -2.21490156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.654203822 meters 0.020954364741762252 Centerline is valid? [True, True] Translation: X:80.28, Y:-4.15, Z:-2.22 [[ 9.91052545e-01 1.33437239e-01 3.05876492e-03 8.02772936e+01] [-1.33436531e-01 9.91057265e-01 -4.35500544e-04 -4.14913142e+00] [-3.08952318e-03 2.34529447e-05 9.99995227e-01 -2.21575333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684203822 meters 0.019393027646323384 Centerline is valid? [True, True] Translation: X:80.31, Y:-4.15, Z:-2.22 [[ 9.90648048e-01 1.36400547e-01 3.36687853e-03 8.03076480e+01] [-1.36399704e-01 9.90653769e-01 -4.79937581e-04 -4.14848289e+00] [-3.40087465e-03 1.62079934e-05 9.99994217e-01 -2.21729105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.714203822 meters 0.01796681826896597 Centerline is valid? [True, True] Translation: X:80.34, Y:-4.15, Z:-2.22 [[ 9.90262063e-01 1.39139364e-01 4.61339491e-03 8.03374079e+01] [-1.39137812e-01 9.90272810e-01 -6.57277724e-04 -4.14854937e+00] [-4.65997274e-03 8.97952230e-06 9.99989142e-01 -2.21701406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744203822 meters 0.017158980010120513 Centerline is valid? [True, True] Translation: X:80.37, Y:-4.15, Z:-2.22 [[ 9.89893453e-01 1.41688075e-01 5.95315663e-03 8.03674767e+01] [-1.41685539e-01 9.89911354e-01 -8.47832605e-04 -4.14947568e+00] [-6.01322512e-03 -4.21226063e-06 9.99981920e-01 -2.21504513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774203822 meters 0.017865573087975036 Centerline is valid? [True, True] Translation: X:80.40, Y:-4.15, Z:-2.21 [[ 9.89282724e-01 1.45834633e-01 7.20774892e-03 8.03968459e+01] [-1.45831027e-01 9.89308980e-01 -1.02617802e-03 -4.14792007e+00] [-7.28034303e-03 -3.59332354e-05 9.99973497e-01 -2.21267885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804203822 meters 0.019179554312509773 Centerline is valid? [True, True] Translation: X:80.42, Y:-4.15, Z:-2.22 [[ 9.89068151e-01 1.47325679e-01 6.27193163e-03 8.04249706e+01] [-1.47322982e-01 9.89088036e-01 -8.92494819e-04 -4.14927370e+00] [-6.33497994e-03 -4.12614693e-05 9.99979933e-01 -2.21578852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834203822 meters 0.02103369392354311 Centerline is valid? [True, True] Translation: X:80.45, Y:-4.15, Z:-2.22 [[ 9.88913274e-01 1.48432822e-01 4.27012305e-03 8.04544797e+01] [-1.48431580e-01 9.88922493e-01 -6.08105331e-04 -4.15149265e+00] [-4.31308352e-03 -3.24576754e-05 9.99990698e-01 -2.22117456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864203822 meters 0.022111787640755595 Centerline is valid? [True, True] Translation: X:80.48, Y:-4.15, Z:-2.22 [[ 9.88832417e-01 1.48995938e-01 3.26532288e-03 8.04823004e+01] [-1.48995211e-01 9.88837808e-01 -4.66126753e-04 -4.15427085e+00] [-3.29832571e-03 -2.55962287e-05 9.99994560e-01 -2.22479344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894203822 meters 0.022075133108745443 Centerline is valid? [True, True] Translation: X:80.51, Y:-4.16, Z:-2.22 [[ 9.88821494e-01 1.49053034e-01 3.90451265e-03 8.05104286e+01] [-1.49051999e-01 9.88829203e-01 -5.56556377e-04 -4.15578841e+00] [-3.94385255e-03 -3.16405055e-05 9.99992222e-01 -2.22478627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924203822 meters 0.021669100808705162 Centerline is valid? [True, True] Translation: X:80.54, Y:-4.16, Z:-2.23 [[ 9.88915644e-01 1.48421464e-01 4.11318855e-03 8.05393797e+01] [-1.48420312e-01 9.88924197e-01 -5.85717397e-04 -4.15978838e+00] [-4.15456472e-03 -3.12556298e-05 9.99991369e-01 -2.22511216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954203822 meters 0.02078480334648202 Centerline is valid? [True, True] Translation: X:80.57, Y:-4.17, Z:-2.23 [[ 9.89223388e-01 1.46361836e-01 3.91170938e-03 8.05657273e+01] [-1.46360777e-01 9.89231122e-01 -5.57174217e-04 -4.16897649e+00] [-3.95113370e-03 -2.13510568e-05 9.99992194e-01 -2.22768292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.984203822 meters 0.020702339723748284 Centerline is valid? [True, True] Translation: X:80.59, Y:-4.17, Z:-2.23 [[ 9.89305849e-01 1.45804977e-01 3.85313214e-03 8.05945664e+01] [-1.45803947e-01 9.89313352e-01 -5.48370057e-04 -4.17436696e+00] [-3.89191016e-03 -1.92961693e-05 9.99992426e-01 -2.22845592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.014203822 meters 0.02042957947821536 Centerline is valid? [True, True] Translation: X:80.62, Y:-4.18, Z:-2.23 [[ 9.89337953e-01 1.45574259e-01 4.30686316e-03 8.06227550e+01] [-1.45572972e-01 9.89347328e-01 -6.12608416e-04 -4.17834435e+00] [-4.35016357e-03 -2.08861110e-05 9.99990538e-01 -2.22823047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044203822 meters 0.01962208507992857 Centerline is valid? [True, True] Translation: X:80.65, Y:-4.18, Z:-2.23 [[ 9.89431815e-01 1.44894630e-01 5.49820517e-03 8.06504854e+01] [-1.44892524e-01 9.89447091e-01 -7.81725750e-04 -4.18392526e+00] [-5.55345098e-03 -2.31844949e-05 9.99984579e-01 -2.22639209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.074203822 meters 0.015624424179422041 Centerline is valid? [True, True] Translation: X:80.68, Y:-4.19, Z:-2.22 [[ 9.89497143e-01 1.44429913e-01 5.95014583e-03 8.06804612e+01] [-1.44427447e-01 9.89515033e-01 -8.44325621e-04 -4.19246727e+00] [-6.00970462e-03 -2.39065797e-05 9.99981941e-01 -2.21641599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104203822 meters 0.015915132894813326 Centerline is valid? [True, True] Translation: X:80.71, Y:-4.20, Z:-2.22 [[ 9.89533271e-01 1.44194252e-01 5.65013377e-03 8.07092262e+01] [-1.44192026e-01 9.89549401e-01 -8.01517385e-04 -4.19822310e+00] [-5.70666069e-03 -2.15761159e-05 9.99983717e-01 -2.21858023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.134203822 meters 0.02131491840235801 Centerline is valid? [True, True] Translation: X:80.74, Y:-4.20, Z:-2.24 [[ 9.89673140e-01 1.43317617e-01 2.67143489e-03 8.07377057e+01] [-1.43317115e-01 9.89676745e-01 -3.79420897e-04 -4.20285472e+00] [-2.69823469e-03 -7.35967189e-06 9.99996360e-01 -2.23704411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164203822 meters 0.017360254924057975 Centerline is valid? [True, True] Translation: X:80.77, Y:-4.21, Z:-2.23 [[ 9.89719412e-01 1.43009327e-01 1.95392496e-03 8.07667412e+01] [-1.43009057e-01 9.89721341e-01 -2.78241061e-04 -4.20772171e+00] [-1.97363229e-03 -4.04838510e-06 9.99998052e-01 -2.22741871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194203822 meters 0.01816969648636272 Centerline is valid? [True, True] Translation: X:80.79, Y:-4.21, Z:-2.23 [[ 9.89746760e-01 1.42810433e-01 2.55551302e-03 8.07949737e+01] [-1.42809970e-01 9.89750059e-01 -3.63483240e-04 -4.21072681e+00] [-2.58122836e-03 -5.19637881e-06 9.99996669e-01 -2.23095523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224203822 meters 0.01645625530549245 Centerline is valid? [True, True] Translation: X:80.82, Y:-4.22, Z:-2.23 [[ 9.89746858e-01 1.42777653e-01 3.96219738e-03 8.08243133e+01] [-1.42776545e-01 9.89754789e-01 -5.62533742e-04 -4.21554985e+00] [-4.00192107e-03 -8.94284781e-06 9.99991992e-01 -2.22709579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254203822 meters 0.016692717183415466 Centerline is valid? [True, True] Translation: X:80.85, Y:-4.22, Z:-2.23 [[ 9.89750565e-01 1.42759131e-01 3.69440739e-03 8.08544562e+01] [-1.42758170e-01 9.89757460e-01 -5.23859679e-04 -4.22328915e+00] [-3.73135303e-03 -8.91642598e-06 9.99993038e-01 -2.22724085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284203822 meters 0.017179242645615444 Centerline is valid? [True, True] Translation: X:80.88, Y:-4.23, Z:-2.23 [[ 9.89788419e-01 1.42517343e-01 2.77371611e-03 8.08846747e+01] [-1.42516800e-01 9.89792305e-01 -3.93307472e-04 -4.22914587e+00] [-2.80145600e-03 -6.00996478e-06 9.99996076e-01 -2.22935972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314203822 meters 0.021914387545572244 Centerline is valid? [True, True] Translation: X:80.91, Y:-4.23, Z:-2.24 [[ 9.89874177e-01 1.41932114e-01 2.09490776e-03 8.09128068e+01] [-1.41931802e-01 9.89876394e-01 -2.98016861e-04 -4.23303543e+00] [-2.11599790e-03 -2.33483674e-06 9.99997761e-01 -2.24372246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.344203822 meters 0.01803026801648533 Centerline is valid? [True, True] Translation: X:80.94, Y:-4.24, Z:-2.24 [[ 9.90030670e-01 1.40851457e-01 3.74351195e-04 8.09427145e+01] [-1.40851447e-01 9.90030740e-01 -5.30683928e-05 -4.23997581e+00] [-3.78093951e-04 -1.88571040e-07 9.99999929e-01 -2.23521195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.374203822 meters 0.017752447816684128 Centerline is valid? [True, True] Translation: X:80.97, Y:-4.25, Z:-2.24 [[ 9.90092698e-01 1.40413465e-01 7.12661108e-04 8.09722926e+01] [-1.40413428e-01 9.90092955e-01 -1.02158882e-04 -4.24610676e+00] [-7.19945225e-04 1.07957460e-06 9.99999741e-01 -2.23572160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404203822 meters 0.015997440312329064 Centerline is valid? [True, True] Translation: X:81.00, Y:-4.25, Z:-2.23 [[ 9.90141949e-01 1.40019606e-01 3.66476989e-03 8.10016194e+01] [-1.40018641e-01 9.90148731e-01 -5.19681416e-04 -4.25475496e+00] [-3.70143284e-03 1.42226973e-06 9.99993150e-01 -2.22961404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.434203822 meters 0.017683797344792283 Centerline is valid? [True, True] Translation: X:81.03, Y:-4.26, Z:-2.23 [[ 9.90060216e-01 1.40545513e-01 5.26575363e-03 8.10305086e+01] [-1.40543530e-01 9.90074219e-01 -7.46482591e-04 -4.25939710e+00] [-5.31840169e-03 -1.00488970e-06 9.99985857e-01 -2.23374481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464203822 meters 0.01740935629457995 Centerline is valid? [True, True] Translation: X:81.06, Y:-4.26, Z:-2.23 [[ 9.89713588e-01 1.42932209e-01 6.11533756e-03 8.10606284e+01] [-1.42929582e-01 9.89732481e-01 -8.66758841e-04 -4.26196309e+00] [-6.17643597e-03 -1.62196365e-05 9.99980926e-01 -2.23200995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.494203822 meters 0.01625401800183949 Centerline is valid? [True, True] Translation: X:81.09, Y:-4.27, Z:-2.23 [[ 9.89469572e-01 1.44650835e-01 5.10893674e-03 8.10914042e+01] [-1.44649032e-01 9.89482761e-01 -7.22661755e-04 -4.26523268e+00] [-5.15973846e-03 -2.39509373e-05 9.99986688e-01 -2.22826981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524203822 meters 0.017758165106327682 Centerline is valid? [True, True] Translation: X:81.12, Y:-4.27, Z:-2.23 [[ 9.89178407e-01 1.46663087e-01 4.00216335e-03 8.11208911e+01] [-1.46661991e-01 9.89186503e-01 -5.67544451e-04 -4.26621084e+00] [-4.04212379e-03 -2.55625279e-05 9.99991830e-01 -2.23178077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554203822 meters 0.01924259710312242 Centerline is valid? [True, True] Translation: X:81.15, Y:-4.27, Z:-2.23 [[ 9.88865039e-01 1.48784477e-01 3.01891251e-03 8.11501927e+01] [-1.48783862e-01 9.88869647e-01 -4.28773851e-04 -4.26661606e+00] [-3.04910584e-03 -2.51659900e-05 9.99995351e-01 -2.23482510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584203822 meters 0.023008570192785856 Centerline is valid? [True, True] Translation: X:81.18, Y:-4.26, Z:-2.24 [[ 9.88289898e-01 1.52566208e-01 2.57494926e-03 8.11788515e+01] [-1.52565772e-01 9.88293252e-01 -3.66084495e-04 -4.26393577e+00] [-2.60065710e-03 -3.10515136e-05 9.99996618e-01 -2.24010088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61420382200001 meters 0.024695693853286495 Centerline is valid? [True, True] Translation: X:81.21, Y:-4.27, Z:-2.24 [[ 9.88097372e-01 1.53823191e-01 1.41720063e-03 8.12077403e+01] [-1.53823060e-01 9.88098389e-01 -2.01675252e-04 -4.26568068e+00] [-1.43135599e-03 -1.87233513e-05 9.99998975e-01 -2.24321663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644203822 meters 0.026416085004384058 Centerline is valid? [True, True] Translation: X:81.24, Y:-4.26, Z:-2.25 [[ 9.87774896e-01 1.55886557e-01 3.68287014e-04 8.12378712e+01] [-1.55886548e-01 9.87774965e-01 -5.28123244e-05 -4.26432084e+00] [-3.72017424e-04 -5.24430300e-06 9.99999931e-01 -2.24500262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674203822 meters 0.025647273726950567 Centerline is valid? [True, True] Translation: X:81.27, Y:-4.27, Z:-2.24 [[ 9.87647030e-01 1.56693179e-01 7.69339247e-04 8.12668744e+01] [-1.56693141e-01 9.87647329e-01 -1.10263114e-04 -4.26797676e+00] [-7.77113331e-04 -1.16491462e-05 9.99999698e-01 -2.24338220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704203822 meters 0.029123096655078423 Centerline is valid? [True, True] Translation: X:81.29, Y:-4.27, Z:-2.25 [[ 9.87554715e-01 1.57266385e-01 1.72300215e-03 8.12943437e+01] [-1.57266196e-01 9.87556218e-01 -2.45530011e-04 -4.26865700e+00] [-1.74017511e-03 -2.84956738e-05 9.99998485e-01 -2.24842608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.734203822 meters 0.024867571645313308 Centerline is valid? [True, True] Translation: X:81.32, Y:-4.28, Z:-2.24 [[ 9.87516055e-01 1.57504397e-01 2.09916021e-03 8.13222208e+01] [-1.57504118e-01 9.87518285e-01 -2.98267920e-04 -4.27949725e+00] [-2.11993760e-03 -3.60820185e-05 9.99997752e-01 -2.23939407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764203822 meters 0.02905641436802847 Centerline is valid? [True, True] Translation: X:81.35, Y:-4.28, Z:-2.24 [[ 9.87526063e-01 1.57436809e-01 2.43421529e-03 8.13501922e+01] [-1.57436435e-01 9.87529063e-01 -3.45836603e-04 -4.27901807e+00] [-2.45830575e-03 -4.17115161e-05 9.99996977e-01 -2.24288642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.794203822 meters 0.025324768121850482 Centerline is valid? [True, True] Translation: X:81.38, Y:-4.28, Z:-2.24 [[ 9.87550424e-01 1.57295300e-01 1.53282886e-03 8.13792229e+01] [-1.57295151e-01 9.87551613e-01 -2.17988154e-04 -4.28320107e+00] [-1.54803612e-03 -2.58322520e-05 9.99998801e-01 -2.24114959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824203822 meters 0.025952570334466574 Centerline is valid? [True, True] Translation: X:81.41, Y:-4.28, Z:-2.24 [[ 9.87668613e-01 1.56536535e-01 2.65036941e-03 8.14068486e+01] [-1.56536089e-01 9.87672168e-01 -3.76072538e-04 -4.28438094e+00] [-2.67656520e-03 -4.34434209e-05 9.99996417e-01 -2.24342650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.854203822 meters 0.023725427294540784 Centerline is valid? [True, True] Translation: X:81.44, Y:-4.29, Z:-2.25 [[ 9.88141856e-01 1.53521047e-01 2.63841852e-03 8.14356717e+01] [-1.53520597e-01 9.88145377e-01 -3.73563548e-04 -4.28980367e+00] [-2.66449093e-03 -3.59178098e-05 9.99996450e-01 -2.24559077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884203822 meters 0.023225854125359605 Centerline is valid? [True, True] Translation: X:81.46, Y:-4.30, Z:-2.25 [[ 9.88465920e-01 1.51437069e-01 1.39286637e-03 8.14629583e+01] [-1.51436940e-01 9.88466901e-01 -1.98427438e-04 -4.29527385e+00] [-1.40685158e-03 -1.47926605e-05 9.99999010e-01 -2.24920676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914203822 meters 0.020249584738268323 Centerline is valid? [True, True] Translation: X:81.49, Y:-4.31, Z:-2.25 [[ 9.89157332e-01 1.46816312e-01 3.56980441e-03 8.14906688e+01] [-1.46815448e-01 9.89163773e-01 -5.04415356e-04 -4.30666641e+00] [-3.60517760e-03 -2.51562849e-05 9.99993501e-01 -2.24824217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944203822 meters 0.01854636608995927 Centerline is valid? [True, True] Translation: X:81.52, Y:-4.31, Z:-2.25 [[ 9.89387142e-01 1.45249749e-01 3.94889028e-03 8.15196622e+01] [-1.45248679e-01 9.89395022e-01 -5.57815170e-04 -4.31369544e+00] [-3.98803490e-03 -2.16759413e-05 9.99992048e-01 -2.24551220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974203822 meters 0.017394594834525334 Centerline is valid? [True, True] Translation: X:81.55, Y:-4.32, Z:-2.24 [[ 9.89551338e-01 1.44135504e-01 3.62021219e-03 8.15493524e+01] [-1.44134598e-01 9.89557960e-01 -5.11375457e-04 -4.31817828e+00] [-3.65611715e-03 -1.57655610e-05 9.99993316e-01 -2.24444180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004203822 meters 0.01651600004255216 Centerline is valid? [True, True] Translation: X:81.58, Y:-4.32, Z:-2.24 [[ 9.89776715e-01 1.42576364e-01 3.74623802e-03 8.15789901e+01] [-1.42575383e-01 9.89783805e-01 -5.29075394e-04 -4.32201673e+00] [-3.78339936e-03 -1.04548127e-05 9.99992843e-01 -2.24378389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034203822 meters 0.016302726752100868 Centerline is valid? [True, True] Translation: X:81.61, Y:-4.33, Z:-2.24 [[ 9.89878856e-01 1.41817918e-01 5.24675330e-03 8.16083692e+01] [-1.41815987e-01 9.89892761e-01 -7.40290652e-04 -4.32636937e+00] [-5.29870959e-03 -1.12754332e-05 9.99985962e-01 -2.24416795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064203822 meters 0.01565608298866892 Centerline is valid? [True, True] Translation: X:81.64, Y:-4.33, Z:-2.24 [[ 9.90004100e-01 1.40901489e-01 6.21716242e-03 8.16389395e+01] [-1.40898761e-01 9.90023621e-01 -8.76793459e-04 -4.33104774e+00] [-6.27867916e-03 -7.96136549e-06 9.99980289e-01 -2.24355781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.094203822 meters 0.01566836195517102 Centerline is valid? [True, True] Translation: X:81.67, Y:-4.34, Z:-2.25 [[ 9.90263670e-01 1.39122201e-01 4.78304483e-03 8.16688860e+01] [-1.39120565e-01 9.90275221e-01 -6.74542844e-04 -4.33891566e+00] [-4.83037466e-03 2.55537185e-06 9.99988334e-01 -2.24586841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124203822 meters 0.016384102549052308 Centerline is valid? [True, True] Translation: X:81.70, Y:-4.35, Z:-2.25 [[ 9.90446204e-01 1.37852331e-01 3.61275056e-03 8.16987164e+01] [-1.37851389e-01 9.90452793e-01 -5.09498683e-04 -4.34596226e+00] [-3.64849447e-03 6.60835207e-06 9.99993344e-01 -2.24859984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.154203822 meters 0.018680573069851287 Centerline is valid? [True, True] Translation: X:81.73, Y:-4.35, Z:-2.26 [[ 9.90609354e-01 1.36682545e-01 3.31499160e-03 8.17276610e+01] [-1.36681744e-01 9.90614901e-01 -4.67814867e-04 -4.35226266e+00] [-3.34782220e-03 1.03229484e-05 9.99994396e-01 -2.25529131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184203822 meters 0.01760148468485553 Centerline is valid? [True, True] Translation: X:81.76, Y:-4.36, Z:-2.25 [[ 9.90913357e-01 1.34475457e-01 2.65889533e-03 8.17581762e+01] [-1.34474935e-01 9.90916924e-01 -3.74945365e-04 -4.35711474e+00] [-2.68516533e-03 1.39835935e-05 9.99996395e-01 -2.25091791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.214203822 meters 0.018366148030702228 Centerline is valid? [True, True] Translation: X:81.79, Y:-4.36, Z:-2.25 [[ 9.91051488e-01 1.33460050e-01 2.31565234e-03 8.17867468e+01] [-1.33459652e-01 9.91054194e-01 -3.26337464e-04 -4.36274726e+00] [-2.33848997e-03 1.43710740e-05 9.99997266e-01 -2.25320516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244203822 meters 0.019861224174163448 Centerline is valid? [True, True] Translation: X:81.82, Y:-4.37, Z:-2.26 [[ 9.91174727e-01 1.32550481e-01 1.74103065e-03 8.18155466e+01] [-1.32550254e-01 9.91176256e-01 -2.45851570e-04 -4.36921818e+00] [-1.75825599e-03 1.29078077e-05 9.99998454e-01 -2.25780864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274203822 meters 0.019511694283758884 Centerline is valid? [True, True] Translation: X:81.85, Y:-4.37, Z:-2.26 [[ 9.91202466e-01 1.32351632e-01 8.46860749e-04 8.18455548e+01] [-1.32351578e-01 9.91202828e-01 -1.19754583e-04 -4.37185950e+00] [-8.55260483e-04 6.61768148e-06 9.99999634e-01 -2.25782113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304203822 meters 0.018335598016512137 Centerline is valid? [True, True] Translation: X:81.88, Y:-4.37, Z:-2.26 [[ 9.91049152e-01 1.33481868e-01 2.04173473e-03 8.18755445e+01] [-1.33481557e-01 9.91051255e-01 -2.88533979e-04 -4.37252577e+00] [-2.06197782e-03 1.34174254e-05 9.99997874e-01 -2.25596897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334203822 meters 0.017529463193579366 Centerline is valid? [True, True] Translation: X:81.91, Y:-4.37, Z:-2.26 [[ 9.90816739e-01 1.35169219e-01 3.38691640e-03 8.19053236e+01] [-1.35168376e-01 9.90822528e-01 -4.77773487e-04 -4.37353454e+00] [-3.42041334e-03 1.55819791e-05 9.99994150e-01 -2.25605527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36420382200001 meters 0.019787588920323514 Centerline is valid? [True, True] Translation: X:81.94, Y:-4.37, Z:-2.26 [[ 9.90314130e-01 1.38818542e-01 2.70872529e-03 8.19350416e+01] [-1.38818016e-01 9.90317834e-01 -3.82135919e-04 -4.37216897e+00] [-2.73554651e-03 2.41472856e-06 9.99996258e-01 -2.26451903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394203822 meters 0.018499726137488553 Centerline is valid? [True, True] Translation: X:81.96, Y:-4.37, Z:-2.26 [[ 9.90065914e-01 1.40597452e-01 1.35744444e-03 8.19649382e+01] [-1.40597321e-01 9.90066844e-01 -1.91650837e-04 -4.37231363e+00] [-1.37090635e-03 -1.10609090e-06 9.99999060e-01 -2.26186529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424203822 meters 0.01824885087398482 Centerline is valid? [True, True] Translation: X:81.99, Y:-4.37, Z:-2.26 [[ 9.89865820e-01 1.42003332e-01 8.43466674e-04 8.19938645e+01] [-1.42003281e-01 9.89866180e-01 -1.20220459e-04 -4.37220158e+00] [-8.51990840e-04 -7.72911702e-07 9.99999637e-01 -2.26250703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454203822 meters 0.017922547822572344 Centerline is valid? [True, True] Translation: X:82.02, Y:-4.37, Z:-2.26 [[ 9.89636474e-01 1.43589461e-01 1.30965766e-03 8.20234303e+01] [-1.43589341e-01 9.89637341e-01 -1.85853797e-04 -4.37059231e+00] [-1.32277278e-03 -4.12518369e-06 9.99999125e-01 -2.26154647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.484203822 meters 0.018658667285372275 Centerline is valid? [True, True] Translation: X:82.05, Y:-4.37, Z:-2.26 [[ 9.89585796e-01 1.43919450e-01 2.67270939e-03 8.20512854e+01] [-1.43918954e-01 9.89589406e-01 -3.77996690e-04 -4.37144601e+00] [-2.69928597e-03 -1.05933848e-05 9.99996357e-01 -2.26295102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.514203822 meters 0.01803839806879286 Centerline is valid? [True, True] Translation: X:82.08, Y:-4.37, Z:-2.26 [[ 9.89581460e-01 1.43918383e-01 4.00408999e-03 8.20804417e+01] [-1.43917276e-01 9.89589561e-01 -5.64822861e-04 -4.37299182e+00] [-4.04369405e-03 -1.73194909e-05 9.99991824e-01 -2.26091377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544203822 meters 0.01803839806879286 Centerline is valid? [True, True] Translation: X:82.11, Y:-4.38, Z:-2.26 [[ 9.89588177e-01 1.43872189e-01 4.00411599e-03 8.21085059e+01] [-1.43871082e-01 9.89596278e-01 -5.64638280e-04 -4.37684737e+00] [-4.04369403e-03 -1.73171343e-05 9.99991824e-01 -2.26171808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.574203822 meters 0.017218054250737087 Centerline is valid? [True, True] Translation: X:82.14, Y:-4.38, Z:-2.26 [[ 9.89625828e-01 1.43599498e-01 4.46155076e-03 8.21372430e+01] [-1.43598123e-01 9.89635884e-01 -6.28803335e-04 -4.37878037e+00] [-4.50560658e-03 -1.83902921e-05 9.99989850e-01 -2.25992676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604203822 meters 0.017589086367315775 Centerline is valid? [True, True] Translation: X:82.17, Y:-4.38, Z:-2.26 [[ 9.89867763e-01 1.41971679e-01 2.41955220e-03 8.21671619e+01] [-1.41971270e-01 9.89870720e-01 -3.40893163e-04 -4.38109170e+00] [-2.44344105e-03 -6.06774529e-06 9.99997015e-01 -2.26400915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.634203822 meters 0.017008878815001797 Centerline is valid? [True, True] Translation: X:82.20, Y:-4.39, Z:-2.26 [[ 9.90101322e-01 1.40340054e-01 2.01036365e-03 8.21956398e+01] [-1.40339767e-01 9.90103363e-01 -2.83978743e-04 -4.38629774e+00] [-2.03032140e-03 -9.66237444e-07 9.99997939e-01 -2.26458324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664203822 meters 0.01747985706987568 Centerline is valid? [True, True] Translation: X:82.22, Y:-4.39, Z:-2.27 [[ 9.90595979e-01 1.36785450e-01 3.05743636e-03 8.22231056e+01] [-1.36784774e-01 9.90600697e-01 -4.30296451e-04 -4.39414368e+00] [-3.08755688e-03 8.03919406e-06 9.99995233e-01 -2.26705706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694203822 meters 0.01777779075606614 Centerline is valid? [True, True] Translation: X:82.25, Y:-4.40, Z:-2.27 [[ 9.90850378e-01 1.34911111e-01 3.81068032e-03 8.22507530e+01] [-1.34910047e-01 9.90857705e-01 -5.36104649e-04 -4.40048221e+00] [-3.84816843e-03 1.71004344e-05 9.99992596e-01 -2.26749404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724203822 meters 0.018411668614412905 Centerline is valid? [True, True] Translation: X:82.28, Y:-4.41, Z:-2.27 [[ 9.91065526e-01 1.33312762e-01 4.10250680e-03 8.22787630e+01] [-1.33311514e-01 9.91074017e-01 -5.77304690e-04 -4.40642060e+00] [-4.14284998e-03 2.52353828e-05 9.99991418e-01 -2.26723518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754203822 meters 0.018807304704187896 Centerline is valid? [True, True] Translation: X:82.31, Y:-4.41, Z:-2.27 [[ 9.91273796e-01 1.31761724e-01 3.88715883e-03 8.23080909e+01] [-1.31760593e-01 9.91281417e-01 -5.46638201e-04 -4.41106340e+00] [-3.92529430e-03 2.96937711e-05 9.99992296e-01 -2.26642998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784203822 meters 0.019226438972715833 Centerline is valid? [True, True] Translation: X:82.34, Y:-4.41, Z:-2.27 [[ 9.91507278e-01 1.30016668e-01 2.99718931e-03 8.23382372e+01] [-1.30015989e-01 9.91511808e-01 -4.21275132e-04 -4.41305969e+00] [-3.02652138e-03 2.80148276e-05 9.99995420e-01 -2.26608992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814203822 meters 0.020473345381155576 Centerline is valid? [True, True] Translation: X:82.37, Y:-4.42, Z:-2.27 [[ 9.91523106e-01 1.29882970e-01 3.51344427e-03 8.23668592e+01] [-1.29882033e-01 9.91529330e-01 -4.94341322e-04 -4.41692798e+00] [-3.54788956e-03 3.38175574e-05 9.99993706e-01 -2.26927244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.844203822 meters 0.01914221186303114 Centerline is valid? [True, True] Translation: X:82.40, Y:-4.42, Z:-2.27 [[ 9.91558280e-01 1.29618470e-01 3.35102330e-03 8.23963210e+01] [-1.29617618e-01 9.91563942e-01 -4.71109021e-04 -4.41867359e+00] [-3.38381830e-03 3.27803920e-05 9.99994274e-01 -2.26716701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.874203822 meters 0.021237561645216715 Centerline is valid? [True, True] Translation: X:82.42, Y:-4.43, Z:-2.27 [[ 9.91625506e-01 1.29118842e-01 2.67966153e-03 8.24248054e+01] [-1.29118296e-01 9.91629126e-01 -3.76478370e-04 -4.42509807e+00] [-2.70584087e-03 2.73322226e-05 9.99996339e-01 -2.27293193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904203822 meters 0.023294657998655842 Centerline is valid? [True, True] Translation: X:82.45, Y:-4.43, Z:-2.27 [[ 9.91769809e-01 1.27999589e-01 2.95816900e-03 8.24543102e+01] [-1.27998918e-01 9.91774220e-01 -4.15840828e-04 -4.43125271e+00] [-2.98706321e-03 3.37759480e-05 9.99995538e-01 -2.27183996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.934203822 meters 0.02257805255290552 Centerline is valid? [True, True] Translation: X:82.48, Y:-4.44, Z:-2.27 [[ 9.91966859e-01 1.26444289e-01 3.68670381e-03 8.24830033e+01] [-1.26443238e-01 9.91973709e-01 -5.17691258e-04 -4.44090590e+00] [-3.72257236e-03 4.73738045e-05 9.99993070e-01 -2.27335391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964203822 meters 0.02511367098319492 Centerline is valid? [True, True] Translation: X:82.51, Y:-4.45, Z:-2.27 [[ 9.92392675e-01 1.23010638e-01 5.01607662e-03 8.25125255e+01] [-1.23008651e-01 9.92405349e-01 -7.03896186e-04 -4.45021798e+00] [-5.06456799e-03 8.15206030e-05 9.99987172e-01 -2.27123358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.994203822 meters 0.02478688142489653 Centerline is valid? [True, True] Translation: X:82.54, Y:-4.45, Z:-2.27 [[ 9.92551393e-01 1.21759412e-01 4.04702900e-03 8.25438407e+01] [-1.21758111e-01 9.92559641e-01 -5.67314939e-04 -4.45292675e+00] [-4.08599359e-03 7.03306268e-05 9.99991650e-01 -2.27056570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024203822 meters 0.02885384681522 Centerline is valid? [True, True] Translation: X:82.57, Y:-4.46, Z:-2.28 [[ 9.92745609e-01 1.20219261e-01 1.86673348e-03 8.25724284e+01] [-1.20218981e-01 9.92747364e-01 -2.62001356e-04 -4.46376125e+00] [-1.88469235e-03 3.56838984e-05 9.99998223e-01 -2.27862521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054203822 meters 0.027944182755648788 Centerline is valid? [True, True] Translation: X:82.60, Y:-4.47, Z:-2.28 [[ 9.92691565e-01 1.20664931e-01 1.85224037e-03 8.26020092e+01] [-1.20664656e-01 9.92693293e-01 -2.59967207e-04 -4.47022211e+00] [-1.87007552e-03 3.45673060e-05 9.99998251e-01 -2.27873947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084203822 meters 0.032928048528825894 Centerline is valid? [True, True] Translation: X:82.63, Y:-4.48, Z:-2.28 [[ 9.92537290e-01 1.21916476e-01 2.46994033e-03 8.26324069e+01] [-1.21915991e-01 9.92540362e-01 -3.46663153e-04 -4.47561925e+00] [-2.49377942e-03 4.29508840e-05 9.99996890e-01 -2.27823945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11420382200001 meters 0.023310127621687514 Centerline is valid? [True, True] Translation: X:82.66, Y:-4.48, Z:-2.28 [[ 9.91919534e-01 1.26842064e-01 2.59419741e-03 8.26615124e+01] [-1.26841544e-01 9.91922925e-01 -3.64407827e-04 -4.47866047e+00] [-2.61946613e-03 3.24112356e-05 9.99996569e-01 -2.27917481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144203822 meters 0.020912680062681245 Centerline is valid? [True, True] Translation: X:82.69, Y:-4.48, Z:-2.28 [[ 9.91512791e-01 1.29990273e-01 2.21691615e-03 8.26918389e+01] [-1.29989901e-01 9.91515269e-01 -3.11739378e-04 -4.47710329e+00] [-2.23862930e-03 2.09168706e-05 9.99997494e-01 -2.27950140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174203822 meters 0.01821216550499809 Centerline is valid? [True, True] Translation: X:82.72, Y:-4.46, Z:-2.28 [[ 9.90569647e-01 1.36990125e-01 2.34079932e-03 8.27213656e+01] [-1.36989728e-01 9.90572413e-01 -3.29979987e-04 -4.46489605e+00] [-2.36393523e-03 6.20269780e-06 9.99997206e-01 -2.28212996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204203822 meters 0.01807602282949058 Centerline is valid? [True, True] Translation: X:82.75, Y:-4.46, Z:-2.28 [[ 9.90077834e-01 1.40503950e-01 2.12656453e-03 8.27512922e+01] [-1.40503630e-01 9.90080118e-01 -2.99506926e-04 -4.46143983e+00] [-2.14755117e-03 -2.25486771e-06 9.99997694e-01 -2.28314708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.234203822 meters 0.018927297866644016 Centerline is valid? [True, True] Translation: X:82.78, Y:-4.46, Z:-2.28 [[ 9.89586357e-01 1.43932259e-01 1.53226286e-03 8.27802604e+01] [-1.43932097e-01 9.89587543e-01 -2.16127006e-04 -4.45994539e+00] [-1.54741589e-03 -6.66546979e-06 9.99998803e-01 -2.28426920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264203822 meters 0.020377651719571337 Centerline is valid? [True, True] Translation: X:82.81, Y:-4.46, Z:-2.29 [[ 9.89122203e-01 1.47089235e-01 1.42277637e-03 8.28086525e+01] [-1.47089098e-01 9.89123226e-01 -2.01045421e-04 -4.46124699e+00] [-1.43687277e-03 -1.04164034e-05 9.99998968e-01 -2.28531241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.294203822 meters 0.023654705285629695 Centerline is valid? [True, True] Translation: X:82.84, Y:-4.46, Z:-2.29 [[ 9.88450017e-01 1.51533729e-01 2.02329014e-03 8.28366868e+01] [-1.51533463e-01 9.88452087e-01 -2.85044777e-04 -4.46148905e+00] [-2.04311926e-03 -2.48436465e-05 9.99997913e-01 -2.28546298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324203822 meters 0.02363942090639976 Centerline is valid? [True, True] Translation: X:82.87, Y:-4.46, Z:-2.28 [[ 9.88249763e-01 1.52843225e-01 1.16403759e-03 8.28659387e+01] [-1.52843137e-01 9.88250448e-01 -1.64344440e-04 -4.46323723e+00] [-1.17547960e-03 -1.55018030e-05 9.99999309e-01 -2.28479561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.354203822 meters 0.022930964642943637 Centerline is valid? [True, True] Translation: X:82.90, Y:-4.46, Z:-2.28 [[ 9.88324077e-01 1.52363465e-01 9.45533917e-04 8.28954208e+01] [-1.52363407e-01 9.88324529e-01 -1.33725954e-04 -4.46132239e+00] [-9.54869313e-04 -1.19001892e-05 9.99999544e-01 -2.28465061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384203822 meters 0.02190452655472559 Centerline is valid? [True, True] Translation: X:82.92, Y:-4.46, Z:-2.28 [[ 9.88477292e-01 1.51354770e-01 2.09228066e-03 8.29238936e+01] [-1.51354486e-01 9.88479506e-01 -2.94101177e-04 -4.46365902e+00] [-2.11269017e-03 -2.59637296e-05 9.99997768e-01 -2.28348932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414203822 meters 0.020885970235046833 Centerline is valid? [True, True] Translation: X:82.95, Y:-4.47, Z:-2.28 [[ 9.88747693e-01 1.49561967e-01 3.03589255e-03 8.29510858e+01] [-1.49561364e-01 9.88752354e-01 -4.26255365e-04 -4.46775563e+00] [-3.06549749e-03 -3.25932206e-05 9.99995301e-01 -2.28442062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444203822 meters 0.018701299006697765 Centerline is valid? [True, True] Translation: X:82.98, Y:-4.48, Z:-2.29 [[ 9.89576306e-01 1.43998769e-01 1.75747824e-03 8.29770211e+01] [-1.43998556e-01 9.89577867e-01 -2.47369461e-04 -4.48262404e+00] [-1.77478247e-03 -8.28337204e-06 9.99998425e-01 -2.28881079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474203822 meters 0.017565156758759887 Centerline is valid? [True, True] Translation: X:83.00, Y:-4.49, Z:-2.29 [[ 9.89991079e-01 1.41124068e-01 1.28875120e-03 8.30048278e+01] [-1.41123951e-01 9.89991918e-01 -1.81467613e-04 -4.49394988e+00] [-1.30146272e-03 -2.22234282e-06 9.99999153e-01 -2.28913192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504203822 meters 0.0168580552290529 Centerline is valid? [True, True] Translation: X:83.03, Y:-4.50, Z:-2.29 [[ 9.90381663e-01 1.38338829e-01 2.55542177e-03 8.30314602e+01] [-1.38338364e-01 9.90384960e-01 -3.58627996e-04 -4.50339370e+00] [-2.58046346e-03 1.66572333e-06 9.99996671e-01 -2.28859056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534203822 meters 0.017408363364541303 Centerline is valid? [True, True] Translation: X:83.06, Y:-4.51, Z:-2.29 [[ 9.90718490e-01 1.35878522e-01 3.72838586e-03 8.30594633e+01] [-1.35877523e-01 9.90725505e-01 -5.21205735e-04 -4.51116209e+00] [-3.76462763e-03 9.76432396e-06 9.99992914e-01 -2.28958030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564203822 meters 0.01724440820158971 Centerline is valid? [True, True] Translation: X:83.09, Y:-4.52, Z:-2.29 [[ 9.91056303e-01 1.33401470e-01 3.38422315e-03 8.30885235e+01] [-1.33400632e-01 9.91062081e-01 -4.73163071e-04 -4.51757436e+00] [-3.41709589e-03 1.74737363e-05 9.99994162e-01 -2.28742805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.594203822 meters 0.018766185683590047 Centerline is valid? [True, True] Translation: X:83.12, Y:-4.52, Z:-2.29 [[ 9.91115267e-01 1.32969667e-01 3.09744159e-03 8.31162675e+01] [-1.32968962e-01 9.91120107e-01 -4.33355028e-04 -4.52390829e+00] [-3.12755972e-03 1.76411903e-05 9.99995109e-01 -2.29193467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624203822 meters 0.01726113702281951 Centerline is valid? [True, True] Translation: X:83.15, Y:-4.53, Z:-2.29 [[ 9.91084650e-01 1.33182078e-01 3.70829235e-03 8.31460117e+01] [-1.33181071e-01 9.91091587e-01 -5.18171328e-04 -4.52816433e+00] [-3.74426849e-03 1.96773023e-05 9.99992990e-01 -2.28843747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.654203822 meters 0.015504983818091336 Centerline is valid? [True, True] Translation: X:83.18, Y:-4.53, Z:-2.28 [[ 9.90823584e-01 1.35038914e-01 5.75476581e-03 8.31761551e+01] [-1.35036524e-01 9.90840296e-01 -8.03681606e-04 -4.53126748e+00] [-5.81058214e-03 1.92031173e-05 9.99983118e-01 -2.28492104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684203822 meters 0.01590435418578119 Centerline is valid? [True, True] Translation: X:83.21, Y:-4.54, Z:-2.29 [[ 9.90662740e-01 1.36219841e-01 5.61156726e-03 8.32053007e+01] [-1.36217590e-01 9.90678633e-01 -7.83190007e-04 -4.53504187e+00] [-5.66594581e-03 1.14829880e-05 9.99983948e-01 -2.28783257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.714203822 meters 0.016635132990012447 Centerline is valid? [True, True] Translation: X:83.23, Y:-4.54, Z:-2.29 [[ 9.90377752e-01 1.38329278e-01 4.11324473e-03 8.32349675e+01] [-1.38328086e-01 9.90386294e-01 -5.74106972e-04 -4.53599085e+00] [-4.15311701e-03 -3.94500264e-07 9.99991376e-01 -2.29209997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744203822 meters 0.015910368316868848 Centerline is valid? [True, True] Translation: X:83.26, Y:-4.54, Z:-2.29 [[ 9.90309615e-01 1.38823773e-01 3.85061608e-03 8.32637427e+01] [-1.38822729e-01 9.90317101e-01 -5.38357684e-04 -4.53905360e+00] [-3.88806780e-03 -1.41224233e-06 9.99992441e-01 -2.29124815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774203822 meters 0.016778924097033167 Centerline is valid? [True, True] Translation: X:83.29, Y:-4.54, Z:-2.30 [[ 9.90323277e-01 1.38733769e-01 3.57054366e-03 8.32908588e+01] [-1.38732869e-01 9.90329713e-01 -4.99567493e-04 -4.54402638e+00] [-3.60532236e-03 -6.18449815e-07 9.99993501e-01 -2.29544617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804203822 meters 0.016876251876006287 Centerline is valid? [True, True] Translation: X:83.32, Y:-4.55, Z:-2.30 [[ 9.90331699e-01 1.38686811e-01 3.01573660e-03 8.33201766e+01] [-1.38686173e-01 9.90336291e-01 -4.20927643e-04 -4.55172253e+00] [-3.04497051e-03 -1.38297881e-06 9.99995364e-01 -2.29617691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834203822 meters 0.01676704045934558 Centerline is valid? [True, True] Translation: X:83.35, Y:-4.56, Z:-2.30 [[ 9.90238520e-01 1.39326854e-01 3.96247725e-03 8.33481317e+01] [-1.39325756e-01 9.90246448e-01 -5.53049177e-04 -4.55994378e+00] [-4.00088363e-03 -4.42454125e-06 9.99991996e-01 -2.29516042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86420382200001 meters 0.016668344824233707 Centerline is valid? [True, True] Translation: X:83.38, Y:-4.56, Z:-2.29 [[ 9.90174275e-01 1.39751397e-01 4.94482615e-03 8.33769067e+01] [-1.39749696e-01 9.90186622e-01 -6.89710574e-04 -4.56360937e+00] [-4.99268872e-03 -8.10428166e-06 9.99987536e-01 -2.29472520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894203822 meters 0.016820260211161807 Centerline is valid? [True, True] Translation: X:83.41, Y:-4.57, Z:-2.30 [[ 9.90117684e-01 1.40157097e-01 4.79176068e-03 8.34063186e+01] [-1.40155506e-01 9.90129278e-01 -6.67933559e-04 -4.56929798e+00] [-4.83807817e-03 -1.02588136e-05 9.99988296e-01 -2.29581756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924203822 meters 0.016830788847190564 Centerline is valid? [True, True] Translation: X:83.44, Y:-4.57, Z:-2.30 [[ 9.90088703e-01 1.40374089e-01 4.41311525e-03 8.34359244e+01] [-1.40372742e-01 9.90098538e-01 -6.15108057e-04 -4.57448695e+00] [-4.45576419e-03 -1.04695502e-05 9.99990073e-01 -2.29730337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954203822 meters 0.015943142418271234 Centerline is valid? [True, True] Translation: X:83.47, Y:-4.58, Z:-2.30 [[ 9.90001101e-01 1.40979758e-01 4.74630105e-03 8.34652601e+01] [-1.40978207e-01 9.90012479e-01 -6.61406123e-04 -4.57883190e+00] [-4.79214214e-03 -1.43322213e-05 9.99988518e-01 -2.29550693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.984203822 meters 0.0167634783334536 Centerline is valid? [True, True] Translation: X:83.49, Y:-4.58, Z:-2.30 [[ 9.89878920e-01 1.41819493e-01 5.19175423e-03 8.34945883e+01] [-1.41817651e-01 9.89892535e-01 -7.22995082e-04 -4.58213084e+00] [-5.24181355e-03 -2.06048010e-05 9.99986261e-01 -2.29847177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014203822 meters 0.01751532120150838 Centerline is valid? [True, True] Translation: X:83.52, Y:-4.58, Z:-2.30 [[ 9.89476385e-01 1.44571552e-01 5.96235964e-03 8.35232794e+01] [-1.44569169e-01 9.89494348e-01 -8.30977837e-04 -4.58442874e+00] [-6.01985692e-03 -3.97404355e-05 9.99981880e-01 -2.29743379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044203822 meters 0.01798896047232188 Centerline is valid? [True, True] Translation: X:83.55, Y:-4.59, Z:-2.30 [[ 9.89215658e-01 1.46339451e-01 6.09489638e-03 8.35532859e+01] [-1.46337000e-01 9.89234432e-01 -8.48601549e-04 -4.58610236e+00] [-6.15346525e-03 -5.24589108e-05 9.99981066e-01 -2.29614861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074203822 meters 0.019536126869751418 Centerline is valid? [True, True] Translation: X:83.58, Y:-4.59, Z:-2.30 [[ 9.88956366e-01 1.48064541e-01 6.49602751e-03 8.35818079e+01] [-1.48061792e-01 9.88977698e-01 -9.04778758e-04 -4.58539783e+00] [-6.55839198e-03 -6.70267597e-05 9.99978491e-01 -2.29700783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104203822 meters 0.02242314542550167 Centerline is valid? [True, True] Translation: X:83.61, Y:-4.58, Z:-2.30 [[ 9.88577931e-01 1.50623022e-01 5.13618569e-03 8.36107286e+01] [-1.50621341e-01 9.88591271e-01 -7.14584720e-04 -4.58168627e+00] [-5.18522125e-03 -6.71964958e-05 9.99986554e-01 -2.30073433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134203822 meters 0.022857239052974102 Centerline is valid? [True, True] Translation: X:83.64, Y:-4.58, Z:-2.30 [[ 9.88510268e-01 1.51100092e-01 4.02649568e-03 8.36392197e+01] [-1.51099060e-01 9.88518467e-01 -5.61064032e-04 -4.58422395e+00] [-4.06504216e-03 -5.37821537e-05 9.99991736e-01 -2.30337897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164203822 meters 0.023081206352733842 Centerline is valid? [True, True] Translation: X:83.67, Y:-4.59, Z:-2.31 [[ 9.88507020e-01 1.51124567e-01 3.90331036e-03 8.36667613e+01] [-1.51123596e-01 9.88514726e-01 -5.44040655e-04 -4.58751648e+00] [-3.94069767e-03 -5.20942915e-05 9.99992234e-01 -2.30518448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194203822 meters 0.02118564224590381 Centerline is valid? [True, True] Translation: X:83.70, Y:-4.59, Z:-2.30 [[ 9.88683081e-01 1.49874720e-01 6.58283738e-03 8.36957900e+01] [-1.49871948e-01 9.88704992e-01 -9.15172662e-04 -4.59330880e+00] [-6.64564543e-03 -8.17669374e-05 9.99977914e-01 -2.30162740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224203822 meters 0.020265393451019825 Centerline is valid? [True, True] Translation: X:83.72, Y:-4.60, Z:-2.30 [[ 9.88872853e-01 1.48581217e-01 7.35543855e-03 8.37232014e+01] [-1.48577717e-01 9.88900205e-01 -1.02306849e-03 -4.59857721e+00] [-7.42580345e-03 -8.11696135e-05 9.99972425e-01 -2.30063698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254203822 meters 0.01879528274742258 Centerline is valid? [True, True] Translation: X:83.75, Y:-4.60, Z:-2.30 [[ 9.89116405e-01 1.46945123e-01 7.47457609e-03 8.37518647e+01] [-1.46941471e-01 9.89144644e-01 -1.03843155e-03 -4.60486823e+00] [-7.54602936e-03 -7.11955187e-05 9.99971526e-01 -2.30045378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284203822 meters 0.018039648154729627 Centerline is valid? [True, True] Translation: X:83.78, Y:-4.61, Z:-2.30 [[ 9.89557743e-01 1.43995003e-01 6.39629433e-03 8.37803299e+01] [-1.43992266e-01 9.89578414e-01 -8.88829342e-04 -4.60956239e+00] [-6.45762178e-03 -4.14689546e-05 9.99979148e-01 -2.30490232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314203822 meters 0.017708785324489343 Centerline is valid? [True, True] Translation: X:83.81, Y:-4.61, Z:-2.31 [[ 9.89735294e-01 1.42785645e-01 6.02558541e-03 8.38095312e+01] [-1.42783196e-01 9.89753635e-01 -8.36880564e-04 -4.61447360e+00] [-6.08333960e-03 -3.20621102e-05 9.99981496e-01 -2.30643941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344203822 meters 0.015347845942325794 Centerline is valid? [True, True] Translation: X:83.84, Y:-4.62, Z:-2.30 [[ 9.89926541e-01 1.41420367e-01 6.76190458e-03 8.38385583e+01] [-1.41417253e-01 9.89949635e-01 -9.38945970e-04 -4.62202069e+00] [-6.82673105e-03 -2.67624307e-05 9.99976697e-01 -2.30125170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.374203822 meters 0.013556877851742323 Centerline is valid? [True, True] Translation: X:83.87, Y:-4.63, Z:-2.30 [[ 9.90303530e-01 1.38554535e-01 1.00776679e-02 8.38688484e+01] [-1.38547481e-01 9.90354806e-01 -1.39808213e-03 -4.63164067e+00] [-1.01741774e-02 -1.17098352e-05 9.99948242e-01 -2.29545459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404203822 meters 0.013461855597662942 Centerline is valid? [True, True] Translation: X:83.90, Y:-4.64, Z:-2.30 [[ 9.90417963e-01 1.37689700e-01 1.06679307e-02 8.38987150e+01] [-1.37681755e-01 9.90475414e-01 -1.47919664e-03 -4.63591339e+00] [-1.07699932e-02 -3.75649148e-06 9.99942002e-01 -2.29605931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.434203822 meters 0.013725742444001644 Centerline is valid? [True, True] Translation: X:83.93, Y:-4.64, Z:-2.30 [[ 9.90504009e-01 1.37140586e-01 9.70919251e-03 8.39298968e+01] [-1.37133966e-01 9.90551594e-01 -1.34748374e-03 -4.63961161e+00] [-9.80225083e-03 3.22796791e-06 9.99951957e-01 -2.29785608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464203822 meters 0.013725742444001644 Centerline is valid? [True, True] Translation: X:83.96, Y:-4.64, Z:-2.30 [[ 9.90500653e-01 1.37164823e-01 9.70915957e-03 8.39604252e+01] [-1.37158201e-01 9.90548238e-01 -1.34772105e-03 -4.64389569e+00] [-9.80225082e-03 3.22771991e-06 9.99951957e-01 -2.29873143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494203822 meters 0.01486959451008916 Centerline is valid? [True, True] Translation: X:83.99, Y:-4.65, Z:-2.30 [[ 9.90537468e-01 1.36963455e-01 8.74854152e-03 8.39901051e+01] [-1.36958068e-01 9.90576101e-01 -1.21476987e-03 -4.64782345e+00] [-8.83247522e-03 5.09172341e-06 9.99960993e-01 -2.30440548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524203822 meters 0.013761602687864704 Centerline is valid? [True, True] Translation: X:84.02, Y:-4.65, Z:-2.30 [[ 9.90577234e-01 1.36596122e-01 9.91177193e-03 8.40201546e+01] [-1.36589185e-01 9.90626821e-01 -1.37668411e-03 -4.65085280e+00] [-1.00069168e-02 9.87109329e-06 9.99949930e-01 -2.30210135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554203822 meters 0.014118780856820026 Centerline is valid? [True, True] Translation: X:84.05, Y:-4.66, Z:-2.30 [[ 9.90600872e-01 1.36384910e-01 1.04435925e-02 8.40501128e+01] [-1.36377199e-01 9.90655922e-01 -1.45033191e-03 -4.65522448e+00] [-1.05438102e-02 1.24321641e-05 9.99944412e-01 -2.30430603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584203822 meters 0.01483495381376754 Centerline is valid? [True, True] Translation: X:84.08, Y:-4.66, Z:-2.31 [[ 9.90716578e-01 1.35513689e-01 1.08028466e-02 8.40799127e+01] [-1.35505385e-01 9.90775474e-01 -1.50037541e-03 -4.66136187e+00] [-1.09065169e-02 2.26029072e-05 9.99940522e-01 -2.30708648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61420382200001 meters 0.013868506792061867 Centerline is valid? [True, True] Translation: X:84.11, Y:-4.67, Z:-2.30 [[ 9.90790482e-01 1.34972940e-01 1.07947611e-02 8.41113665e+01] [-1.34964645e-01 9.90849285e-01 -1.49659029e-03 -4.66586922e+00] [-1.08979805e-02 2.58963142e-05 9.99940615e-01 -2.30430807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644203822 meters 0.014379551857801346 Centerline is valid? [True, True] Translation: X:84.14, Y:-4.67, Z:-2.31 [[ 9.90918653e-01 1.34083078e-01 1.00970573e-02 8.41434230e+01] [-1.34075760e-01 9.90970094e-01 -1.40126575e-03 -4.67171787e+00] [-1.01937678e-02 3.47697327e-05 9.99948042e-01 -2.30563188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674203822 meters 0.01604562360780747 Centerline is valid? [True, True] Translation: X:84.17, Y:-4.68, Z:-2.31 [[ 9.91135798e-01 1.32617622e-01 7.89918828e-03 8.41738199e+01] [-1.32613081e-01 9.91167274e-01 -1.09827026e-03 -4.67842008e+00] [-7.97506690e-03 4.09992754e-05 9.99968198e-01 -2.31115988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704203822 meters 0.015898774730748164 Centerline is valid? [True, True] Translation: X:84.20, Y:-4.68, Z:-2.31 [[ 9.91181656e-01 1.32275781e-01 7.87667936e-03 8.42044962e+01] [-1.32271238e-01 9.91212952e-01 -1.09715804e-03 -4.68280222e+00] [-7.95259404e-03 4.56247951e-05 9.99968377e-01 -2.31144900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.734203822 meters 0.016279720369238596 Centerline is valid? [True, True] Translation: X:84.23, Y:-4.69, Z:-2.31 [[ 9.91190885e-01 1.32151625e-01 8.75091235e-03 8.42348468e+01] [-1.32146009e-01 9.91229512e-01 -1.21947218e-03 -4.68706599e+00] [-8.83531781e-03 5.23315647e-05 9.99960966e-01 -2.31231362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764203822 meters 0.015178940197239374 Centerline is valid? [True, True] Translation: X:84.27, Y:-4.69, Z:-2.31 [[ 9.91093329e-01 1.32771546e-01 1.02825044e-02 8.42656914e+01] [-1.32763822e-01 9.91146666e-01 -1.43322546e-03 -4.69058337e+00] [-1.03817615e-02 5.53156105e-05 9.99946107e-01 -2.30892968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794203822 meters 0.014853269752996385 Centerline is valid? [True, True] Translation: X:84.30, Y:-4.70, Z:-2.31 [[ 9.91006023e-01 1.33412783e-01 1.03967237e-02 8.42968431e+01] [-1.33404952e-01 9.91060557e-01 -1.44625158e-03 -4.69678992e+00] [-1.04967312e-02 4.62696075e-05 9.99944907e-01 -2.30864214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824203822 meters 0.015085337586254752 Centerline is valid? [True, True] Translation: X:84.33, Y:-4.70, Z:-2.31 [[ 9.90944802e-01 1.33864821e-01 1.04215716e-02 8.43269491e+01] [-1.33856944e-01 9.90999600e-01 -1.45284371e-03 -4.70378437e+00] [-1.05222579e-02 4.46882009e-05 9.99944639e-01 -2.31021062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854203822 meters 0.014926408046330332 Centerline is valid? [True, True] Translation: X:84.36, Y:-4.71, Z:-2.31 [[ 9.90835445e-01 1.34736400e-01 9.55109713e-03 8.43585827e+01] [-1.34729831e-01 9.90881477e-01 -1.33079941e-03 -4.70907867e+00] [-9.64331235e-03 3.17855228e-05 9.99953502e-01 -2.31194141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884203822 meters 0.015021361980313657 Centerline is valid? [True, True] Translation: X:84.39, Y:-4.71, Z:-2.32 [[ 9.90623186e-01 1.36302540e-01 9.34455033e-03 8.43889389e+01] [-1.36296280e-01 9.90667259e-01 -1.30649079e-03 -4.71123277e+00] [-9.43541807e-03 2.06126298e-05 9.99955485e-01 -2.31599570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914203822 meters 0.013692631979875034 Centerline is valid? [True, True] Translation: X:84.42, Y:-4.72, Z:-2.31 [[ 9.90555235e-01 1.36731724e-01 1.02353372e-02 8.44205452e+01] [-1.36724237e-01 9.90608114e-01 -1.43095634e-03 -4.71510580e+00] [-1.03348652e-02 1.80226137e-05 9.99946594e-01 -2.31349979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944203822 meters 0.014101171031543744 Centerline is valid? [True, True] Translation: X:84.45, Y:-4.72, Z:-2.32 [[ 9.90508251e-01 1.36995344e-01 1.12107043e-02 8.44515714e+01] [-1.36986401e-01 9.90571691e-01 -1.56533793e-03 -4.72101701e+00] [-1.13194503e-02 1.47660991e-05 9.99935933e-01 -2.31594314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974203822 meters 0.01387617913403229 Centerline is valid? [True, True] Translation: X:84.48, Y:-4.73, Z:-2.31 [[ 9.90464920e-01 1.37198301e-01 1.24847670e-02 8.44820641e+01] [-1.37187192e-01 9.90543601e-01 -1.74594613e-03 -4.73039780e+00] [-1.26062469e-02 1.65482696e-05 9.99920538e-01 -2.31466488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004203822 meters 0.012881538572171928 Centerline is valid? [True, True] Translation: X:84.51, Y:-4.74, Z:-2.31 [[ 9.90406309e-01 1.37606566e-01 1.26402357e-02 8.45141512e+01] [-1.37595196e-01 9.90486967e-01 -1.76896296e-03 -4.73698378e+00] [-1.27634096e-02 1.27563667e-05 9.99918544e-01 -2.31092533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034203822 meters 0.013618342916694679 Centerline is valid? [True, True] Translation: X:84.54, Y:-4.75, Z:-2.31 [[ 9.90294816e-01 1.38554690e-01 1.08984085e-02 8.45444631e+01] [-1.38546272e-01 9.90354784e-01 -1.52725793e-03 -4.74616024e+00] [-1.10048998e-02 2.50173696e-06 9.99939444e-01 -2.31476845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064203822 meters 0.01482383751509033 Centerline is valid? [True, True] Translation: X:84.57, Y:-4.75, Z:-2.32 [[ 9.90184830e-01 1.39440988e-01 9.49809369e-03 8.45748517e+01] [-1.39434614e-01 9.90230383e-01 -1.33328219e-03 -4.75228777e+00] [-9.59121513e-03 -4.16722696e-06 9.99954003e-01 -2.32054706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.094203822 meters 0.014992920865142593 Centerline is valid? [True, True] Translation: X:84.61, Y:-4.76, Z:-2.32 [[ 9.89983085e-01 1.40865183e-01 9.51275107e-03 8.46052548e+01] [-1.40858857e-01 9.90028787e-01 -1.33509705e-03 -4.75732485e+00] [-9.60596610e-03 -1.82317463e-05 9.99953861e-01 -2.32220707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124203822 meters 0.014595177775569927 Centerline is valid? [True, True] Translation: X:84.64, Y:-4.76, Z:-2.32 [[ 9.89413398e-01 1.44685311e-01 1.12822625e-02 8.46370973e+01] [-1.44676636e-01 9.89477719e-01 -1.58565757e-03 -4.76227657e+00] [-1.13929687e-02 -6.34089485e-05 9.99935096e-01 -2.31834184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.154203822 meters 0.015466046267906508 Centerline is valid? [True, True] Translation: X:84.67, Y:-4.77, Z:-2.32 [[ 9.89123149e-01 1.46633557e-01 1.15756347e-02 8.46678334e+01] [-1.46624531e-01 9.89190878e-01 -1.62922553e-03 -4.76608502e+00] [-1.16894114e-02 -8.57673162e-05 9.99931673e-01 -2.31909610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184203822 meters 0.016703600106029528 Centerline is valid? [True, True] Translation: X:84.70, Y:-4.77, Z:-2.32 [[ 9.88895554e-01 1.48184037e-01 1.12727684e-02 8.46985078e+01] [-1.48175558e-01 9.88959798e-01 -1.58829076e-03 -4.76913302e+00] [-1.13836741e-02 -9.96950823e-05 9.99935199e-01 -2.32043976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.214203822 meters 0.017772840783965835 Centerline is valid? [True, True] Translation: X:84.73, Y:-4.77, Z:-2.32 [[ 9.88637299e-01 1.49902166e-01 1.12085211e-02 8.47298312e+01] [-1.49893849e-01 9.88700828e-01 -1.58321213e-03 -4.77164372e+00] [-1.13192011e-02 -1.14865805e-04 9.99935929e-01 -2.32101741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244203822 meters 0.020967731975561843 Centerline is valid? [True, True] Translation: X:84.76, Y:-4.77, Z:-2.32 [[ 9.88096264e-01 1.53423424e-01 1.12705794e-02 8.47597183e+01] [-1.53415236e-01 9.88160528e-01 -1.59265661e-03 -4.77406707e+00] [-1.13814925e-02 -1.55380549e-04 9.99935217e-01 -2.32197073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274203822 meters 0.02267739143647189 Centerline is valid? [True, True] Translation: X:84.79, Y:-4.78, Z:-2.32 [[ 9.87860902e-01 1.55007831e-01 1.01690995e-02 8.47908223e+01] [-1.55001253e-01 9.87913229e-01 -1.43657803e-03 -4.77876099e+00] [-1.02688688e-02 -1.57083897e-04 9.99947261e-01 -2.32395847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304203822 meters 0.024037490535289367 Centerline is valid? [True, True] Translation: X:84.82, Y:-4.78, Z:-2.33 [[ 9.87623866e-01 1.56569979e-01 9.21631004e-03 8.48206041e+01] [-1.56564637e-01 9.87666855e-01 -1.30281191e-03 -4.78240277e+00] [-9.30662519e-03 -1.56260102e-04 9.99956680e-01 -2.32581714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334203822 meters 0.024921815417305395 Centerline is valid? [True, True] Translation: X:84.85, Y:-4.78, Z:-2.33 [[ 9.87313569e-01 1.58487432e-01 9.67728681e-03 8.48513808e+01] [-1.58481637e-01 9.87360978e-01 -1.36762149e-03 -4.78446294e+00] [-9.77172618e-03 -1.83401005e-04 9.99952239e-01 -2.32606295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36420382200001 meters 0.02523333874437691 Centerline is valid? [True, True] Translation: X:84.88, Y:-4.79, Z:-2.33 [[ 9.87346866e-01 1.58255805e-01 1.00631353e-02 8.48807055e+01] [-1.58249525e-01 9.87398129e-01 -1.42236986e-03 -4.78926660e+00] [-1.01614193e-02 -1.88113953e-04 9.99948354e-01 -2.32728499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394203822 meters 0.024515053700213986 Centerline is valid? [True, True] Translation: X:84.91, Y:-4.80, Z:-2.33 [[ 9.87609585e-01 1.56654411e-01 9.31150016e-03 8.49094570e+01] [-1.56648977e-01 9.87653466e-01 -1.31461590e-03 -4.79995723e+00] [-9.40247580e-03 -1.60309709e-04 9.99955783e-01 -2.33057405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424203822 meters 0.02323473862361738 Centerline is valid? [True, True] Translation: X:84.94, Y:-4.81, Z:-2.33 [[ 9.87807690e-01 1.55434291e-01 8.72627005e-03 8.49398414e+01] [-1.55429460e-01 9.87846224e-01 -1.23321151e-03 -4.80916566e+00] [-8.81189627e-03 -1.38143627e-04 9.99961165e-01 -2.33236319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454203822 meters 0.021668941595261754 Centerline is valid? [True, True] Translation: X:84.97, Y:-4.82, Z:-2.33 [[ 9.88014688e-01 1.54154800e-01 7.95445309e-03 8.49705522e+01] [-1.54150767e-01 9.88046701e-01 -1.12133923e-03 -4.81853855e+00] [-8.03223096e-03 -1.18285418e-04 9.99967734e-01 -2.33380586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.484203822 meters 0.0196756415045636 Centerline is valid? [True, True] Translation: X:85.00, Y:-4.83, Z:-2.34 [[ 9.88601999e-01 1.50375004e-01 7.31062964e-03 8.50005078e+01] [-1.50371486e-01 9.88629026e-01 -1.03169580e-03 -4.82923192e+00] [-7.38264192e-03 -7.93737151e-05 9.99972745e-01 -2.33797791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.514203822 meters 0.018497601370483056 Centerline is valid? [True, True] Translation: X:85.03, Y:-4.84, Z:-2.34 [[ 9.88932178e-01 1.48160259e-01 7.85402817e-03 8.50313534e+01] [-1.48156117e-01 9.88963363e-01 -1.10979859e-03 -4.83683998e+00] [-7.93177416e-03 -6.61067842e-05 9.99968541e-01 -2.33935756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544203822 meters 0.015534746826878243 Centerline is valid? [True, True] Translation: X:85.06, Y:-4.85, Z:-2.33 [[ 9.89193143e-01 1.46380532e-01 8.34663815e-03 8.50630868e+01] [-1.46375760e-01 9.89228354e-01 -1.18304680e-03 -4.84702015e+00] [-8.42990614e-03 -5.14837188e-05 9.99964466e-01 -2.33422142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.574203822 meters 0.015073014677757766 Centerline is valid? [True, True] Translation: X:85.09, Y:-4.86, Z:-2.34 [[ 9.89607936e-01 1.43589236e-01 7.63306437e-03 8.50937712e+01] [-1.43585179e-01 9.89637373e-01 -1.07970072e-03 -4.86049878e+00] [-7.70899918e-03 -2.75145125e-05 9.99970285e-01 -2.33646387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604203822 meters 0.015140070401736669 Centerline is valid? [True, True] Translation: X:85.12, Y:-4.87, Z:-2.34 [[ 9.89786612e-01 1.42359581e-01 7.49753125e-03 8.51243974e+01] [-1.42355622e-01 9.89815008e-01 -1.06184701e-03 -4.87029969e+00] [-7.57233305e-03 -1.63137699e-05 9.99971329e-01 -2.33770170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.634203822 meters 0.014638972832702487 Centerline is valid? [True, True] Translation: X:85.16, Y:-4.88, Z:-2.34 [[ 9.89977297e-01 1.40978314e-01 8.37057865e-03 8.51560212e+01] [-1.40973309e-01 9.90012684e-01 -1.18791827e-03 -4.87890266e+00] [-8.45444975e-03 -4.01605217e-06 9.99964260e-01 -2.33661112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664203822 meters 0.014372249702969945 Centerline is valid? [True, True] Translation: X:85.19, Y:-4.89, Z:-2.34 [[ 9.90126978e-01 1.39868995e-01 9.23206001e-03 8.51876525e+01] [-1.39862840e-01 9.90170018e-01 -1.31226187e-03 -4.88540178e+00] [-9.32485378e-03 8.08374988e-06 9.99956523e-01 -2.33541673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694203822 meters 0.014128512860889654 Centerline is valid? [True, True] Translation: X:85.22, Y:-4.89, Z:-2.33 [[ 9.90192644e-01 1.39352894e-01 9.96483359e-03 8.52196895e+01] [-1.39345675e-01 9.90242784e-01 -1.41849285e-03 -4.89177480e+00] [-1.00652756e-02 1.60247275e-05 9.99949344e-01 -2.33494278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724203822 meters 0.01457758128770909 Centerline is valid? [True, True] Translation: X:85.25, Y:-4.90, Z:-2.34 [[ 9.90087530e-01 1.40107907e-01 9.82124386e-03 8.52510924e+01] [-1.40100907e-01 9.90136240e-01 -1.40059084e-03 -4.89713610e+00] [-9.92060332e-03 1.07423530e-05 9.99950790e-01 -2.33740033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754203822 meters 0.014686824182176586 Centerline is valid? [True, True] Translation: X:85.28, Y:-4.90, Z:-2.34 [[ 9.89638932e-01 1.43266018e-01 9.46747565e-03 8.52835134e+01] [-1.43259657e-01 9.89684216e-01 -1.35015335e-03 -4.89978636e+00] [-9.56324231e-03 -2.01429944e-05 9.99954271e-01 -2.33888954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784203822 meters 0.014430804369446402 Centerline is valid? [True, True] Translation: X:85.32, Y:-4.90, Z:-2.34 [[ 9.89316589e-01 1.45490607e-01 9.22872029e-03 8.53150609e+01] [-1.45484645e-01 9.89359632e-01 -1.31770033e-03 -4.90411057e+00] [-9.32223633e-03 -3.90143009e-05 9.99956546e-01 -2.33736905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814203822 meters 0.016167462728527194 Centerline is valid? [True, True] Translation: X:85.35, Y:-4.91, Z:-2.34 [[ 9.88946614e-01 1.48009886e-01 8.81301567e-03 8.53463473e+01] [-1.48004535e-01 9.88985880e-01 -1.25990449e-03 -4.90758815e+00] [-8.90242638e-03 -5.83880020e-05 9.99960371e-01 -2.33983134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.844203822 meters 0.01973507797449778 Centerline is valid? [True, True] Translation: X:85.38, Y:-4.90, Z:-2.34 [[ 9.87997017e-01 1.54267410e-01 7.96625044e-03 8.53789077e+01] [-1.54263234e-01 9.88029127e-01 -1.13973175e-03 -4.90289493e+00] [-8.04671093e-03 -1.02847990e-04 9.99967619e-01 -2.33952171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.874203822 meters 0.022072372769466816 Centerline is valid? [True, True] Translation: X:85.41, Y:-4.90, Z:-2.34 [[ 9.87465447e-01 1.57643966e-01 7.76989369e-03 8.54115602e+01] [-1.57640091e-01 9.87496007e-01 -1.11251783e-03 -4.90121068e+00] [-7.84812072e-03 -1.26273834e-04 9.99969195e-01 -2.34064150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904203822 meters 0.02586730986347181 Centerline is valid? [True, True] Translation: X:85.44, Y:-4.90, Z:-2.34 [[ 9.87003328e-01 1.60474694e-01 8.50315515e-03 8.54428073e+01] [-1.60470139e-01 9.87039942e-01 -1.21964741e-03 -4.89970003e+00] [-8.58867631e-03 -1.60706445e-04 9.99963104e-01 -2.34328846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.934203822 meters 0.030040601308010645 Centerline is valid? [True, True] Translation: X:85.47, Y:-4.90, Z:-2.34 [[ 9.86449297e-01 1.63784026e-01 9.62171076e-03 8.54732118e+01] [-1.63778305e-01 9.86496198e-01 -1.38492194e-03 -4.90086769e+00] [-9.71860917e-03 -2.09672206e-04 9.99952751e-01 -2.34322081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964203822 meters 0.031244256718953554 Centerline is valid? [True, True] Translation: X:85.50, Y:-4.90, Z:-2.34 [[ 9.86255047e-01 1.64913905e-01 1.02169349e-02 8.55039451e+01] [-1.64907511e-01 9.86307938e-01 -1.47094533e-03 -4.90425869e+00] [-1.03196233e-02 -2.34122040e-04 9.99946724e-01 -2.34300735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.994203822 meters 0.03032891932399331 Centerline is valid? [True, True] Translation: X:85.54, Y:-4.91, Z:-2.34 [[ 9.86078435e-01 1.65974598e-01 1.00872314e-02 8.55354103e+01] [-1.65968425e-01 9.86129998e-01 -1.45184431e-03 -4.90878069e+00] [-1.01882908e-02 -2.42529559e-04 9.99948069e-01 -2.34153754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024203822 meters 0.03438714871231864 Centerline is valid? [True, True] Translation: X:85.57, Y:-4.91, Z:-2.35 [[ 9.85962217e-01 1.66703228e-01 9.40955523e-03 8.55661454e+01] [-1.66697886e-01 9.86007089e-01 -1.35470884e-03 -4.90575180e+00] [-9.50372249e-03 -2.32861228e-04 9.99954811e-01 -2.34610233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054203822 meters 0.031928962346630424 Centerline is valid? [True, True] Translation: X:85.60, Y:-4.91, Z:-2.35 [[ 9.85646437e-01 1.68624992e-01 8.16780843e-03 8.55969905e+01] [-1.68621033e-01 9.85680255e-01 -1.17597829e-03 -4.90767127e+00] [-8.24914682e-03 -2.18165480e-04 9.99965951e-01 -2.34588203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084203822 meters 0.031792190077761226 Centerline is valid? [True, True] Translation: X:85.63, Y:-4.91, Z:-2.35 [[ 9.85459972e-01 1.69750207e-01 7.31511141e-03 8.56272487e+01] [-1.69747059e-01 9.85487101e-01 -1.05351496e-03 -4.91076084e+00] [-7.38778232e-03 -2.03521827e-04 9.99972689e-01 -2.34708880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11420382200001 meters 0.03593582762492682 Centerline is valid? [True, True] Translation: X:85.66, Y:-4.91, Z:-2.35 [[ 9.85334649e-01 1.70512631e-01 6.40879597e-03 8.56573303e+01] [-1.70510230e-01 9.85355473e-01 -9.23256751e-04 -4.90925178e+00] [-6.47236912e-03 -1.83048408e-04 9.99979037e-01 -2.35178642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144203822 meters 0.03923962034362596 Centerline is valid? [True, True] Translation: X:85.69, Y:-4.91, Z:-2.35 [[ 9.85306281e-01 1.70679002e-01 6.34125282e-03 8.56873445e+01] [-1.70676654e-01 9.85326669e-01 -9.13718160e-04 -4.91205101e+00] [-6.40415802e-03 -1.82011570e-04 9.99979477e-01 -2.35030315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174203822 meters 0.03533911005553593 Centerline is valid? [True, True] Translation: X:85.72, Y:-4.91, Z:-2.35 [[ 9.85591427e-01 1.69026675e-01 6.28658579e-03 8.57162195e+01] [-1.69024333e-01 9.85611462e-01 -9.05955650e-04 -4.91231180e+00] [-6.34926168e-03 -1.69683844e-04 9.99979829e-01 -2.35454040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204203822 meters 0.025707857820326092 Centerline is valid? [True, True] Translation: X:85.75, Y:-4.93, Z:-2.35 [[ 9.86973165e-01 1.60718357e-01 7.31993003e-03 8.57452239e+01] [-1.60714962e-01 9.87000299e-01 -1.05354411e-03 -4.92511151e+00] [-7.39409701e-03 -1.36602514e-04 9.99972654e-01 -2.35261533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.234203822 meters 0.020676429155449667 Centerline is valid? [True, True] Translation: X:85.77, Y:-4.94, Z:-2.35 [[ 9.87911142e-01 1.54766062e-01 8.89049739e-03 8.57736064e+01] [-1.54760819e-01 9.87951139e-01 -1.27887739e-03 -4.93534191e+00] [-8.98130384e-03 -1.12483434e-04 9.99959661e-01 -2.35207497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264203822 meters 0.014935664938302716 Centerline is valid? [True, True] Translation: X:85.80, Y:-4.95, Z:-2.35 [[ 9.88956384e-01 1.47844171e-01 1.03620206e-02 8.58030496e+01] [-1.47836657e-01 9.89010666e-01 -1.49168796e-03 -4.95017670e+00] [-1.04686863e-02 -5.66721505e-05 9.99945200e-01 -2.34897810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.294203822 meters 0.016873113844039778 Centerline is valid? [True, True] Translation: X:85.83, Y:-4.98, Z:-2.35 [[ 9.90958690e-01 1.33613820e-01 1.21746574e-02 8.58321424e+01] [-1.33602399e-01 9.91033468e-01 -1.75028927e-03 -4.97875789e+00] [-1.22993558e-02 1.07900930e-04 9.99924354e-01 -2.34634828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324203822 meters 0.023332018581130286 Centerline is valid? [True, True] Translation: X:85.86, Y:-4.99, Z:-2.35 [[ 9.91780311e-01 1.27361397e-01 1.22836804e-02 8.58608718e+01] [-1.27349226e-01 9.91856359e-01 -1.77118765e-03 -4.99490667e+00] [-1.24092275e-02 1.92311842e-04 9.99922984e-01 -2.34881104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.354203822 meters 0.023332018581130286 Centerline is valid? [True, True] Translation: X:85.89, Y:-5.00, Z:-2.35 [[ 9.91756697e-01 1.27545119e-01 1.22840064e-02 8.58930027e+01] [-1.27532990e-01 9.91832752e-01 -1.76893003e-03 -4.99974517e+00] [-1.24092982e-02 1.87732136e-04 9.99922984e-01 -2.34973371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384203822 meters 0.027728095757349806 Centerline is valid? [True, True] Translation: X:85.92, Y:-5.01, Z:-2.35 [[ 9.92455269e-01 1.22109142e-01 1.10406412e-02 8.59228108e+01] [-1.22098957e-01 9.92516651e-01 -1.59445148e-03 -5.01116776e+00] [-1.11527174e-02 2.34370997e-04 9.99937779e-01 -2.35157628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414203822 meters 0.03268254705659866 Centerline is valid? [True, True] Translation: X:85.95, Y:-5.02, Z:-2.36 [[ 9.92990682e-01 1.17759876e-01 1.01052794e-02 8.59510465e+01] [-1.17751125e-01 9.93042066e-01 -1.45872737e-03 -5.02352722e+00] [-1.02067471e-02 2.58594668e-04 9.99947876e-01 -2.35502172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444203822 meters 0.03769388643569561 Centerline is valid? [True, True] Translation: X:85.98, Y:-5.04, Z:-2.36 [[ 9.93619213e-01 1.12410267e-01 9.20824397e-03 8.59796419e+01] [-1.12402759e-01 9.93661839e-01 -1.33052597e-03 -5.04074440e+00] [-9.29944542e-03 2.87004143e-04 9.99956718e-01 -2.35570448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474203822 meters 0.03926206380045116 Centerline is valid? [True, True] Translation: X:86.01, Y:-5.05, Z:-2.36 [[ 9.93676076e-01 1.11881696e-01 9.50487476e-03 8.60097351e+01] [-1.11873699e-01 9.93721489e-01 -1.37057898e-03 -5.05014699e+00] [-9.59854099e-03 2.98566045e-04 9.99953888e-01 -2.35655711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504203822 meters 0.037101057546748376 Centerline is valid? [True, True] Translation: X:86.04, Y:-5.05, Z:-2.36 [[ 9.93641683e-01 1.12256078e-01 8.64745426e-03 8.60417650e+01] [-1.12249467e-01 9.93679275e-01 -1.24759637e-03 -5.05352581e+00] [-8.73284635e-03 2.68991621e-04 9.99961832e-01 -2.35602013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534203822 meters 0.03646747148964719 Centerline is valid? [True, True] Translation: X:86.07, Y:-5.06, Z:-2.36 [[ 9.93306361e-01 1.15345541e-01 6.15464597e-03 8.60727016e+01] [-1.15342252e-01 9.93325413e-01 -8.87899990e-04 -5.05853063e+00] [-6.21598155e-03 1.72065981e-04 9.99980666e-01 -2.36166084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564203822 meters 0.034521092763089616 Centerline is valid? [True, True] Translation: X:86.10, Y:-5.06, Z:-2.36 [[ 9.92972677e-01 1.18213100e-01 5.56105825e-03 8.61030234e+01] [-1.18210438e-01 9.92988239e-01 -8.06050231e-04 -5.06092996e+00] [-5.61735114e-03 1.43010725e-04 9.99984212e-01 -2.36479793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.594203822 meters 0.02613892263980467 Centerline is valid? [True, True] Translation: X:86.13, Y:-5.06, Z:-2.36 [[ 9.92006658e-01 1.25968797e-01 7.39275159e-03 8.61346267e+01] [-1.25964305e-01 9.92034195e-01 -1.07199560e-03 -5.05760277e+00] [-7.46890038e-03 1.32203959e-04 9.99972099e-01 -2.36307021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624203822 meters 0.021518742567931057 Centerline is valid? [True, True] Translation: X:86.17, Y:-5.06, Z:-2.36 [[ 9.91448736e-01 1.30300575e-01 7.15295997e-03 8.61661393e+01] [-1.30296488e-01 9.91474534e-01 -1.03644011e-03 -5.05698377e+00] [-7.22702639e-03 9.55716696e-05 9.99973880e-01 -2.36224558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.654203822 meters 0.01616487658192133 Centerline is valid? [True, True] Translation: X:86.20, Y:-5.05, Z:-2.36 [[ 9.90160102e-01 1.39796701e-01 6.31306375e-03 8.61973931e+01] [-1.39793706e-01 9.90180227e-01 -9.15397628e-04 -5.05197874e+00] [-6.37904046e-03 2.38636309e-05 9.99979653e-01 -2.36415170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684203822 meters 0.015037496281337022 Centerline is valid? [True, True] Translation: X:86.23, Y:-5.05, Z:-2.36 [[ 9.89525411e-01 1.44208392e-01 6.58790786e-03 8.62297581e+01] [-1.44205251e-01 9.89547341e-01 -9.51853887e-04 -5.05343259e+00] [-6.65631202e-03 -8.12729645e-06 9.99977846e-01 -2.36343216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.714203822 meters 0.01563434848914546 Centerline is valid? [True, True] Translation: X:86.26, Y:-5.06, Z:-2.36 [[ 9.89058361e-01 1.47364336e-01 6.87835955e-03 8.62611779e+01] [-1.47360971e-01 9.89082278e-01 -9.96316200e-04 -5.05627450e+00] [-6.95008500e-03 -2.81868722e-05 9.99975847e-01 -2.36496622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744203822 meters 0.016331659340174616 Centerline is valid? [True, True] Translation: X:86.29, Y:-5.06, Z:-2.37 [[ 9.88662343e-01 1.49998336e-01 6.87542932e-03 8.62929820e+01] [-1.49995038e-01 9.88686248e-01 -9.95725938e-04 -5.05894418e+00] [-6.94699966e-03 -4.68435458e-05 9.99975868e-01 -2.36525879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774203822 meters 0.01800449934173139 Centerline is valid? [True, True] Translation: X:86.32, Y:-5.06, Z:-2.37 [[ 9.88335121e-01 1.52142301e-01 6.81234817e-03 8.63244899e+01] [-1.52139105e-01 9.88358597e-01 -9.88009847e-04 -5.06017640e+00] [-6.88336097e-03 -5.99397208e-05 9.99976308e-01 -2.36831819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804203822 meters 0.019594398137754276 Centerline is valid? [True, True] Translation: X:86.36, Y:-5.06, Z:-2.37 [[ 9.87808586e-01 1.55520115e-01 6.90583352e-03 8.63572772e+01] [-1.55516906e-01 9.87832722e-01 -1.00249543e-03 -5.06101001e+00] [-6.97771653e-03 -8.37002680e-05 9.99975652e-01 -2.36788642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834203822 meters 0.020214601274026568 Centerline is valid? [True, True] Translation: X:86.39, Y:-5.07, Z:-2.37 [[ 9.87622868e-01 1.56688956e-01 7.04569702e-03 8.63890385e+01] [-1.56685637e-01 9.87647995e-01 -1.02408822e-03 -5.06621014e+00] [-7.11913185e-03 -9.25465819e-05 9.99974654e-01 -2.36858079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86420382200001 meters 0.02147841557178431 Centerline is valid? [True, True] Translation: X:86.42, Y:-5.07, Z:-2.37 [[ 9.87391631e-01 1.58157025e-01 6.64241741e-03 8.64201044e+01] [-1.58154100e-01 9.87413969e-01 -9.66598699e-04 -5.07216469e+00] [-6.71169011e-03 -9.61140821e-05 9.99977472e-01 -2.37152097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894203822 meters 0.020037910928446444 Centerline is valid? [True, True] Translation: X:86.45, Y:-5.08, Z:-2.37 [[ 9.87347126e-01 1.58437325e-01 6.57770798e-03 8.64523269e+01] [-1.58434463e-01 9.87369032e-01 -9.57205507e-04 -5.07953736e+00] [-6.64628224e-03 -9.70415251e-05 9.99977909e-01 -2.36984380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924203822 meters 0.02173338055664125 Centerline is valid? [True, True] Translation: X:86.48, Y:-5.08, Z:-2.37 [[ 9.87289037e-01 1.58766288e-01 7.32274305e-03 8.64835228e+01] [-1.58762728e-01 9.87316188e-01 -1.06854827e-03 -5.08331211e+00] [-7.39951219e-03 -1.07612671e-04 9.99972617e-01 -2.37311480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954203822 meters 0.02100722938279078 Centerline is valid? [True, True] Translation: X:86.51, Y:-5.09, Z:-2.37 [[ 9.87191751e-01 1.59410077e-01 6.39325243e-03 8.65144373e+01] [-1.59407376e-01 9.87212448e-01 -9.33129926e-04 -5.09341258e+00] [-6.46024869e-03 -9.79534279e-05 9.99979128e-01 -2.37327662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.984203822 meters 0.02274577118974241 Centerline is valid? [True, True] Translation: X:86.55, Y:-5.10, Z:-2.38 [[ 9.87041764e-01 1.60350741e-01 6.01638187e-03 8.65453243e+01] [-1.60348360e-01 9.87060095e-01 -8.79176884e-04 -5.09827651e+00] [-6.07950712e-03 -9.69326623e-05 9.99981515e-01 -2.37616731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.014203822 meters 0.02353641513024493 Centerline is valid? [True, True] Translation: X:86.58, Y:-5.10, Z:-2.38 [[ 9.86895601e-01 1.61281292e-01 5.04162794e-03 8.65774255e+01] [-1.61279633e-01 9.86908475e-01 -7.36589161e-04 -5.10301309e+00] [-5.09442339e-03 -8.61753006e-05 9.99987020e-01 -2.37874801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044203822 meters 0.02603280235325328 Centerline is valid? [True, True] Translation: X:86.61, Y:-5.10, Z:-2.38 [[ 9.86477440e-01 1.63838612e-01 4.37829202e-03 8.66091560e+01] [-1.63837385e-01 9.86487152e-01 -6.40099936e-04 -5.10159775e+00] [-4.42400191e-03 -8.58837671e-05 9.99990210e-01 -2.38086770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.074203822 meters 0.029619711039675752 Centerline is valid? [True, True] Translation: X:86.64, Y:-5.10, Z:-2.38 [[ 9.86224062e-01 1.65327992e-01 5.36226114e-03 8.66418369e+01] [-1.65326165e-01 9.86238634e-01 -7.85272077e-04 -5.09964808e+00] [-5.41829655e-03 -1.12067852e-04 9.99985315e-01 -2.38405920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104203822 meters 0.02908806619630175 Centerline is valid? [True, True] Translation: X:86.67, Y:-5.10, Z:-2.38 [[ 9.86037528e-01 1.66440438e-01 5.25108044e-03 8.66736439e+01] [-1.66438695e-01 9.86051503e-01 -7.70195356e-04 -5.10331098e+00] [-5.30602742e-03 -1.14541453e-04 9.99985916e-01 -2.38236124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.134203822 meters 0.030751258389242538 Centerline is valid? [True, True] Translation: X:86.70, Y:-5.10, Z:-2.38 [[ 9.85947800e-01 1.66955432e-01 5.72876420e-03 8.67046302e+01] [-1.66953357e-01 9.85964435e-01 -8.41889674e-04 -5.10483117e+00] [-5.78891581e-03 -1.26377145e-04 9.99983236e-01 -2.38379850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164203822 meters 0.027230912720310568 Centerline is valid? [True, True] Translation: X:86.74, Y:-5.11, Z:-2.38 [[ 9.86015793e-01 1.66534645e-01 6.25042985e-03 8.67365265e+01] [-1.66532145e-01 9.86035595e-01 -9.21880149e-04 -5.11347168e+00] [-6.31667130e-03 -1.31909105e-04 9.99980041e-01 -2.38016822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194203822 meters 0.02406399409629072 Centerline is valid? [True, True] Translation: X:86.77, Y:-5.12, Z:-2.38 [[ 9.86453184e-01 1.63864077e-01 7.66027162e-03 8.67667438e+01] [-1.63860230e-01 9.86482917e-01 -1.13139623e-03 -5.12228786e+00] [-7.74212229e-03 -1.39144456e-04 9.99970020e-01 -2.37781927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224203822 meters 0.023315080447738272 Centerline is valid? [True, True] Translation: X:86.80, Y:-5.13, Z:-2.38 [[ 9.86757284e-01 1.62004908e-01 8.02949699e-03 8.67968760e+01] [-1.62000639e-01 9.86789943e-01 -1.18348020e-03 -5.12931356e+00] [-8.11515648e-03 -1.32975942e-04 9.99967063e-01 -2.37965326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254203822 meters 0.021138252814130235 Centerline is valid? [True, True] Translation: X:86.83, Y:-5.14, Z:-2.38 [[ 9.87124571e-01 1.59770693e-01 7.64246999e-03 8.68280591e+01] [-1.59766753e-01 9.87154149e-01 -1.12724302e-03 -5.13797020e+00] [-7.72439636e-03 -1.08283331e-04 9.99970161e-01 -2.38083453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284203822 meters 0.01762252843275899 Centerline is valid? [True, True] Translation: X:86.86, Y:-5.15, Z:-2.38 [[ 9.88049936e-01 1.54015706e-01 6.04042532e-03 8.68593807e+01] [-1.54013126e-01 9.88068398e-01 -8.92634002e-04 -5.14896566e+00] [-6.10583303e-03 -4.83378200e-05 9.99981358e-01 -2.38491951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314203822 meters 0.015935978553956915 Centerline is valid? [True, True] Translation: X:86.89, Y:-5.16, Z:-2.39 [[ 9.88521586e-01 1.50938321e-01 6.53429007e-03 8.68906519e+01] [-1.50935241e-01 9.88543182e-01 -9.64754972e-04 -5.15875627e+00] [-6.60504639e-03 -3.25735330e-05 9.99978186e-01 -2.38574659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.344203822 meters 0.015197039040972167 Centerline is valid? [True, True] Translation: X:86.92, Y:-5.17, Z:-2.39 [[ 9.88954334e-01 1.48045979e-01 7.19122807e-03 8.69207127e+01] [-1.48042158e-01 9.88980479e-01 -1.06371209e-03 -5.16825645e+00] [-7.26946248e-03 -1.26422490e-05 9.99973577e-01 -2.38578275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.374203822 meters 0.015668657789151642 Centerline is valid? [True, True] Translation: X:86.95, Y:-5.18, Z:-2.39 [[ 9.89332303e-01 1.45504077e-01 7.08222307e-03 8.69513478e+01] [-1.45500302e-01 9.89357652e-01 -1.04815997e-03 -5.17668274e+00] [-7.15936314e-03 6.51292515e-06 9.99974371e-01 -2.38677217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404203822 meters 0.017132811667616932 Centerline is valid? [True, True] Translation: X:86.98, Y:-5.19, Z:-2.39 [[ 9.89972406e-01 1.41073122e-01 7.28076680e-03 8.69825743e+01] [-1.41069000e-01 9.89999178e-01 -1.07922128e-03 -5.18627499e+00] [-7.36020226e-03 4.13087900e-05 9.99972912e-01 -2.38680793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.434203822 meters 0.018440092742013605 Centerline is valid? [True, True] Translation: X:87.01, Y:-5.19, Z:-2.39 [[ 9.90230981e-01 1.39273165e-01 6.75200496e-03 8.70134218e+01] [-1.39269571e-01 9.90253999e-01 -1.00186485e-03 -5.19365272e+00] [-6.82573280e-03 5.17287761e-05 9.99976703e-01 -2.38832417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464203822 meters 0.020403291432715773 Centerline is valid? [True, True] Translation: X:87.04, Y:-5.20, Z:-2.39 [[ 9.90634766e-01 1.36438683e-01 5.21970165e-03 8.70444987e+01] [-1.36436484e-01 9.90648516e-01 -7.76791474e-04 -5.20456843e+00] [-5.27687410e-03 5.73588996e-05 9.99986076e-01 -2.39157733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.494203822 meters 0.021195118162049182 Centerline is valid? [True, True] Translation: X:87.08, Y:-5.21, Z:-2.39 [[ 9.90714739e-01 1.35853980e-01 5.29167030e-03 8.70755130e+01] [-1.35851726e-01 9.90728869e-01 -7.84687866e-04 -5.21227485e+00] [-5.34921350e-03 5.85192906e-05 9.99985691e-01 -2.39313040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524203822 meters 0.0210398901898201 Centerline is valid? [True, True] Translation: X:87.11, Y:-5.22, Z:-2.39 [[ 9.90755892e-01 1.35519657e-01 6.09791012e-03 8.71069893e+01] [-1.35516645e-01 9.90774655e-01 -9.06425606e-04 -5.21776575e+00] [-6.16449329e-03 7.16781887e-05 9.99980997e-01 -2.39170458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554203822 meters 0.021596325985274934 Centerline is valid? [True, True] Translation: X:87.14, Y:-5.22, Z:-2.39 [[ 9.90743089e-01 1.35507341e-01 8.11739582e-03 8.71380171e+01] [-1.35501976e-01 9.90776337e-01 -1.20991520e-03 -5.22249423e+00] [-8.20647609e-03 9.87919507e-05 9.99966321e-01 -2.39080021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584203822 meters 0.022585901920559048 Centerline is valid? [True, True] Translation: X:87.17, Y:-5.23, Z:-2.39 [[ 9.90706694e-01 1.35768840e-01 8.18948359e-03 8.71696579e+01] [-1.35763369e-01 9.90740537e-01 -1.22284188e-03 -5.22909935e+00] [-8.27967719e-03 9.96457478e-05 9.99965718e-01 -2.39323121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61420382200001 meters 0.020633745794322138 Centerline is valid? [True, True] Translation: X:87.20, Y:-5.23, Z:-2.39 [[ 9.90660695e-01 1.36154046e-01 7.31189096e-03 8.72012577e+01] [-1.36149700e-01 9.90687675e-01 -1.09119316e-03 -5.23272832e+00] [-7.39237062e-03 8.54904132e-05 9.99972672e-01 -2.39177597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644203822 meters 0.020908916006507332 Centerline is valid? [True, True] Translation: X:87.23, Y:-5.24, Z:-2.40 [[ 9.90396370e-01 1.38167921e-01 4.96555210e-03 8.72315175e+01] [-1.38165928e-01 9.90408816e-01 -7.43771063e-04 -5.23635149e+00] [-5.02069188e-03 5.05580455e-05 9.99987395e-01 -2.39914096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674203822 meters 0.02370314081324226 Centerline is valid? [True, True] Translation: X:87.26, Y:-5.24, Z:-2.40 [[ 9.90170278e-01 1.39781780e-01 4.88618419e-03 8.72640949e+01] [-1.39779886e-01 9.90182333e-01 -7.28573718e-04 -5.23800262e+00] [-4.94005459e-03 3.84217700e-05 9.99987797e-01 -2.39942544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704203822 meters 0.018656634495460872 Centerline is valid? [True, True] Translation: X:87.29, Y:-5.24, Z:-2.40 [[ 9.89871067e-01 1.41876256e-01 5.13790534e-03 8.72947677e+01] [-1.41874184e-01 9.89884401e-01 -7.67553491e-04 -5.24218399e+00] [-5.19482996e-03 3.08428684e-05 9.99986506e-01 -2.40210258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.734203822 meters 0.016639778184893643 Centerline is valid? [True, True] Translation: X:87.33, Y:-5.24, Z:-2.40 [[ 9.89178366e-01 1.46633365e-01 4.98153052e-03 8.73271669e+01] [-1.46631475e-01 9.89190910e-01 -7.44625778e-04 -5.24247978e+00] [-5.03687169e-03 6.11854468e-06 9.99987315e-01 -2.40139141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764203822 meters 0.016127823268184405 Centerline is valid? [True, True] Translation: X:87.36, Y:-5.24, Z:-2.40 [[ 9.88806218e-01 1.49124081e-01 4.92658545e-03 8.73604558e+01] [-1.49122262e-01 9.88818491e-01 -7.36595506e-04 -5.24315061e+00] [-4.98134292e-03 -6.31334976e-06 9.99987593e-01 -2.40132022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.794203822 meters 0.014930995590317618 Centerline is valid? [True, True] Translation: X:87.39, Y:-5.24, Z:-2.40 [[ 9.88464987e-01 1.51351584e-01 5.44669662e-03 8.73928915e+01] [-1.51349384e-01 9.88479994e-01 -8.16337164e-04 -5.24332091e+00] [-5.50750457e-03 -1.74334728e-05 9.99984833e-01 -2.39821000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824203822 meters 0.015776781396520924 Centerline is valid? [True, True] Translation: X:87.42, Y:-5.25, Z:-2.40 [[ 9.88329923e-01 1.52201824e-01 6.21024033e-03 8.74236892e+01] [-1.52198967e-01 9.88349434e-01 -9.32884162e-04 -5.24759979e+00] [-6.27987419e-03 -2.31948311e-05 9.99980281e-01 -2.40195317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.854203822 meters 0.01572373015324481 Centerline is valid? [True, True] Translation: X:87.45, Y:-5.26, Z:-2.40 [[ 9.88597405e-01 1.50446779e-01 6.39821749e-03 8.74531849e+01] [-1.50443701e-01 9.88618110e-01 -9.62527846e-04 -5.25775406e+00] [-6.47020289e-03 -1.10189855e-05 9.99979068e-01 -2.40341766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884203822 meters 0.015702307107880197 Centerline is valid? [True, True] Translation: X:87.48, Y:-5.27, Z:-2.40 [[ 9.88934117e-01 1.48170618e-01 7.40138396e-03 8.74829439e+01] [-1.48166421e-01 9.88961813e-01 -1.11531665e-03 -5.26912892e+00] [-7.48494326e-03 6.33811361e-06 9.99971987e-01 -2.40427391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914203822 meters 0.017302817946973897 Centerline is valid? [True, True] Translation: X:87.51, Y:-5.29, Z:-2.40 [[ 9.89858261e-01 1.41751416e-01 9.33589177e-03 8.75119941e+01] [-1.41744430e-01 9.89902284e-01 -1.40910811e-03 -5.29041132e+00] [-9.44136365e-03 7.15066501e-05 9.99955427e-01 -2.40159904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944203822 meters 0.01993003116013522 Centerline is valid? [True, True] Translation: X:87.54, Y:-5.30, Z:-2.40 [[ 9.90205340e-01 1.39261599e-01 9.97954898e-03 8.75410439e+01] [-1.39253468e-01 9.90255622e-01 -1.50849715e-03 -5.30399683e+00] [-1.00923802e-02 1.04035131e-04 9.99949065e-01 -2.40261980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974203822 meters 0.019661527437595347 Centerline is valid? [True, True] Translation: X:87.57, Y:-5.31, Z:-2.40 [[ 9.90411645e-01 1.37751178e-01 1.04588152e-02 8.75720880e+01] [-1.37742146e-01 9.90466858e-01 -1.58249522e-03 -5.31334564e+00] [-1.05771004e-02 1.26702043e-04 9.99944053e-01 -2.39924535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004203822 meters 0.02065534824260722 Centerline is valid? [True, True] Translation: X:87.60, Y:-5.33, Z:-2.40 [[ 9.90406682e-01 1.37753544e-01 1.08887971e-02 8.76024270e+01] [-1.37743733e-01 9.90466528e-01 -1.64943810e-03 -5.32552570e+00] [-1.10122050e-02 1.33750959e-04 9.99939355e-01 -2.40051452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034203822 meters 0.019724960837119426 Centerline is valid? [True, True] Translation: X:87.63, Y:-5.33, Z:-2.40 [[ 9.90260191e-01 1.38887320e-01 9.75019641e-03 8.76334478e+01] [-1.38879494e-01 9.90308184e-01 -1.47849399e-03 -5.33258205e+00] [-9.86104337e-03 1.09991395e-04 9.99951373e-01 -2.40230341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064203822 meters 0.017904066176432438 Centerline is valid? [True, True] Translation: X:87.67, Y:-5.34, Z:-2.40 [[ 9.90034804e-01 1.40579805e-01 8.27071018e-03 8.76650713e+01] [-1.40574229e-01 9.90069347e-01 -1.25468957e-03 -5.33881352e+00] [-8.36496064e-03 7.95376412e-05 9.99965010e-01 -2.40272372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.094203822 meters 0.018136354428535027 Centerline is valid? [True, True] Translation: X:87.70, Y:-5.35, Z:-2.41 [[ 9.89422182e-01 1.44947083e-01 5.83863930e-03 8.76950598e+01] [-1.44944380e-01 9.89439408e-01 -8.85614568e-04 -5.34755014e+00] [-5.90534706e-03 2.99687423e-05 9.99982563e-01 -2.41241122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124203822 meters 0.015974161986222743 Centerline is valid? [True, True] Translation: X:87.73, Y:-5.35, Z:-2.41 [[ 9.88961289e-01 1.48059697e-01 5.82196622e-03 8.77275730e+01] [-1.48057060e-01 9.88978425e-01 -8.83855968e-04 -5.35027921e+00] [-5.88866243e-03 1.21161377e-05 9.99982662e-01 -2.41178835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.154203822 meters 0.017221360967992257 Centerline is valid? [True, True] Translation: X:87.76, Y:-5.35, Z:-2.42 [[ 9.87853835e-01 1.55269995e-01 6.00252266e-03 8.77597930e+01] [-1.55267318e-01 9.87872071e-01 -9.12200560e-04 -5.34738599e+00] [-6.07136186e-03 -3.08747747e-05 9.99981569e-01 -2.41721361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184203822 meters 0.017179487427937967 Centerline is valid? [True, True] Translation: X:87.79, Y:-5.35, Z:-2.41 [[ 9.87247089e-01 1.59071438e-01 6.28193735e-03 8.77920455e+01] [-1.59068573e-01 9.87267074e-01 -9.56290583e-04 -5.34997232e+00] [-6.35406842e-03 -5.51637136e-05 9.99979811e-01 -2.41365333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.214203822 meters 0.019341643628767474 Centerline is valid? [True, True] Translation: X:87.82, Y:-5.35, Z:-2.41 [[ 9.86710916e-01 1.62348170e-01 6.68138702e-03 8.78233759e+01] [-1.62344983e-01 9.86733533e-01 -1.02023604e-03 -5.35221093e+00] [-6.75838208e-03 -7.80116268e-05 9.99977159e-01 -2.41379522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244203822 meters 0.021694197877242048 Centerline is valid? [True, True] Translation: X:87.86, Y:-5.35, Z:-2.41 [[ 9.86138553e-01 1.65754404e-01 7.49876168e-03 8.78555299e+01] [-1.65750492e-01 9.86167057e-01 -1.14446638e-03 -5.35464749e+00] [-7.58473208e-03 -1.14321018e-04 9.99971229e-01 -2.41282642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274203822 meters 0.025345242874935607 Centerline is valid? [True, True] Translation: X:87.89, Y:-5.36, Z:-2.41 [[ 9.85299456e-01 1.70615688e-01 8.67577947e-03 8.78876202e+01] [-1.70610619e-01 9.85337636e-01 -1.32654884e-03 -5.35565960e+00] [-8.77490208e-03 -1.73132257e-04 9.99961485e-01 -2.41031525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304203822 meters 0.025345242874935607 Centerline is valid? [True, True] Translation: X:87.92, Y:-5.36, Z:-2.41 [[ 9.85267715e-01 1.70798892e-01 8.67567717e-03 8.79197041e+01] [-1.70793824e-01 9.85305896e-01 -1.32721796e-03 -5.36076622e+00] [-8.77488322e-03 -1.74087079e-04 9.99961485e-01 -2.41123839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334203822 meters 0.026520998415220733 Centerline is valid? [True, True] Translation: X:87.95, Y:-5.37, Z:-2.41 [[ 9.84985707e-01 1.72439372e-01 8.23527888e-03 8.79518311e+01] [-1.72434848e-01 9.85020117e-01 -1.26158497e-03 -5.36519113e+00] [-8.32946228e-03 -1.77405899e-04 9.99965294e-01 -2.41181064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36420382200001 meters 0.027313689614096012 Centerline is valid? [True, True] Translation: X:87.98, Y:-5.37, Z:-2.41 [[ 9.84667151e-01 1.74218831e-01 8.85446308e-03 8.79835783e+01] [-1.74213657e-01 9.84706940e-01 -1.35823909e-03 -5.36993255e+00] [-8.95568207e-03 -2.05154981e-04 9.99959876e-01 -2.41173785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394203822 meters 0.027442845339513845 Centerline is valid? [True, True] Translation: X:88.01, Y:-5.37, Z:-2.41 [[ 9.84742742e-01 1.73787847e-01 8.91716973e-03 8.80138716e+01] [-1.73782565e-01 9.84783095e-01 -1.36966065e-03 -5.37484287e+00] [-9.01950839e-03 -2.00885242e-04 9.99959303e-01 -2.41410127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424203822 meters 0.027641477476890833 Centerline is valid? [True, True] Translation: X:88.04, Y:-5.38, Z:-2.42 [[ 9.84920250e-01 1.72805177e-01 8.39475091e-03 8.80441123e+01] [-1.72800451e-01 9.84956009e-01 -1.29051094e-03 -5.38060343e+00] [-8.49146732e-03 -1.79566386e-04 9.99963931e-01 -2.41791634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454203822 meters 0.02390366753750305 Centerline is valid? [True, True] Translation: X:88.07, Y:-5.40, Z:-2.42 [[ 9.85641640e-01 1.68590435e-01 9.37137130e-03 8.80725495e+01] [-1.68584314e-01 9.85686178e-01 -1.44507264e-03 -5.39696152e+00] [-9.48085659e-03 -1.55542436e-04 9.99955044e-01 -2.41787971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.484203822 meters 0.019178194996195566 Centerline is valid? [True, True] Translation: X:88.10, Y:-5.41, Z:-2.41 [[ 9.86029473e-01 1.66253706e-01 1.02754310e-02 8.81034355e+01] [-1.66246223e-01 9.86083001e-01 -1.58410174e-03 -5.41153564e+00] [-1.03957907e-02 -1.46280597e-04 9.99945952e-01 -2.41277904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.514203822 meters 0.01959481353162935 Centerline is valid? [True, True] Translation: X:88.13, Y:-5.42, Z:-2.42 [[ 9.86350848e-01 1.64321559e-01 1.05085208e-02 8.81343522e+01] [-1.64313636e-01 9.86406817e-01 -1.61879523e-03 -5.41768231e+00] [-1.06316795e-02 -1.29993205e-04 9.99943474e-01 -2.41627541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544203822 meters 0.01576330832595069 Centerline is valid? [True, True] Translation: X:88.17, Y:-5.43, Z:-2.42 [[ 9.86970678e-01 1.60556501e-01 1.05114921e-02 8.81659247e+01] [-1.60548320e-01 9.87026647e-01 -1.62301896e-03 -5.42730980e+00] [-1.06357091e-02 -8.57302710e-05 9.99943436e-01 -2.41650750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.574203822 meters 0.0147550964104807 Centerline is valid? [True, True] Translation: X:88.20, Y:-5.44, Z:-2.42 [[ 9.87199329e-01 1.59137309e-01 1.06207699e-02 8.81972477e+01] [-1.59128889e-01 9.87256457e-01 -1.63864248e-03 -5.43510732e+00] [-1.07461928e-02 -7.24045513e-05 9.99942255e-01 -2.41779721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604203822 meters 0.01433486535804757 Centerline is valid? [True, True] Translation: X:88.23, Y:-5.44, Z:-2.42 [[ 9.87377307e-01 1.58047617e-01 1.03442887e-02 8.82293727e+01] [-1.58039556e-01 9.87431490e-01 -1.59719427e-03 -5.44415244e+00] [-1.04667092e-02 -5.77734276e-05 9.99945221e-01 -2.41969598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.634203822 meters 0.014114227574783542 Centerline is valid? [True, True] Translation: X:88.26, Y:-5.46, Z:-2.42 [[ 9.87441383e-01 1.57668225e-01 1.00122531e-02 8.82610371e+01] [-1.57660637e-01 9.87492141e-01 -1.54764451e-03 -5.45597966e+00] [-1.01310357e-02 -5.03299763e-05 9.99948678e-01 -2.41981562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664203822 meters 0.013867630191974262 Centerline is valid? [True, True] Translation: X:88.29, Y:-5.46, Z:-2.42 [[ 9.87358734e-01 1.58117155e-01 1.10315513e-02 8.82924873e+01] [-1.58107937e-01 9.87420357e-01 -1.70833527e-03 -5.46236060e+00] [-1.11628954e-02 -5.74360529e-05 9.99937691e-01 -2.41840654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694203822 meters 0.014035240422279709 Centerline is valid? [True, True] Translation: X:88.32, Y:-5.47, Z:-2.42 [[ 9.87300165e-01 1.58440957e-01 1.16123648e-02 8.83233069e+01] [-1.58430736e-01 9.87368452e-01 -1.80072843e-03 -5.46848886e+00] [-1.17509918e-02 -6.18960276e-05 9.99930953e-01 -2.41800823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724203822 meters 0.014013321134492624 Centerline is valid? [True, True] Translation: X:88.36, Y:-5.48, Z:-2.42 [[ 9.87344182e-01 1.58219818e-01 1.08607722e-02 8.83550320e+01] [-1.58210850e-01 9.87403912e-01 -1.68541193e-03 -5.47506329e+00] [-1.09906345e-02 -5.42103441e-05 9.99939600e-01 -2.42002843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75420382200001 meters 0.013990665025573092 Centerline is valid? [True, True] Translation: X:88.39, Y:-5.48, Z:-2.42 [[ 9.87487730e-01 1.57374984e-01 1.00547675e-02 8.83865979e+01] [-1.57367240e-01 9.87538917e-01 -1.56170644e-03 -5.48127216e+00] [-1.01752477e-02 -4.01250649e-05 9.99948230e-01 -2.42318346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784203822 meters 0.0136958707461403 Centerline is valid? [True, True] Translation: X:88.42, Y:-5.49, Z:-2.42 [[ 9.87689473e-01 1.56121365e-01 9.77873656e-03 8.84191637e+01] [-1.56113969e-01 9.87737880e-01 -1.51985563e-03 -5.48755215e+00] [-9.89611046e-03 -2.54519672e-05 9.99951032e-01 -2.42470503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814203822 meters 0.013619849930028224 Centerline is valid? [True, True] Translation: X:88.45, Y:-5.50, Z:-2.43 [[ 9.88085702e-01 1.53536033e-01 1.06457983e-02 8.84494890e+01] [-1.53527083e-01 9.88143050e-01 -1.65782584e-03 -5.49690249e+00] [-1.07741076e-02 3.65565320e-06 9.99941958e-01 -2.42708178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.844203822 meters 0.013358037797810262 Centerline is valid? [True, True] Translation: X:88.48, Y:-5.51, Z:-2.43 [[ 9.88248249e-01 1.52473674e-01 1.08248624e-02 8.84811505e+01] [-1.52464344e-01 9.88307532e-01 -1.68681100e-03 -5.50757584e+00] [-1.09554873e-02 1.65824774e-05 9.99939987e-01 -2.42607373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.874203822 meters 0.024095074181540308 Centerline is valid? [True, True] Translation: X:88.51, Y:-5.52, Z:-2.43 [[ 9.88494371e-01 1.50885263e-01 1.06073436e-02 8.85109896e+01] [-1.50876187e-01 9.88551282e-01 -1.65532321e-03 -5.52265121e+00] [-1.07356670e-02 3.58821272e-05 9.99942370e-01 -2.42534412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904203822 meters 0.01429050882059737 Centerline is valid? [True, True] Translation: X:88.54, Y:-5.53, Z:-2.43 [[ 9.88538669e-01 1.50564486e-01 1.10288261e-02 8.85421810e+01] [-1.50554633e-01 9.88600189e-01 -1.72298512e-03 -5.53066503e+00] [-1.11625199e-02 4.27965644e-05 9.99937696e-01 -2.42687379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.934203822 meters 0.027755518676739074 Centerline is valid? [True, True] Translation: X:88.57, Y:-5.54, Z:-2.43 [[ 9.88507834e-01 1.50736776e-01 1.14317848e-02 8.85737131e+01] [-1.50726173e-01 9.88573934e-01 -1.78839417e-03 -5.53682076e+00] [-1.15707413e-02 4.47724672e-05 9.99933056e-01 -2.42552410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964203822 meters 0.013726251446657307 Centerline is valid? [True, True] Translation: X:88.60, Y:-5.54, Z:-2.43 [[ 9.88441896e-01 1.51072505e-01 1.26378692e-02 8.86041710e+01] [-1.51059537e-01 9.88522684e-01 -1.97997010e-03 -5.54423913e+00] [-1.27919395e-02 4.80147223e-05 9.99918179e-01 -2.42674100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.994203822 meters 0.012863411028006425 Centerline is valid? [True, True] Translation: X:88.64, Y:-5.55, Z:-2.43 [[ 9.88106371e-01 1.53232436e-01 1.28693715e-02 8.86355232e+01] [-1.53219145e-01 9.88190174e-01 -2.01825449e-03 -5.54904475e+00] [-1.30266485e-02 2.24160230e-05 9.99915149e-01 -2.42638251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024203822 meters 0.013449575106675672 Centerline is valid? [True, True] Translation: X:88.67, Y:-5.55, Z:-2.43 [[ 9.87824961e-01 1.55118495e-01 1.18363425e-02 8.86661414e+01] [-1.55107366e-01 9.87895871e-01 -1.85807477e-03 -5.55238201e+00] [-1.19812957e-02 -4.51273029e-07 9.99928222e-01 -2.43097131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054203822 meters 0.013895519057131158 Centerline is valid? [True, True] Translation: X:88.70, Y:-5.56, Z:-2.44 [[ 9.87401862e-01 1.57946858e-01 9.50546184e-03 8.86970516e+01] [-1.57939806e-01 9.87447613e-01 -1.49275728e-03 -5.55909889e+00] [-9.62192193e-03 -2.73394852e-05 9.99953708e-01 -2.43540671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084203822 meters 0.014001452132957322 Centerline is valid? [True, True] Translation: X:88.73, Y:-5.57, Z:-2.44 [[ 9.87273248e-01 1.58767145e-01 9.19388536e-03 8.87293566e+01] [-1.58760578e-01 9.87316055e-01 -1.44440409e-03 -5.56731984e+00] [-9.30659454e-03 -3.36050369e-05 9.99956692e-01 -2.43607169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11420382200001 meters 0.014305859234112584 Centerline is valid? [True, True] Translation: X:88.76, Y:-5.57, Z:-2.44 [[ 9.87074363e-01 1.59983957e-01 9.45176030e-03 8.87619662e+01] [-1.59977053e-01 9.87119614e-01 -1.48694828e-03 -5.57330519e+00] [-9.56790585e-03 -4.43362265e-05 9.99954226e-01 -2.43664261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144203822 meters 0.015258064033095185 Centerline is valid? [True, True] Translation: X:88.79, Y:-5.57, Z:-2.44 [[ 9.86603692e-01 1.62848679e-01 9.66760892e-03 8.87948492e+01] [-1.62841569e-01 9.86651054e-01 -1.52336648e-03 -5.57367611e+00] [-9.78663475e-03 -7.13296152e-05 9.99952107e-01 -2.43813051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174203822 meters 0.01651206059913216 Centerline is valid? [True, True] Translation: X:88.83, Y:-5.58, Z:-2.44 [[ 9.86363534e-01 1.64282922e-01 9.90453965e-03 8.88255767e+01] [-1.64275499e-01 9.86413257e-01 -1.56388872e-03 -5.57644044e+00] [-1.00268894e-02 -8.45103941e-05 9.99949726e-01 -2.44012216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204203822 meters 0.01600416018505454 Centerline is valid? [True, True] Translation: X:88.86, Y:-5.58, Z:-2.44 [[ 9.86132646e-01 1.65637375e-01 1.03278459e-02 8.88576743e+01] [-1.65629387e-01 9.86186721e-01 -1.62995529e-03 -5.58239605e+00] [-1.04551660e-02 -1.03242664e-04 9.99945338e-01 -2.43764621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.234203822 meters 0.016075158246372345 Centerline is valid? [True, True] Translation: X:88.89, Y:-5.59, Z:-2.44 [[ 9.85910197e-01 1.66968451e-01 1.01301694e-02 8.88898918e+01] [-1.66960814e-01 9.85962232e-01 -1.60100941e-03 -5.58755369e+00] [-1.02552825e-02 -1.12889817e-04 9.99947407e-01 -2.43709920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264203822 meters 0.01752038292931022 Centerline is valid? [True, True] Translation: X:88.92, Y:-5.59, Z:-2.44 [[ 9.85684560e-01 1.68371497e-01 8.77429028e-03 8.89210380e+01] [-1.68365812e-01 9.85723606e-01 -1.38787762e-03 -5.59064001e+00] [-8.88270408e-03 -1.09280970e-04 9.99960542e-01 -2.44096927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.294203822 meters 0.018023885781546265 Centerline is valid? [True, True] Translation: X:88.95, Y:-5.60, Z:-2.44 [[ 9.85712919e-01 1.68191420e-01 9.03814728e-03 8.89520729e+01] [-1.68185365e-01 9.85754348e-01 -1.43125728e-03 -5.59650505e+00] [-9.15011817e-03 -1.09275310e-04 9.99958131e-01 -2.44275593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324203822 meters 0.016865618499763358 Centerline is valid? [True, True] Translation: X:88.98, Y:-5.61, Z:-2.44 [[ 9.86044147e-01 1.66101511e-01 1.12795489e-02 8.89812064e+01] [-1.66091893e-01 9.86108654e-01 -1.79065648e-03 -5.60706713e+00] [-1.14202915e-02 -1.07775283e-04 9.99934781e-01 -2.44066032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.354203822 meters 0.014695667595928578 Centerline is valid? [True, True] Translation: X:89.01, Y:-5.62, Z:-2.44 [[ 9.86269144e-01 1.64632299e-01 1.30146967e-02 8.90122226e+01] [-1.64619370e-01 9.86355005e-01 -2.06592986e-03 -5.61506941e+00] [-1.31772300e-02 -1.04908298e-04 9.99913171e-01 -2.43791056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384203822 meters 0.013574626974976243 Centerline is valid? [True, True] Translation: X:89.04, Y:-5.62, Z:-2.44 [[ 9.86535036e-01 1.62963413e-01 1.38401426e-02 8.90442432e+01] [-1.62948575e-01 9.86632109e-01 -2.20068287e-03 -5.62185891e+00] [-1.40137599e-02 -8.41807604e-05 9.99901799e-01 -2.43786341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414203822 meters 0.012171000766768945 Centerline is valid? [True, True] Translation: X:89.07, Y:-5.63, Z:-2.44 [[ 9.87314551e-01 1.58310692e-01 1.21533214e-02 8.90749565e+01] [-1.58298904e-01 9.87389348e-01 -1.93188877e-03 -5.63344270e+00] [-1.23058988e-02 -1.64755742e-05 9.99924279e-01 -2.44076014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444203822 meters 0.012953496817211934 Centerline is valid? [True, True] Translation: X:89.11, Y:-5.64, Z:-2.44 [[ 9.87710089e-01 1.55821943e-01 1.21779703e-02 8.91058358e+01] [-1.55809894e-01 9.87785160e-01 -1.93776799e-03 -5.64457058e+00] [-1.23311651e-02 1.65047354e-05 9.99923968e-01 -2.44399711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474203822 meters 0.014246614694867233 Centerline is valid? [True, True] Translation: X:89.14, Y:-5.66, Z:-2.45 [[ 9.88081758e-01 1.53388459e-01 1.29004205e-02 8.91355119e+01] [-1.53374694e-01 9.88165967e-01 -2.05556403e-03 -5.65819788e+00] [-1.30630562e-02 5.24672855e-05 9.99914673e-01 -2.44585382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50420382200001 meters 0.028447810310391616 Centerline is valid? [True, True] Translation: X:89.17, Y:-5.67, Z:-2.44 [[ 9.88445488e-01 1.51043402e-01 1.27046564e-02 8.91663699e+01] [-1.51029828e-01 9.88527128e-01 -2.02666523e-03 -5.67076911e+00] [-1.28650120e-02 8.44660284e-05 9.99917239e-01 -2.44270787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534203822 meters 0.016660445816984386 Centerline is valid? [True, True] Translation: X:89.20, Y:-5.69, Z:-2.44 [[ 9.88863481e-01 1.48359196e-01 1.17713870e-02 8.91951822e+01] [-1.48347330e-01 9.88933535e-01 -1.87970855e-03 -5.69061873e+00] [-1.19199914e-02 1.12521310e-04 9.99928948e-01 -2.44460009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564203822 meters 0.01674953304593867 Centerline is valid? [True, True] Translation: X:89.23, Y:-5.70, Z:-2.45 [[ 9.88838149e-01 1.48578105e-01 1.11203103e-02 8.92265278e+01] [-1.48567514e-01 9.88900670e-01 -1.77709299e-03 -5.69809065e+00] [-1.12609194e-02 1.05140497e-04 9.99936588e-01 -2.44654488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.594203822 meters 0.016975318712209114 Centerline is valid? [True, True] Translation: X:89.26, Y:-5.70, Z:-2.45 [[ 9.88416892e-01 1.51442344e-01 9.86226838e-03 8.92584089e+01] [-1.51434147e-01 9.88466090e-01 -1.57703000e-03 -5.70152234e+00] [-9.98734699e-03 6.52788937e-05 9.99950123e-01 -2.45499694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624203822 meters 0.015703858996542176 Centerline is valid? [True, True] Translation: X:89.29, Y:-5.71, Z:-2.46 [[ 9.88102432e-01 1.53456497e-01 1.02316903e-02 8.92905904e+01] [-1.53447756e-01 9.88155403e-01 -1.63868392e-03 -5.70563191e+00] [-1.03619667e-02 4.91576638e-05 9.99946312e-01 -2.45682083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.654203822 meters 0.014569545507459519 Centerline is valid? [True, True] Translation: X:89.32, Y:-5.71, Z:-2.46 [[ 9.87712045e-01 1.55943850e-01 1.03165766e-02 8.93223737e+01] [-1.55935081e-01 9.87765921e-01 -1.65398771e-03 -5.71042185e+00] [-1.04482920e-02 2.49473772e-05 9.99945415e-01 -2.45681058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684203822 meters 0.014876437514066613 Centerline is valid? [True, True] Translation: X:89.35, Y:-5.71, Z:-2.46 [[ 9.86561437e-01 1.63156288e-01 8.74971263e-03 8.93548531e+01] [-1.63150258e-01 9.86600235e-01 -1.40347116e-03 -5.71316153e+00] [-8.86145368e-03 -4.29073480e-05 9.99960736e-01 -2.45719090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.714203822 meters 0.017396858654354138 Centerline is valid? [True, True] Translation: X:89.39, Y:-5.71, Z:-2.46 [[ 9.85867406e-01 1.67335893e-01 8.00973801e-03 8.93856415e+01] [-1.67330946e-01 9.85899941e-01 -1.28858292e-03 -5.71482500e+00] [-8.11242641e-03 -6.99051367e-05 9.99967091e-01 -2.45911676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744203822 meters 0.022448900207975315 Centerline is valid? [True, True] Translation: X:89.42, Y:-5.71, Z:-2.46 [[ 9.84321367e-01 1.76242438e-01 7.07453086e-03 8.94175690e+01] [-1.76238806e-01 9.84346782e-01 -1.13845857e-03 -5.71224425e+00] [-7.16443640e-03 -1.26197780e-04 9.99974327e-01 -2.45709495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774203822 meters 0.027345902909626945 Centerline is valid? [True, True] Translation: X:89.45, Y:-5.71, Z:-2.46 [[ 9.83451944e-01 1.81028240e-01 7.14491851e-03 8.94484109e+01] [-1.81024659e-01 9.83477885e-01 -1.15013488e-03 -5.70944712e+00] [-7.23507624e-03 -1.62304055e-04 9.99973813e-01 -2.45899409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804203822 meters 0.03152491173215572 Centerline is valid? [True, True] Translation: X:89.48, Y:-5.71, Z:-2.46 [[ 9.82507261e-01 1.86056940e-01 7.89281084e-03 8.94806861e+01] [-1.86052736e-01 9.82538939e-01 -1.27003816e-03 -5.70686245e+00] [-7.99129340e-03 -2.20657340e-04 9.99968045e-01 -2.45908937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834203822 meters 0.037337822334598876 Centerline is valid? [True, True] Translation: X:89.51, Y:-5.70, Z:-2.46 [[ 9.81580301e-01 1.90828778e-01 9.19181684e-03 8.95125273e+01] [-1.90823283e-01 9.81623291e-01 -1.47930557e-03 -5.70115422e+00] [-9.30519557e-03 -3.01955465e-04 9.99956660e-01 -2.45989025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86420382200001 meters 0.04794247053093357 Centerline is valid? [True, True] Translation: X:89.55, Y:-5.69, Z:-2.46 [[ 9.79932948e-01 1.99030661e-01 1.08725488e-02 8.95452488e+01] [-1.99023464e-01 9.79993161e-01 -1.75087817e-03 -5.68570106e+00] [-1.10035019e-02 -4.48149120e-04 9.99939359e-01 -2.45972110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894203822 meters 0.047895421791955314 Centerline is valid? [True, True] Translation: X:89.58, Y:-5.69, Z:-2.46 [[ 9.79312935e-01 2.02012719e-01 1.17062807e-02 8.95764969e+01] [-2.02004593e-01 9.79382761e-01 -1.88473649e-03 -5.68839527e+00] [-1.18456703e-02 -5.18975647e-04 9.99929703e-01 -2.45742142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924203822 meters 0.049907109897222975 Centerline is valid? [True, True] Translation: X:89.61, Y:-5.69, Z:-2.46 [[ 9.78859624e-01 2.04149308e-01 1.25258503e-02 8.96078925e+01] [-2.04140179e-01 9.78939590e-01 -2.01667693e-03 -5.68968161e+00] [-1.26737539e-02 -5.82985709e-04 9.99919515e-01 -2.45646745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954203822 meters 0.0530868913387088 Centerline is valid? [True, True] Translation: X:89.64, Y:-5.68, Z:-2.46 [[ 9.78535145e-01 2.05767788e-01 1.13396554e-02 8.96393445e+01] [-2.05760410e-01 9.78600694e-01 -1.82610272e-03 -5.68467017e+00] [-1.14727478e-02 -5.46346465e-04 9.99934037e-01 -2.45949199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.984203822 meters 0.050737372885269146 Centerline is valid? [True, True] Translation: X:89.67, Y:-5.69, Z:-2.46 [[ 9.78584436e-01 2.05577021e-01 1.05161725e-02 8.96716757e+01] [-2.05570697e-01 9.78640808e-01 -1.69047320e-03 -5.68860783e+00] [-1.06390780e-02 -5.07546149e-04 9.99943275e-01 -2.46158798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.014203822 meters 0.051556817211254866 Centerline is valid? [True, True] Translation: X:89.70, Y:-5.69, Z:-2.46 [[ 9.79238247e-01 2.02419276e-01 1.09037806e-02 8.97026953e+01] [-2.02412224e-01 9.79298831e-01 -1.75800673e-03 -5.69068242e+00] [-1.10339141e-02 -4.85551060e-04 9.99939007e-01 -2.46125357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044203822 meters 0.04538393176136736 Centerline is valid? [True, True] Translation: X:89.73, Y:-5.69, Z:-2.46 [[ 9.79660582e-01 2.00366474e-01 1.08820684e-02 8.97336196e+01] [-2.00359323e-01 9.79720911e-01 -1.75456628e-03 -5.69352825e+00] [-1.10129462e-02 -4.61444428e-04 9.99939249e-01 -2.46347678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.074203822 meters 0.04389884000772091 Centerline is valid? [True, True] Translation: X:89.76, Y:-5.70, Z:-2.47 [[ 9.80171063e-01 1.97881092e-01 1.03807758e-02 8.97641417e+01] [-1.97874446e-01 9.80225944e-01 -1.67376076e-03 -5.69621553e+00] [-1.05067114e-02 -4.13518393e-04 9.99944717e-01 -2.46534253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104203822 meters 0.03643898399210316 Centerline is valid? [True, True] Translation: X:89.79, Y:-5.70, Z:-2.47 [[ 9.81545707e-01 1.90970089e-01 9.92217831e-03 8.97944167e+01] [-1.90963653e-01 9.81595803e-01 -1.60078724e-03 -5.70030628e+00] [-1.00452711e-02 -3.23529574e-04 9.99949493e-01 -2.46761481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.134203822 meters 0.03197204769132058 Centerline is valid? [True, True] Translation: X:89.82, Y:-5.71, Z:-2.47 [[ 9.82374909e-01 1.86691280e-01 9.26849374e-03 8.98245971e+01] [-1.86685477e-01 9.82418596e-01 -1.49507818e-03 -5.70682849e+00] [-9.38465866e-03 -2.61565881e-04 9.99955929e-01 -2.46960028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164203822 meters 0.028505690323460016 Centerline is valid? [True, True] Translation: X:89.85, Y:-5.71, Z:-2.47 [[ 9.83234846e-01 1.82164289e-01 8.08764551e-03 8.98547541e+01] [-1.82159719e-01 9.83268089e-01 -1.30441118e-03 -5.71347890e+00] [-8.18994088e-03 -1.90700709e-04 9.99966444e-01 -2.47291731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194203822 meters 0.028505690323460016 Centerline is valid? [True, True] Translation: X:89.89, Y:-5.72, Z:-2.47 [[ 9.83200618e-01 1.82348913e-01 8.08814337e-03 8.98867935e+01] [-1.82344374e-01 9.83233866e-01 -1.30132814e-03 -5.71883180e+00] [-8.18983225e-03 -1.95360807e-04 9.99966444e-01 -2.47383978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224203822 meters 0.025217373824069095 Centerline is valid? [True, True] Translation: X:89.92, Y:-5.73, Z:-2.48 [[ 9.84108296e-01 1.77420807e-01 7.26084666e-03 8.99162338e+01] [-1.77416981e-01 9.84135072e-01 -1.17281960e-03 -5.72594697e+00] [-7.35373645e-03 -1.34015999e-04 9.99972952e-01 -2.47736267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25420382200001 meters 0.01684930241908 Centerline is valid? [True, True] Translation: X:89.95, Y:-5.74, Z:-2.48 [[ 9.85964055e-01 1.66754205e-01 8.24122646e-03 8.99450507e+01] [-1.66748901e-01 9.85998495e-01 -1.33140812e-03 -5.73677213e+00] [-8.34785479e-03 -6.14949115e-05 9.99965154e-01 -2.47777773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284203822 meters 0.014547596183328227 Centerline is valid? [True, True] Translation: X:89.98, Y:-5.75, Z:-2.48 [[ 9.86924632e-01 1.60917010e-01 9.24593925e-03 8.99750624e+01] [-1.60910104e-01 9.86967941e-01 -1.49091186e-03 -5.74690997e+00] [-9.36535870e-03 -1.63474035e-05 9.99956144e-01 -2.47717321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314203822 meters 0.015219507144504039 Centerline is valid? [True, True] Translation: X:90.01, Y:-5.76, Z:-2.47 [[ 9.87907466e-01 1.54723755e-01 9.96987878e-03 9.00066411e+01] [-1.54715395e-01 9.87957771e-01 -1.60907242e-03 -5.75931290e+00] [-1.00987809e-02 4.71209267e-05 9.99949005e-01 -2.47464713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.344203822 meters 0.027002980608451715 Centerline is valid? [True, True] Translation: X:90.03, Y:-5.78, Z:-2.47 [[ 9.89838946e-01 1.41738221e-01 1.13638553e-02 9.00333372e+01] [-1.41726440e-01 9.89904153e-01 -1.83945468e-03 -5.78033405e+00] [-1.15098486e-02 2.10205133e-04 9.99933737e-01 -2.47347355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.374203822 meters 0.03053509534333626 Centerline is valid? [True, True] Translation: X:90.06, Y:-5.79, Z:-2.47 [[ 9.90692723e-01 1.35597188e-01 1.18882679e-02 9.00634687e+01] [-1.35583842e-01 9.90764006e-01 -1.92522839e-03 -5.78774085e+00] [-1.20395234e-02 2.95452729e-04 9.99927479e-01 -2.47070820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404203822 meters 0.04184296073273589 Centerline is valid? [True, True] Translation: X:90.09, Y:-5.80, Z:-2.47 [[ 9.92145096e-01 1.24528499e-01 1.18643240e-02 9.00920576e+01] [-1.24514407e-01 9.92215938e-01 -1.92196936e-03 -5.80390821e+00] [-1.20113113e-02 4.29593203e-04 9.99927769e-01 -2.47231531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.434203822 meters 0.04831903529278039 Centerline is valid? [True, True] Translation: X:90.12, Y:-5.82, Z:-2.48 [[ 9.92778730e-01 1.19460798e-01 1.09321089e-02 9.01195396e+01] [-1.19448531e-01 9.92838816e-01 -1.77051869e-03 -5.81705797e+00] [-1.10653297e-02 4.51908934e-04 9.99938675e-01 -2.47549062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464203822 meters 0.05311744554350253 Centerline is valid? [True, True] Translation: X:90.15, Y:-5.83, Z:-2.48 [[ 9.93305907e-01 1.15072271e-01 1.00869950e-02 9.01486117e+01] [-1.15061591e-01 9.93357014e-01 -1.63472045e-03 -5.82875053e+00] [-1.02080982e-02 4.63151796e-04 9.99947789e-01 -2.47852306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.494203822 meters 0.05829360685791108 Centerline is valid? [True, True] Translation: X:90.18, Y:-5.84, Z:-2.48 [[ 9.93821879e-01 1.10595495e-01 9.31183539e-03 9.01781497e+01] [-1.10586198e-01 9.93865391e-01 -1.50899079e-03 -5.84089186e+00] [-9.42159850e-03 4.69907584e-04 9.99955505e-01 -2.48049116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524203822 meters 0.05817440967289601 Centerline is valid? [True, True] Translation: X:90.21, Y:-5.85, Z:-2.48 [[ 9.93801572e-01 1.10762413e-01 9.49329761e-03 9.02104312e+01] [-1.10752789e-01 9.93846801e-01 -1.53516614e-03 -5.84605100e+00] [-9.60492216e-03 4.74241340e-04 9.99953759e-01 -2.48036334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554203822 meters 0.06411185426767879 Centerline is valid? [True, True] Translation: X:90.24, Y:-5.86, Z:-2.48 [[ 9.93651524e-01 1.12104870e-01 9.44180744e-03 9.02403314e+01] [-1.12095389e-01 9.93696274e-01 -1.52913744e-03 -5.85842429e+00] [-9.55371263e-03 4.61046668e-04 9.99954256e-01 -2.48391147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584203822 meters 0.04942971708308092 Centerline is valid? [True, True] Translation: X:90.27, Y:-5.85, Z:-2.48 [[ 9.93421221e-01 1.14193243e-01 8.61283384e-03 9.02749662e+01] [-1.14185401e-01 9.93458473e-01 -1.39847568e-03 -5.84514233e+00] [-8.71618924e-03 4.05815528e-04 9.99961931e-01 -2.47904747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61420382200001 meters 0.04801674180194365 Centerline is valid? [True, True] Translation: X:90.30, Y:-5.85, Z:-2.49 [[ 9.92706186e-01 1.20385845e-01 6.45572173e-03 9.03043960e+01] [-1.20381562e-01 9.92727142e-01 -1.04930266e-03 -5.84565759e+00] [-6.53509137e-03 2.64499376e-04 9.99978611e-01 -2.48552380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644203822 meters 0.044852738095766065 Centerline is valid? [True, True] Translation: X:90.33, Y:-5.85, Z:-2.49 [[ 9.92211377e-01 1.24404256e-01 6.33761066e-03 9.03349912e+01] [-1.24400212e-01 9.92231589e-01 -1.02977092e-03 -5.84549303e+00] [-6.41648538e-03 2.33350310e-04 9.99979387e-01 -2.48758816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674203822 meters 0.03726995894870899 Centerline is valid? [True, True] Translation: X:90.37, Y:-5.84, Z:-2.49 [[ 9.91662138e-01 1.28691470e-01 6.68654414e-03 9.03667643e+01] [-1.28687066e-01 9.91684657e-01 -1.08646761e-03 -5.83989391e+00] [-6.77076235e-03 2.16937043e-04 9.99977055e-01 -2.48586673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704203822 meters 0.02952303580066637 Centerline is valid? [True, True] Translation: X:90.40, Y:-5.83, Z:-2.49 [[ 9.90539227e-01 1.37022815e-01 7.53572489e-03 9.03973264e+01] [-1.37017461e-01 9.90567875e-01 -1.22472639e-03 -5.83327427e+00] [-7.63246245e-03 1.80613643e-04 9.99970856e-01 -2.48703039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.734203822 meters 0.02956333322108666 Centerline is valid? [True, True] Translation: X:90.43, Y:-5.84, Z:-2.49 [[ 9.90062791e-01 1.40416343e-01 7.67601754e-03 9.04269580e+01] [-1.40410895e-01 9.90092534e-01 -1.24687710e-03 -5.83934546e+00] [-7.77504958e-03 1.56690134e-04 9.99969762e-01 -2.49232092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764203822 meters 0.027591725609399553 Centerline is valid? [True, True] Translation: X:90.46, Y:-5.84, Z:-2.50 [[ 9.89699974e-01 1.43007051e-01 6.55316402e-03 9.04581406e+01] [-1.43003156e-01 9.89721663e-01 -1.06147168e-03 -5.84341558e+00] [-6.63760633e-03 1.13415352e-04 9.99977964e-01 -2.49521580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.794203822 meters 0.024798896344868312 Centerline is valid? [True, True] Translation: X:90.49, Y:-5.85, Z:-2.50 [[ 9.89363784e-01 1.45385450e-01 4.73019024e-03 9.04915646e+01] [-1.45383455e-01 9.89375089e-01 -7.64755414e-04 -5.84604414e+00] [-4.79111670e-03 6.89299120e-05 9.99988520e-01 -2.49715921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824203822 meters 0.022159443560368083 Centerline is valid? [True, True] Translation: X:90.52, Y:-5.85, Z:-2.50 [[ 9.88774479e-01 1.49379808e-01 3.27144120e-03 9.05236100e+01] [-1.49378877e-01 9.88779890e-01 -5.28489766e-04 -5.84711706e+00] [-3.31368097e-03 3.38729809e-05 9.99994509e-01 -2.50152045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.854203822 meters 0.020071622866588503 Centerline is valid? [True, True] Translation: X:90.56, Y:-5.85, Z:-2.50 [[ 9.88451552e-01 1.51479484e-01 4.18275258e-03 9.05552400e+01] [-1.51477972e-01 9.88460401e-01 -6.77722859e-04 -5.85079117e+00] [-4.23714640e-03 3.63013322e-05 9.99991023e-01 -2.50007854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884203822 meters 0.01727595350765405 Centerline is valid? [True, True] Translation: X:90.59, Y:-5.85, Z:-2.50 [[ 9.88060357e-01 1.53984447e-01 5.05179367e-03 9.05872862e+01] [-1.53982265e-01 9.88073271e-01 -8.20272088e-04 -5.85334851e+00] [-5.11785144e-03 3.25916996e-05 9.99986903e-01 -2.49680901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914203822 meters 0.015285600861599736 Centerline is valid? [True, True] Translation: X:90.62, Y:-5.85, Z:-2.50 [[ 9.87264626e-01 1.58981764e-01 5.77547924e-03 9.06190628e+01] [-1.58978988e-01 9.87281519e-01 -9.39548653e-04 -5.85484719e+00] [-5.85139502e-03 9.40330431e-06 9.99982880e-01 -2.49627500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944203822 meters 0.015173355690885786 Centerline is valid? [True, True] Translation: X:90.65, Y:-5.86, Z:-2.50 [[ 9.86861256e-01 1.61456423e-01 6.05685882e-03 9.06499279e+01] [-1.61453398e-01 9.86879842e-01 -9.88328107e-04 -5.85914057e+00] [-6.13696380e-03 -2.55772183e-06 9.99981169e-01 -2.49721492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974203822 meters 0.01414496254611058 Centerline is valid? [True, True] Translation: X:90.68, Y:-5.86, Z:-2.49 [[ 9.85936872e-01 1.66878886e-01 8.93989410e-03 9.06822384e+01] [-1.66872512e-01 9.85977401e-01 -1.45948453e-03 -5.86127738e+00] [-9.05809070e-03 -5.28629690e-05 9.99958973e-01 -2.49120476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00420382200001 meters 0.015351246578321005 Centerline is valid? [True, True] Translation: X:90.71, Y:-5.86, Z:-2.49 [[ 9.85477603e-01 1.69493759e-01 1.02839844e-02 9.07138754e+01] [-1.69485426e-01 9.85531257e-01 -1.68281237e-03 -5.86325496e+00] [-1.04204143e-02 -8.46115876e-05 9.99945702e-01 -2.49103874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034203822 meters 0.016584341393439037 Centerline is valid? [True, True] Translation: X:90.75, Y:-5.87, Z:-2.49 [[ 9.85049468e-01 1.71914949e-01 1.10813188e-02 9.07467646e+01] [-1.71905431e-01 9.85111789e-01 -1.81296302e-03 -5.86638314e+00] [-1.12280133e-02 -1.19080624e-04 9.99936957e-01 -2.49019299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064203822 meters 0.018852080841672388 Centerline is valid? [True, True] Translation: X:90.78, Y:-5.87, Z:-2.49 [[ 9.84720071e-01 1.73784170e-01 1.12001489e-02 9.07778990e+01] [-1.73774534e-01 9.84783754e-01 -1.83526460e-03 -5.86882481e+00] [-1.13486646e-02 -1.39078780e-04 9.99935592e-01 -2.49202945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.094203822 meters 0.019976223023020497 Centerline is valid? [True, True] Translation: X:90.81, Y:-5.87, Z:-2.49 [[ 9.84537114e-01 1.74834660e-01 1.09321602e-02 9.08087939e+01] [-1.74825526e-01 9.84597796e-01 -1.79307613e-03 -5.87411368e+00] [-1.10772727e-02 -1.45870657e-04 9.99938634e-01 -2.49388275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124203822 meters 0.018562390941832898 Centerline is valid? [True, True] Translation: X:90.84, Y:-5.88, Z:-2.49 [[ 9.84532698e-01 1.74937462e-01 9.60476152e-03 9.08396146e+01] [-1.74930410e-01 9.84579539e-01 -1.57591766e-03 -5.88245949e+00] [-9.73233870e-03 -1.28622413e-04 9.99952631e-01 -2.49399443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.154203822 meters 0.019285439689952315 Centerline is valid? [True, True] Translation: X:90.87, Y:-5.89, Z:-2.50 [[ 9.84608027e-01 1.74650873e-01 6.64122547e-03 9.08712467e+01] [-1.74647480e-01 9.84630421e-01 -1.09193738e-03 -5.88688459e+00] [-6.72986045e-03 -8.47429858e-05 9.99977351e-01 -2.50057908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184203822 meters 0.019114943740623568 Centerline is valid? [True, True] Translation: X:90.90, Y:-5.89, Z:-2.50 [[ 9.84595949e-01 1.74712482e-01 6.80928884e-03 9.09039004e+01] [-1.74708936e-01 9.84619490e-01 -1.11682547e-03 -5.89254146e+00] [-6.89968185e-03 -9.00217746e-05 9.99976193e-01 -2.50225832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.214203822 meters 0.018569226928849852 Centerline is valid? [True, True] Translation: X:90.94, Y:-5.90, Z:-2.50 [[ 9.84594511e-01 1.74677731e-01 7.83193456e-03 9.09356809e+01] [-1.74673016e-01 9.84625655e-01 -1.28741020e-03 -5.89925319e+00] [-7.93640559e-03 -1.00450608e-04 9.99968501e-01 -2.50093158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244203822 meters 0.021110381015741163 Centerline is valid? [True, True] Translation: X:90.97, Y:-5.90, Z:-2.50 [[ 9.84607229e-01 1.74523248e-01 9.49948506e-03 9.09666265e+01] [-1.74516276e-01 9.84653046e-01 -1.56440314e-03 -5.90297118e+00] [-9.62672162e-03 -1.17492121e-04 9.99953655e-01 -2.50460636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274203822 meters 0.017027748672679813 Centerline is valid? [True, True] Translation: X:91.00, Y:-5.91, Z:-2.50 [[ 9.84776968e-01 1.73581638e-01 9.15081558e-03 9.09974775e+01] [-1.73575118e-01 9.84819478e-01 -1.50802722e-03 -5.91495644e+00] [-9.27366725e-03 -1.03283413e-04 9.99956993e-01 -2.49759434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304203822 meters 0.016766668721984065 Centerline is valid? [True, True] Translation: X:91.03, Y:-5.92, Z:-2.50 [[ 9.84890277e-01 1.72952111e-01 8.87185376e-03 9.10304646e+01] [-1.72945948e-01 9.84930230e-01 -1.46297175e-03 -5.92034848e+00] [-8.99118102e-03 -9.34845119e-05 9.99959574e-01 -2.49911925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334203822 meters 0.016277798695888298 Centerline is valid? [True, True] Translation: X:91.06, Y:-5.93, Z:-2.50 [[ 9.85103415e-01 1.71754087e-01 8.47324681e-03 9.10621875e+01] [-1.71748407e-01 9.85139852e-01 -1.39889250e-03 -5.92661697e+00] [-8.58759861e-03 -7.72128640e-05 9.99963123e-01 -2.50185204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36420382200001 meters 0.015803663283844777 Centerline is valid? [True, True] Translation: X:91.09, Y:-5.94, Z:-2.51 [[ 9.85840230e-01 1.67550782e-01 6.76579943e-03 9.10919164e+01] [-1.67547057e-01 9.85863446e-01 -1.11774711e-03 -5.93680272e+00] [-6.85743374e-03 -3.16697154e-05 9.99976487e-01 -2.50856322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394203822 meters 0.01581702113098114 Centerline is valid? [True, True] Translation: X:91.12, Y:-5.95, Z:-2.51 [[ 9.86259863e-01 1.65087037e-01 6.14437417e-03 9.11226508e+01] [-1.65083916e-01 9.86279002e-01 -1.01524218e-03 -5.94573996e+00] [-6.22767054e-03 -1.30447365e-05 9.99980608e-01 -2.51119488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424203822 meters 0.015425509383983906 Centerline is valid? [True, True] Translation: X:91.15, Y:-5.96, Z:-2.51 [[ 9.87159828e-01 1.59605085e-01 6.45689006e-03 9.11534854e+01] [-1.59601515e-01 9.87180944e-01 -1.06774946e-03 -5.96034649e+00] [-6.54453707e-03 2.35099311e-05 9.99978584e-01 -2.50842863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454203822 meters 0.01643181131914659 Centerline is valid? [True, True] Translation: X:91.18, Y:-5.97, Z:-2.51 [[ 9.87588238e-01 1.56922515e-01 6.69294710e-03 9.11839548e+01] [-1.56918604e-01 9.87610916e-01 -1.10878982e-03 -5.97145909e+00] [-6.78402171e-03 4.47798699e-05 9.99976987e-01 -2.50836839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.484203822 meters 0.018563349796532305 Centerline is valid? [True, True] Translation: X:91.21, Y:-5.98, Z:-2.51 [[ 9.87954917e-01 1.54582808e-01 7.01697288e-03 9.12135189e+01] [-1.54578428e-01 9.87979833e-01 -1.16563214e-03 -5.98304418e+00] [-7.11281439e-03 6.69193619e-05 9.99974701e-01 -2.51021122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.514203822 meters 0.01999049102944078 Centerline is valid? [True, True] Translation: X:91.24, Y:-5.99, Z:-2.51 [[ 9.88217314e-01 1.52920597e-01 6.46776665e-03 9.12448611e+01] [-1.52916848e-01 9.88238476e-01 -1.07315767e-03 -5.99213317e+00] [-6.55580377e-03 7.14824941e-05 9.99978508e-01 -2.51108053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544203822 meters 0.023870046553374935 Centerline is valid? [True, True] Translation: X:91.27, Y:-6.00, Z:-2.52 [[ 9.88645492e-01 1.50205723e-01 4.28167016e-03 9.12730706e+01] [-1.50204042e-01 9.88654761e-01 -7.13346825e-04 -6.00354187e+00] [-4.34024237e-03 6.21229554e-05 9.99990579e-01 -2.51717133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.574203822 meters 0.0242613352389805 Centerline is valid? [True, True] Translation: X:91.30, Y:-6.01, Z:-2.52 [[ 9.88740448e-01 1.49603471e-01 3.33594645e-03 9.13044620e+01] [-1.49602461e-01 9.88746074e-01 -5.51778437e-04 -6.01073928e+00] [-3.38095193e-03 4.64998592e-05 9.99994283e-01 -2.51915223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604203822 meters 0.024067076139360526 Centerline is valid? [True, True] Translation: X:91.34, Y:-6.02, Z:-2.52 [[ 9.88670447e-01 1.50082318e-01 2.45876584e-03 9.13364444e+01] [-1.50081773e-01 9.88673504e-01 -4.05842180e-04 -6.01656813e+00] [-2.49182637e-03 3.22282318e-05 9.99996895e-01 -2.52066723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.634203822 meters 0.02100995846702681 Centerline is valid? [True, True] Translation: X:91.37, Y:-6.02, Z:-2.52 [[ 9.88088028e-01 1.53863818e-01 2.82378119e-03 9.13687054e+01] [-1.53863111e-01 9.88092063e-01 -4.67294111e-04 -6.01705720e+00] [-2.86205543e-03 2.72519581e-05 9.99995904e-01 -2.52001016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664203822 meters 0.020093125380488262 Centerline is valid? [True, True] Translation: X:91.40, Y:-6.02, Z:-2.52 [[ 9.87613370e-01 1.56855608e-01 4.01867486e-03 9.14001564e+01] [-1.56854189e-01 9.87621546e-01 -6.67807259e-04 -6.01945759e+00] [-4.07367920e-03 2.91893906e-05 9.99991702e-01 -2.52177767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694203822 meters 0.018072272717989054 Centerline is valid? [True, True] Translation: X:91.43, Y:-6.02, Z:-2.52 [[ 9.87018068e-01 1.60541202e-01 4.67509098e-03 9.14319918e+01] [-1.60539313e-01 9.87029139e-01 -7.78955366e-04 -6.01959360e+00] [-4.73950546e-03 1.83071236e-05 9.99988768e-01 -2.52175797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724203822 meters 0.015970723893690683 Centerline is valid? [True, True] Translation: X:91.47, Y:-6.01, Z:-2.52 [[ 9.85494478e-01 1.69654218e-01 4.25203351e-03 9.14669424e+01] [-1.69652744e-01 9.85503651e-01 -7.07676181e-04 -6.01193380e+00] [-4.31045480e-03 -2.39581842e-05 9.99990710e-01 -2.51791805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75420382200001 meters 0.0185416485837918 Centerline is valid? [True, True] Translation: X:91.50, Y:-6.01, Z:-2.52 [[ 9.84666668e-01 1.74385804e-01 4.59830499e-03 9.14988775e+01] [-1.74384121e-01 9.84677404e-01 -7.67560353e-04 -6.00959567e+00] [-4.66169865e-03 -4.60802787e-05 9.99989133e-01 -2.51991941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784203822 meters 0.01905030631717563 Centerline is valid? [True, True] Translation: X:91.53, Y:-6.01, Z:-2.52 [[ 9.83893082e-01 1.78692046e-01 4.85346600e-03 9.15319180e+01] [-1.78690220e-01 9.83905050e-01 -8.10745365e-04 -6.00939324e+00] [-4.92022346e-03 -6.95801539e-05 9.99987893e-01 -2.51589566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814203822 meters 0.02442450288795094 Centerline is valid? [True, True] Translation: X:91.56, Y:-6.00, Z:-2.52 [[ 9.82872058e-01 1.84188731e-01 6.08519171e-03 9.15649614e+01] [-1.84185950e-01 9.82890888e-01 -1.01912405e-03 -5.99990784e+00] [-6.16879065e-03 -1.19138266e-04 9.99980966e-01 -2.51844654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.844203822 meters 0.02528232241847617 Centerline is valid? [True, True] Translation: X:91.60, Y:-6.00, Z:-2.52 [[ 9.82669922e-01 1.85247831e-01 6.56245160e-03 9.15983281e+01] [-1.85244615e-01 9.82691825e-01 -1.09983171e-03 -6.00256809e+00] [-6.65260898e-03 -1.34887278e-04 9.99977862e-01 -2.51969435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.874203822 meters 0.024713386392816283 Centerline is valid? [True, True] Translation: X:91.63, Y:-6.01, Z:-2.52 [[ 9.82673939e-01 1.85205364e-01 7.13457697e-03 9.16302311e+01] [-1.85201545e-01 9.82699828e-01 -1.19805540e-03 -6.00764822e+00] [-7.23303385e-03 -1.44036862e-04 9.99973831e-01 -2.52016338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904203822 meters 0.0246260200210178 Centerline is valid? [True, True] Translation: X:91.66, Y:-6.01, Z:-2.52 [[ 9.82912853e-01 1.83920573e-01 7.45298407e-03 9.16610818e+01] [-1.83916355e-01 9.82941099e-01 -1.25326432e-03 -6.01340387e+00] [-7.55634544e-03 -1.38876053e-04 9.99971441e-01 -2.52210642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.934203822 meters 0.02253501516875287 Centerline is valid? [True, True] Translation: X:91.69, Y:-6.02, Z:-2.52 [[ 9.83342045e-01 1.81596135e-01 7.82726699e-03 9.16912276e+01] [-1.81591388e-01 9.83373189e-01 -1.31893558e-03 -6.02262603e+00] [-7.93663811e-03 -1.24399468e-04 9.99968497e-01 -2.52228754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964203822 meters 0.020005760560331282 Centerline is valid? [True, True] Translation: X:91.72, Y:-6.03, Z:-2.52 [[ 9.83900202e-01 1.78514548e-01 8.54098010e-03 9.17199563e+01] [-1.78508757e-01 9.83937267e-01 -1.44183259e-03 -6.03316290e+00] [-8.66117671e-03 -1.06020361e-04 9.99962486e-01 -2.52183560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.994203822 meters 0.015204926303185042 Centerline is valid? [True, True] Translation: X:91.75, Y:-6.05, Z:-2.52 [[ 9.84982551e-01 1.72502543e-01 7.22815521e-03 9.17503798e+01] [-1.72498257e-01 9.85009071e-01 -1.21696038e-03 -6.04833609e+00] [-7.32972721e-03 -4.81594390e-05 9.99973136e-01 -2.52123965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024203822 meters 0.015265032915175714 Centerline is valid? [True, True] Translation: X:91.78, Y:-6.06, Z:-2.53 [[ 9.85398759e-01 1.70180192e-01 5.29044465e-03 9.17811342e+01] [-1.70177863e-01 9.85412960e-01 -8.90595804e-04 -6.05551234e+00] [-5.36483449e-03 -2.27245666e-05 9.99985609e-01 -2.52626783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054203822 meters 0.028789741412336155 Centerline is valid? [True, True] Translation: X:91.81, Y:-6.06, Z:-2.53 [[ 9.85856731e-01 1.67548494e-01 3.74284022e-03 9.18126144e+01] [-1.67547313e-01 9.85863835e-01 -6.29057878e-04 -6.06353009e+00] [-3.79532851e-03 -6.94187940e-06 9.99992798e-01 -2.53061210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084203822 meters 0.016024669911639557 Centerline is valid? [True, True] Translation: X:91.84, Y:-6.07, Z:-2.53 [[ 9.86247659e-01 1.65238043e-01 3.45601721e-03 9.18437392e+01] [-1.65237021e-01 9.86253714e-01 -5.81035401e-04 -6.07373811e+00] [-3.50451896e-03 1.98281591e-06 9.99993859e-01 -2.53237557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11420382200001 meters 0.016024669911639557 Centerline is valid? [True, True] Translation: X:91.88, Y:-6.08, Z:-2.53 [[ 9.86215796e-01 1.65428112e-01 3.45602033e-03 9.18757234e+01] [-1.65427091e-01 9.86221851e-01 -5.81019756e-04 -6.07934862e+00] [-3.50451977e-03 1.29147002e-06 9.99993859e-01 -2.53329866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144203822 meters 0.0151325410006823 Centerline is valid? [True, True] Translation: X:91.91, Y:-6.09, Z:-2.53 [[ 9.86838421e-01 1.61583490e-01 6.38024266e-03 9.19062787e+01] [-1.61579891e-01 9.86859045e-01 -1.07895849e-03 -6.09255801e+00] [-6.47074206e-03 3.38387732e-05 9.99979064e-01 -2.52616275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174203822 meters 0.017972846789322948 Centerline is valid? [True, True] Translation: X:91.94, Y:-6.10, Z:-2.53 [[ 9.87051120e-01 1.60213364e-01 7.85902355e-03 9.19363932e+01] [-1.60207838e-01 9.87082405e-01 -1.33190431e-03 -6.10270413e+00] [-7.97089274e-03 5.55804730e-05 9.99968230e-01 -2.53056633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204203822 meters 0.017723840518926465 Centerline is valid? [True, True] Translation: X:91.97, Y:-6.11, Z:-2.53 [[ 9.87248157e-01 1.59027640e-01 7.16148502e-03 9.19676946e+01] [-1.59023014e-01 9.87274129e-01 -1.21437056e-03 -6.10945284e+00] [-7.26346737e-03 6.00441644e-05 9.99973619e-01 -2.52896248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.234203822 meters 0.021435333510601444 Centerline is valid? [True, True] Translation: X:92.00, Y:-6.12, Z:-2.54 [[ 9.87672017e-01 1.56459397e-01 4.94416462e-03 9.19972654e+01] [-1.56457149e-01 9.87684390e-01 -8.40593887e-04 -6.11922493e+00] [-5.01479303e-03 5.66811603e-05 9.99987424e-01 -2.53602930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264203822 meters 0.01966326769215829 Centerline is valid? [True, True] Translation: X:92.03, Y:-6.12, Z:-2.53 [[ 9.87807089e-01 1.55579641e-01 5.66834670e-03 9.20296924e+01] [-1.55576671e-01 9.87823350e-01 -9.63845659e-04 -6.12404583e+00] [-5.74927999e-03 7.02310621e-05 9.99983470e-01 -2.53176233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.294203822 meters 0.021537293960898263 Centerline is valid? [True, True] Translation: X:92.06, Y:-6.13, Z:-2.53 [[ 9.87881119e-01 1.55038943e-01 7.33629803e-03 9.20600693e+01] [-1.55033951e-01 9.87908355e-01 -1.24768337e-03 -6.13323662e+00] [-7.44102963e-03 9.51875755e-05 9.99972311e-01 -2.53314337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324203822 meters 0.02031832238800954 Centerline is valid? [True, True] Translation: X:92.09, Y:-6.14, Z:-2.53 [[ 9.88036715e-01 1.54014126e-01 7.94342337e-03 9.20921755e+01] [-1.54008250e-01 9.88068640e-01 -1.34990643e-03 -6.14235512e+00] [-8.05655218e-03 1.10404387e-04 9.99967539e-01 -2.52862231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.354203822 meters 0.021260747208440595 Centerline is valid? [True, True] Translation: X:92.12, Y:-6.15, Z:-2.53 [[ 9.88071608e-01 1.53871083e-01 6.17964077e-03 9.21235576e+01] [-1.53867520e-01 9.88090928e-01 -1.05074347e-03 -6.14928966e+00] [-6.26772602e-03 8.73637922e-05 9.99980354e-01 -2.53208473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384203822 meters 0.022680181897929714 Centerline is valid? [True, True] Translation: X:92.15, Y:-6.15, Z:-2.54 [[ 9.87898986e-01 1.55058707e-01 3.51998692e-03 9.21544236e+01] [-1.55057562e-01 9.87905256e-01 -5.97302533e-04 -6.15430267e+00] [-3.57003054e-03 4.42739760e-05 9.99993626e-01 -2.54057924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414203822 meters 0.02195860551426466 Centerline is valid? [True, True] Translation: X:92.19, Y:-6.16, Z:-2.54 [[ 9.87686801e-01 1.56400628e-01 3.69140742e-03 9.21857891e+01] [-1.56399375e-01 9.87693698e-01 -6.27385285e-04 -6.15771944e+00] [-3.74410330e-03 4.23263518e-05 9.99992990e-01 -2.54259300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444203822 meters 0.02044346871430217 Centerline is valid? [True, True] Translation: X:92.22, Y:-6.16, Z:-2.54 [[ 9.87424973e-01 1.58015213e-01 4.80781955e-03 9.22183538e+01] [-1.58013085e-01 9.87436676e-01 -8.21569952e-04 -6.16120504e+00] [-4.87723790e-03 5.15402888e-05 9.99988105e-01 -2.54220239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474203822 meters 0.0266011641308117 Centerline is valid? [True, True] Translation: X:92.25, Y:-6.16, Z:-2.54 [[ 9.87129590e-01 1.59819157e-01 5.74532333e-03 9.22508691e+01] [-1.59816160e-01 9.87146309e-01 -9.79959810e-04 -6.16438836e+00] [-5.82809106e-03 4.91518134e-05 9.99983015e-01 -2.54025318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50420382200001 meters 0.0171290605639345 Centerline is valid? [True, True] Translation: X:92.28, Y:-6.17, Z:-2.54 [[ 9.86797720e-01 1.61840885e-01 6.14718303e-03 9.22823031e+01] [-1.61837485e-01 9.86816866e-01 -1.04993196e-03 -6.17343584e+00] [-6.23606581e-03 4.12258193e-05 9.99980555e-01 -2.53933302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534203822 meters 0.016712380529294052 Centerline is valid? [True, True] Translation: X:92.31, Y:-6.18, Z:-2.54 [[ 9.86817058e-01 1.61716749e-01 6.30766352e-03 9.23144618e+01] [-1.61713162e-01 9.86837216e-01 -1.07793855e-03 -6.18259461e+00] [-6.39895783e-03 4.36959355e-05 9.99979526e-01 -2.53851610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564203822 meters 0.016877288681915403 Centerline is valid? [True, True] Translation: X:92.35, Y:-6.19, Z:-2.54 [[ 9.86868718e-01 1.61409182e-01 6.10000168e-03 9.23461682e+01] [-1.61405812e-01 9.86887569e-01 -1.04401589e-03 -6.19017030e+00] [-6.18852958e-03 4.57308973e-05 9.99980850e-01 -2.53925944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.594203822 meters 0.01916273351278707 Centerline is valid? [True, True] Translation: X:92.38, Y:-6.20, Z:-2.55 [[ 9.87079064e-01 1.60149467e-01 5.20292611e-03 9.23758201e+01] [-1.60146986e-01 9.87092775e-01 -8.92702929e-04 -6.19735654e+00] [-5.27873667e-03 4.79354368e-05 9.99986066e-01 -2.54519807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624203822 meters 0.01955672304802588 Centerline is valid? [True, True] Translation: X:92.41, Y:-6.21, Z:-2.55 [[ 9.87191997e-01 1.59465717e-01 4.75887227e-03 9.24075221e+01] [-1.59463642e-01 9.87203466e-01 -8.14757021e-04 -6.20507925e+00] [-4.82790101e-03 4.54545084e-05 9.99988345e-01 -2.54644509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.654203822 meters 0.01958164172972586 Centerline is valid? [True, True] Translation: X:92.44, Y:-6.21, Z:-2.55 [[ 9.87244928e-01 1.59133277e-01 4.90435703e-03 9.24394948e+01] [-1.59131068e-01 9.87257108e-01 -8.40042335e-04 -6.21459405e+00] [-4.97554003e-03 4.88919653e-05 9.99987621e-01 -2.54622734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684203822 meters 0.019585020476795587 Centerline is valid? [True, True] Translation: X:92.47, Y:-6.23, Z:-2.55 [[ 9.87117288e-01 1.59892351e-01 5.82202523e-03 9.24691678e+01] [-1.59889233e-01 9.87134455e-01 -1.00002290e-03 -6.22843561e+00] [-5.90701772e-03 5.62607397e-05 9.99982552e-01 -2.54558396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.714203822 meters 0.017732970171559954 Centerline is valid? [True, True] Translation: X:92.50, Y:-6.23, Z:-2.54 [[ 9.86826482e-01 1.61666989e-01 6.10572417e-03 9.25009677e+01] [-1.61663586e-01 9.86845369e-01 -1.05004668e-03 -6.23422503e+00] [-6.19516351e-03 4.91406058e-05 9.99980809e-01 -2.54375000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744203822 meters 0.01689528898568899 Centerline is valid? [True, True] Translation: X:92.53, Y:-6.23, Z:-2.54 [[ 9.85888186e-01 1.67262761e-01 6.90313370e-03 9.25336122e+01] [-1.67258537e-01 9.85912353e-01 -1.18889373e-03 -6.23407633e+00] [-7.00474244e-03 1.75082382e-05 9.99975466e-01 -2.54060345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774203822 meters 0.013794434662064758 Centerline is valid? [True, True] Translation: X:92.57, Y:-6.24, Z:-2.54 [[ 9.85294518e-01 1.70686288e-01 7.80413682e-03 9.25650704e+01] [-1.70680978e-01 9.85325424e-01 -1.34642996e-03 -6.23540142e+00] [-7.91943155e-03 -5.38764376e-06 9.99968641e-01 -2.54353920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804203822 meters 0.014186583896229064 Centerline is valid? [True, True] Translation: X:92.60, Y:-6.24, Z:-2.54 [[ 9.84719830e-01 1.73905670e-01 9.14734209e-03 9.25966154e+01] [-1.73898490e-01 9.84762315e-01 -1.58065803e-03 -6.23549231e+00] [-9.28284316e-03 -3.42036737e-05 9.99956913e-01 -2.54496553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834203822 meters 0.0138845120462962 Centerline is valid? [True, True] Translation: X:92.63, Y:-6.24, Z:-2.54 [[ 9.84267818e-01 1.76389553e-01 1.01778293e-02 9.26286025e+01] [-1.76380777e-01 9.84320437e-01 -1.76060263e-03 -6.23865351e+00] [-1.03287973e-02 -6.22689251e-05 9.99946655e-01 -2.54277610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86420382200001 meters 0.017460200386114937 Centerline is valid? [True, True] Translation: X:92.66, Y:-6.24, Z:-2.55 [[ 9.83709544e-01 1.79574260e-01 8.28357953e-03 9.26587723e+01] [-1.79568541e-01 9.83744418e-01 -1.43513121e-03 -6.24365637e+00] [-8.40663775e-03 -7.57180217e-05 9.99964661e-01 -2.54885177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894203822 meters 0.01616265466908261 Centerline is valid? [True, True] Translation: X:92.69, Y:-6.25, Z:-2.55 [[ 9.83607386e-01 1.80188872e-01 6.96284283e-03 9.26898332e+01] [-1.80184859e-01 9.83632028e-01 -1.20464063e-03 -6.25382494e+00] [-7.06593804e-03 -6.97054325e-05 9.99975034e-01 -2.54691252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924203822 meters 0.016277499950372518 Centerline is valid? [True, True] Translation: X:92.72, Y:-6.26, Z:-2.55 [[ 9.83581287e-01 1.80344355e-01 6.61549443e-03 9.27218017e+01] [-1.80340734e-01 9.83603532e-01 -1.14491018e-03 -6.26195046e+00] [-6.71350178e-03 -6.69308858e-05 9.99977462e-01 -2.54868119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954203822 meters 0.01634391039349582 Centerline is valid? [True, True] Translation: X:92.75, Y:-6.27, Z:-2.55 [[ 9.83673652e-01 1.79811907e-01 7.33648661e-03 9.27523647e+01] [-1.79807417e-01 9.83701008e-01 -1.27254627e-03 -6.27001773e+00] [-7.44572825e-03 -6.73844710e-05 9.99972278e-01 -2.55015036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.984203822 meters 0.015359179868406628 Centerline is valid? [True, True] Translation: X:92.78, Y:-6.28, Z:-2.55 [[ 9.83754269e-01 1.79362505e-01 7.52535387e-03 9.27840333e+01] [-1.79357759e-01 9.83783049e-01 -1.30640421e-03 -6.27717689e+00] [-7.63763551e-03 -6.45498893e-05 9.99970831e-01 -2.54920623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.014203822 meters 0.014377558429012553 Centerline is valid? [True, True] Translation: X:92.82, Y:-6.28, Z:-2.55 [[ 9.84011584e-01 1.77962141e-01 7.11888828e-03 9.28162764e+01] [-1.77957855e-01 9.84037333e-01 -1.23620744e-03 -6.28476843e+00] [-7.22524997e-03 -5.04196435e-05 9.99973896e-01 -2.55036636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044203822 meters 0.015885930727283493 Centerline is valid? [True, True] Translation: X:92.85, Y:-6.29, Z:-2.56 [[ 9.84120116e-01 1.77360285e-01 7.13631422e-03 9.28479341e+01] [-1.77355949e-01 9.84145989e-01 -1.24096336e-03 -6.29050628e+00] [-7.24327263e-03 -4.44107760e-05 9.99973766e-01 -2.55674887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.074203822 meters 0.014048404676159669 Centerline is valid? [True, True] Translation: X:92.88, Y:-6.30, Z:-2.55 [[ 9.84222231e-01 1.76765856e-01 7.77378993e-03 9.28790502e+01] [-1.76760675e-01 9.84252930e-01 -1.35407743e-03 -6.30008571e+00] [-7.89073017e-03 -4.13872477e-05 9.99968867e-01 -2.55284958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104203822 meters 0.013477851586220594 Centerline is valid? [True, True] Translation: X:92.91, Y:-6.31, Z:-2.55 [[ 9.84463659e-01 1.75363004e-01 8.89500780e-03 9.29085168e+01] [-1.75356140e-01 9.84503843e-01 -1.55186307e-03 -6.31400147e+00] [-9.02930873e-03 -3.20414334e-05 9.99959234e-01 -2.55054646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.134203822 meters 0.02741326470971639 Centerline is valid? [True, True] Translation: X:92.94, Y:-6.32, Z:-2.55 [[ 9.84520397e-01 1.75015699e-01 9.43888310e-03 9.29385427e+01] [-1.75007937e-01 9.84565642e-01 -1.64855828e-03 -6.32109697e+00] [-9.58172358e-03 -2.88402061e-05 9.99954094e-01 -2.55063619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164203822 meters 0.012617457629561369 Centerline is valid? [True, True] Translation: X:92.97, Y:-6.33, Z:-2.55 [[ 9.84492225e-01 1.75160675e-01 9.68484738e-03 9.29712326e+01] [-1.75152501e-01 9.84539861e-01 -1.69237753e-03 -6.32774878e+00] [-9.83155628e-03 -3.01927247e-05 9.99951669e-01 -2.55015279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194203822 meters 0.012965367453296222 Centerline is valid? [True, True] Translation: X:93.00, Y:-6.33, Z:-2.55 [[ 9.84302168e-01 1.76197124e-01 1.01889806e-02 9.30027126e+01] [-1.76188101e-01 9.84354901e-01 -1.78349179e-03 -6.33005390e+00] [-1.03438191e-02 -3.96823178e-05 9.99946500e-01 -2.55267679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224203822 meters 0.013215932224832135 Centerline is valid? [True, True] Translation: X:93.04, Y:-6.33, Z:-2.55 [[ 9.84007325e-01 1.77807573e-01 1.06794814e-02 9.30357085e+01] [-1.77797742e-01 9.84065274e-01 -1.87072279e-03 -6.33349232e+00] [-1.08419355e-02 -5.79827535e-05 9.99941223e-01 -2.55262667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25420382200001 meters 0.014711668653311248 Centerline is valid? [True, True] Translation: X:93.07, Y:-6.34, Z:-2.55 [[ 9.83647991e-01 1.79793401e-01 1.05338866e-02 9.30665221e+01] [-1.79783922e-01 9.83704390e-01 -1.84784476e-03 -6.33519931e+00] [-1.06944608e-02 -7.61946544e-05 9.99942810e-01 -2.55475310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284203822 meters 0.01563486734356692 Centerline is valid? [True, True] Translation: X:93.10, Y:-6.34, Z:-2.56 [[ 9.83260714e-01 1.81938434e-01 9.83743571e-03 9.30988219e+01] [-1.81930263e-01 9.83309919e-01 -1.72670671e-03 -6.33787509e+00] [-9.98740244e-03 -9.19243975e-05 9.99950120e-01 -2.55605667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314203822 meters 0.01811091397342259 Centerline is valid? [True, True] Translation: X:93.13, Y:-6.34, Z:-2.56 [[ 9.82803033e-01 1.84528715e-01 6.88129400e-03 9.31302482e+01] [-1.84524762e-01 9.82827119e-01 -1.21061911e-03 -6.34002178e+00] [-6.98651635e-03 -7.99690019e-05 9.99975591e-01 -2.56145875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.344203822 meters 0.018288970557899818 Centerline is valid? [True, True] Translation: X:93.16, Y:-6.35, Z:-2.56 [[ 9.82733476e-01 1.84914334e-01 6.45020594e-03 9.31615567e+01] [-1.84910888e-01 9.82754640e-01 -1.13174535e-03 -6.34580752e+00] [-6.54824576e-03 -8.05092678e-05 9.99978557e-01 -2.56281584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.374203822 meters 0.017469252664556296 Centerline is valid? [True, True] Translation: X:93.19, Y:-6.35, Z:-2.56 [[ 9.82832318e-01 1.84342260e-01 7.65277625e-03 9.31933116e+01] [-1.84337375e-01 9.82862108e-01 -1.34495501e-03 -6.35203415e+00] [-7.76955584e-03 -8.88274340e-05 9.99969813e-01 -2.56229222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404203822 meters 0.014453467891650975 Centerline is valid? [True, True] Translation: X:93.22, Y:-6.36, Z:-2.56 [[ 9.83292371e-01 1.81797848e-01 9.25501611e-03 9.32249493e+01] [-1.81790553e-01 9.83335922e-01 -1.63049975e-03 -6.36033238e+00] [-9.39721115e-03 -7.92165319e-05 9.99955842e-01 -2.56027323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.434203822 meters 0.014469860857708074 Centerline is valid? [True, True] Translation: X:93.26, Y:-6.37, Z:-2.56 [[ 9.83584433e-01 1.80269696e-01 8.03120278e-03 9.32553042e+01] [-1.80264160e-01 9.83617219e-01 -1.41397173e-03 -6.36785347e+00] [-8.15452560e-03 -5.69774415e-05 9.99966750e-01 -2.56457059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464203822 meters 0.013563586143133551 Centerline is valid? [True, True] Translation: X:93.28, Y:-6.38, Z:-2.57 [[ 9.84293813e-01 1.76363094e-01 7.85803359e-03 9.32839301e+01] [-1.76357659e-01 9.84325179e-01 -1.38474779e-03 -6.38255264e+00] [-7.97907873e-03 -2.28257255e-05 9.99968166e-01 -2.56646036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.494203822 meters 0.012339137444241435 Centerline is valid? [True, True] Translation: X:93.31, Y:-6.39, Z:-2.56 [[ 9.84687901e-01 1.74086954e-01 9.13618357e-03 9.33144853e+01] [-1.74079493e-01 9.84730284e-01 -1.61178367e-03 -6.39381809e+00] [-9.27726715e-03 -3.31831833e-06 9.99956965e-01 -2.56278427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524203822 meters 0.013197216952829386 Centerline is valid? [True, True] Translation: X:93.34, Y:-6.40, Z:-2.56 [[ 9.85058441e-01 1.71919894e-01 1.01694569e-02 9.33439463e+01] [-1.71910506e-01 9.85110933e-01 -1.79669236e-03 -6.40407804e+00] [-1.03269304e-02 2.16104867e-05 9.99946676e-01 -2.56464874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554203822 meters 0.02441833387086678 Centerline is valid? [True, True] Translation: X:93.37, Y:-6.42, Z:-2.56 [[ 9.85892250e-01 1.67096044e-01 9.76643071e-03 9.33736226e+01] [-1.67087136e-01 9.85940620e-01 -1.72678993e-03 -6.41919898e+00] [-9.91766052e-03 7.05838672e-05 9.99950816e-01 -2.56470829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584203822 meters 0.026505553756296808 Centerline is valid? [True, True] Translation: X:93.40, Y:-6.43, Z:-2.57 [[ 9.86290240e-01 1.64757557e-01 9.30103209e-03 9.34026675e+01] [-1.64749358e-01 9.86334091e-01 -1.64611872e-03 -6.43166043e+00] [-9.44513553e-03 9.12117610e-05 9.99955390e-01 -2.56816386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61420382200001 meters 0.018665454019112324 Centerline is valid? [True, True] Translation: X:93.43, Y:-6.44, Z:-2.57 [[ 9.86605969e-01 1.62871687e-01 9.02639792e-03 9.34332242e+01] [-1.62863878e-01 9.86647253e-01 -1.59852475e-03 -6.44288425e+00] [-9.16622514e-03 1.07039889e-04 9.99957984e-01 -2.56774975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644203822 meters 0.02165954139177425 Centerline is valid? [True, True] Translation: X:93.46, Y:-6.46, Z:-2.57 [[ 9.86893466e-01 1.61118425e-01 9.06313874e-03 9.34620900e+01] [-1.61110460e-01 9.86935073e-01 -1.60691869e-03 -6.45614650e+00] [-9.20363369e-03 1.25691106e-04 9.99957638e-01 -2.57113556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674203822 meters 0.02355014153088271 Centerline is valid? [True, True] Translation: X:93.49, Y:-6.47, Z:-2.57 [[ 9.87067105e-01 1.60000907e-01 9.91157335e-03 9.34914313e+01] [-1.59991307e-01 9.87116856e-01 -1.75906864e-03 -6.47140477e+00] [-1.00653337e-02 1.50553208e-04 9.99949332e-01 -2.57152909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704203822 meters 0.021297151803037637 Centerline is valid? [True, True] Translation: X:93.52, Y:-6.48, Z:-2.57 [[ 9.86962736e-01 1.60631497e-01 1.01034499e-02 9.35228134e+01] [-1.60621535e-01 9.87014438e-01 -1.79517418e-03 -6.47754557e+00] [-1.02606124e-02 1.48938401e-04 9.99947347e-01 -2.56956385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.734203822 meters 0.020631406762494506 Centerline is valid? [True, True] Translation: X:93.55, Y:-6.49, Z:-2.57 [[ 9.86775595e-01 1.61776871e-01 1.01078559e-02 9.35530243e+01] [-1.61766940e-01 9.86827353e-01 -1.79795470e-03 -6.48554031e+00] [-1.02655762e-02 1.39060903e-04 9.99947298e-01 -2.56973280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764203822 meters 0.01692608029863178 Centerline is valid? [True, True] Translation: X:93.58, Y:-6.49, Z:-2.57 [[ 9.86159413e-01 1.65429458e-01 1.10773326e-02 9.35840920e+01] [-1.65417738e-01 9.86221619e-01 -1.97236970e-03 -6.49327271e+00] [-1.12509929e-02 1.12683652e-04 9.99936699e-01 -2.56729571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.794203822 meters 0.01512137641011153 Centerline is valid? [True, True] Translation: X:93.62, Y:-6.50, Z:-2.57 [[ 9.85726053e-01 1.67958324e-01 1.15823024e-02 9.36156695e+01] [-1.67945659e-01 9.85794093e-01 -2.06452514e-03 -6.49954074e+00] [-1.17645194e-02 8.98588150e-05 9.99930792e-01 -2.56795731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824203822 meters 0.01420449804987017 Centerline is valid? [True, True] Translation: X:93.65, Y:-6.51, Z:-2.57 [[ 9.85327019e-01 1.70315572e-01 1.11027487e-02 9.36459172e+01] [-1.70304062e-01 9.85389569e-01 -1.98100594e-03 -6.50622683e+00] [-1.12779290e-02 6.10954702e-05 9.99936400e-01 -2.57058319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.854203822 meters 0.013401521952350491 Centerline is valid? [True, True] Translation: X:93.68, Y:-6.51, Z:-2.58 [[ 9.84544161e-01 1.74860769e-01 9.82378262e-03 9.36771086e+01] [-1.74851977e-01 9.84593170e-01 -1.75348253e-03 -6.51419889e+00] [-9.97904458e-03 8.67316820e-06 9.99950208e-01 -2.57615057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884203822 meters 0.012861569627230503 Centerline is valid? [True, True] Translation: X:93.71, Y:-6.52, Z:-2.58 [[ 9.84159898e-01 1.77010978e-01 9.81878707e-03 9.37097477e+01] [-1.77002286e-01 9.84208877e-01 -1.75418733e-03 -6.52087861e+00] [-9.97424781e-03 -1.15469375e-05 9.99950256e-01 -2.57726352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914203822 meters 0.01313998280494307 Centerline is valid? [True, True] Translation: X:93.74, Y:-6.53, Z:-2.58 [[ 9.83808368e-01 1.78982849e-01 9.28633071e-03 9.37407656e+01] [-1.78975143e-01 9.83852194e-01 -1.66098894e-03 -6.52859571e+00] [-9.43366537e-03 -2.79275498e-05 9.99955502e-01 -2.57929899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944203822 meters 0.014411392163515615 Centerline is valid? [True, True] Translation: X:93.77, Y:-6.54, Z:-2.58 [[ 9.83399215e-01 1.81292584e-01 7.68004050e-03 9.37695967e+01] [-1.81287357e-01 9.83429203e-01 -1.37713102e-03 -6.54117835e+00] [-7.80243975e-03 -3.80246836e-05 9.99969560e-01 -2.58196405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974203822 meters 0.014326393180909894 Centerline is valid? [True, True] Translation: X:93.80, Y:-6.55, Z:-2.58 [[ 9.83098180e-01 1.82912538e-01 7.80841310e-03 9.38014776e+01] [-1.82907213e-01 9.83129188e-01 -1.39683897e-03 -6.54857600e+00] [-7.93217819e-03 -5.49852310e-05 9.99968538e-01 -2.58054423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00420382200001 meters 0.014326393180909894 Centerline is valid? [True, True] Translation: X:93.83, Y:-6.55, Z:-2.58 [[ 9.83063014e-01 1.83101457e-01 7.80814063e-03 9.38333820e+01] [-1.83096126e-01 9.83094021e-01 -1.39835820e-03 -6.55447906e+00] [-7.93217779e-03 -5.49660760e-05 9.99968538e-01 -2.58146739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034203822 meters 0.016493215178508946 Centerline is valid? [True, True] Translation: X:93.87, Y:-6.56, Z:-2.58 [[ 9.82609219e-01 1.85495475e-01 8.39945643e-03 9.38655177e+01] [-1.85489362e-01 9.82645116e-01 -1.50780517e-03 -6.55749070e+00] [-8.53337587e-03 -7.64265521e-05 9.99963587e-01 -2.58485727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064203822 meters 0.02022062859968832 Centerline is valid? [True, True] Translation: X:93.90, Y:-6.56, Z:-2.59 [[ 9.81568960e-01 1.90976945e-01 7.08403320e-03 9.38967715e+01] [-1.90972722e-01 9.81594517e-01 -1.27408140e-03 -6.55980054e+00] [-7.19696832e-03 -1.02258344e-04 9.99974096e-01 -2.58661487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.094203822 meters 0.022265554299774493 Centerline is valid? [True, True] Translation: X:93.93, Y:-6.57, Z:-2.59 [[ 9.81033094e-01 1.93718648e-01 6.86679710e-03 9.39278636e+01] [-1.93714766e-01 9.81057119e-01 -1.23238042e-03 -6.56552493e+00] [-6.97545525e-03 -1.21194017e-04 9.99975664e-01 -2.58669431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124203822 meters 0.02328422641650292 Centerline is valid? [True, True] Translation: X:93.96, Y:-6.57, Z:-2.58 [[ 9.80511941e-01 1.96294574e-01 8.04818457e-03 9.39593211e+01] [-1.96289313e-01 9.80544958e-01 -1.44611603e-03 -6.57240136e+00] [-8.17547153e-03 -1.61838584e-04 9.99966567e-01 -2.58388742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.154203822 meters 0.02827985193452951 Centerline is valid? [True, True] Translation: X:93.99, Y:-6.57, Z:-2.58 [[ 9.79767582e-01 1.99871862e-01 1.03307183e-02 9.39902686e+01] [-1.99863359e-01 9.79822014e-01 -1.85959055e-03 -6.57447911e+00] [-1.04939451e-02 -2.42765525e-04 9.99944908e-01 -2.58343465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184203822 meters 0.026508314142854764 Centerline is valid? [True, True] Translation: X:94.02, Y:-6.58, Z:-2.58 [[ 9.79557192e-01 2.00894600e-01 1.04435690e-02 9.40216997e+01] [-2.00885952e-01 9.79612829e-01 -1.88135396e-03 -6.58244591e+00] [-1.06086080e-02 -2.55072512e-04 9.99943695e-01 -2.58213119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.214203822 meters 0.02723695309238355 Centerline is valid? [True, True] Translation: X:94.05, Y:-6.59, Z:-2.58 [[ 9.79427524e-01 2.01529808e-01 1.03663673e-02 9.40538789e+01] [-2.01521306e-01 9.79482348e-01 -1.86918215e-03 -6.58651519e+00] [-1.05303697e-02 -2.58315438e-04 9.99944521e-01 -2.58415157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244203822 meters 0.028629867999498307 Centerline is valid? [True, True] Translation: X:94.09, Y:-6.59, Z:-2.59 [[ 9.79387719e-01 2.01714943e-01 1.05250641e-02 9.40857421e+01] [-2.01706171e-01 9.79444237e-01 -1.89944471e-03 -6.58932829e+00] [-1.06918598e-02 -2.62677555e-04 9.99942806e-01 -2.58727678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274203822 meters 0.02478226340487156 Centerline is valid? [True, True] Translation: X:94.12, Y:-6.60, Z:-2.59 [[ 9.79961733e-01 1.98900790e-01 1.06526203e-02 9.41151658e+01] [-1.98891587e-01 9.80019603e-01 -1.92715564e-03 -6.60120856e+00] [-1.08230895e-02 -2.30177784e-04 9.99941402e-01 -2.58738664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304203822 meters 0.021812524777612512 Centerline is valid? [True, True] Translation: X:94.15, Y:-6.61, Z:-2.59 [[ 9.80466356e-01 1.96443604e-01 9.77935647e-03 9.41462328e+01] [-1.96435730e-01 9.80515107e-01 -1.76867977e-03 -6.61247776e+00] [-9.93625259e-03 -1.86884021e-04 9.99950617e-01 -2.58830938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334203822 meters 0.018415788330573862 Centerline is valid? [True, True] Translation: X:94.18, Y:-6.63, Z:-2.59 [[ 9.81546858e-01 1.91051619e-01 8.06499433e-03 9.41751172e+01] [-1.91046087e-01 9.81579985e-01 -1.45809494e-03 -6.62552330e+00] [-8.19500841e-03 -1.09597104e-04 9.99966414e-01 -2.59361792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36420382200001 meters 0.01625305981580433 Centerline is valid? [True, True] Translation: X:94.21, Y:-6.64, Z:-2.59 [[ 9.82155981e-01 1.87896047e-01 8.04396667e-03 9.42057785e+01] [-1.87890443e-01 9.82188917e-01 -1.45363476e-03 -6.63734429e+00] [-8.17382713e-03 -8.36883866e-05 9.99966590e-01 -2.59480324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394203822 meters 0.014400090539399432 Centerline is valid? [True, True] Translation: X:94.24, Y:-6.65, Z:-2.60 [[ 9.82829210e-01 1.84331790e-01 8.27863375e-03 9.42350858e+01] [-1.84325712e-01 9.82864074e-01 -1.49783376e-03 -6.65034793e+00] [-8.41287007e-03 -5.38502895e-05 9.99964610e-01 -2.59564061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424203822 meters 0.012898346647466417 Centerline is valid? [True, True] Translation: X:94.26, Y:-6.67, Z:-2.59 [[ 9.84127805e-01 1.77233054e-01 8.99489663e-03 9.42640671e+01] [-1.77225569e-01 9.84168911e-01 -1.62888746e-03 -6.67067612e+00] [-9.14119032e-03 8.90776342e-06 9.99958218e-01 -2.59330057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454203822 meters 0.013834822624188298 Centerline is valid? [True, True] Translation: X:94.29, Y:-6.68, Z:-2.59 [[ 9.84619810e-01 1.74455319e-01 9.44305769e-03 9.42949711e+01] [-1.74446925e-01 9.84665090e-01 -1.71172602e-03 -6.68194982e+00] [-9.59686896e-03 3.80869664e-05 9.99953948e-01 -2.59384752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.484203822 meters 0.01624818990003243 Centerline is valid? [True, True] Translation: X:94.32, Y:-6.69, Z:-2.60 [[ 9.84986175e-01 1.72386746e-01 9.22202015e-03 9.43249348e+01] [-1.72378630e-01 9.85029343e-01 -1.67377460e-03 -6.69109754e+00] [-9.37249701e-03 5.89656408e-05 9.99956075e-01 -2.59830759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.514203822 meters 0.016253713567106694 Centerline is valid? [True, True] Translation: X:94.36, Y:-6.70, Z:-2.60 [[ 9.85182396e-01 1.71320282e-01 8.06271835e-03 9.43561917e+01] [-1.71314037e-01 9.85215386e-01 -1.46409665e-03 -6.69618050e+00] [-8.19434363e-03 6.11454156e-05 9.99966424e-01 -2.59928537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544203822 meters 0.018451303880941163 Centerline is valid? [True, True] Translation: X:94.39, Y:-6.70, Z:-2.61 [[ 9.85232431e-01 1.71089486e-01 6.74126685e-03 9.43862093e+01] [-1.71085112e-01 9.85255492e-01 -1.22450659e-03 -6.70258213e+00] [-6.85137039e-03 5.30932082e-05 9.99976528e-01 -2.60703667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.574203822 meters 0.017133196804297313 Centerline is valid? [True, True] Translation: X:94.42, Y:-6.71, Z:-2.61 [[ 9.85116819e-01 1.71712186e-01 7.73165317e-03 9.44183284e+01] [-1.71706426e-01 9.85147157e-01 -1.40768876e-03 -6.70863759e+00] [-7.85853346e-03 5.91633406e-05 9.99969120e-01 -2.60516302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604203822 meters 0.015769791622024895 Centerline is valid? [True, True] Translation: X:94.45, Y:-6.72, Z:-2.60 [[ 9.84723168e-01 1.73866185e-01 9.53063373e-03 9.44493993e+01] [-1.73857533e-01 9.84769286e-01 -1.73527170e-03 -6.71566810e+00] [-9.68718044e-03 5.17897791e-05 9.99953077e-01 -2.60138024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.634203822 meters 0.013892693202020367 Centerline is valid? [True, True] Translation: X:94.48, Y:-6.72, Z:-2.60 [[ 9.84415601e-01 1.75554369e-01 1.03241063e-02 9.44817503e+01] [-1.75544287e-01 9.84469736e-01 -1.88182971e-03 -6.71979606e+00] [-1.04941336e-02 4.01646453e-05 9.99944934e-01 -2.59743255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664203822 meters 0.011930700271116548 Centerline is valid? [True, True] Translation: X:94.51, Y:-6.72, Z:-2.60 [[ 9.83650568e-01 1.79726765e-01 1.13951323e-02 9.45148927e+01] [-1.79714735e-01 9.83716570e-01 -2.07943926e-03 -6.71597754e+00] [-1.15833113e-02 -2.43157145e-06 9.99932911e-01 -2.59611870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694203822 meters 0.012350608889727232 Centerline is valid? [True, True] Translation: X:94.55, Y:-6.71, Z:-2.60 [[ 9.83153819e-01 1.82458774e-01 1.08334419e-02 9.45462521e+01] [-1.82448046e-01 9.83213504e-01 -1.97882568e-03 -6.71466755e+00] [-1.10126405e-02 -3.10502860e-05 9.99939359e-01 -2.59990652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724203822 meters 0.013801329389617954 Centerline is valid? [True, True] Translation: X:94.58, Y:-6.71, Z:-2.60 [[ 9.82653916e-01 1.85156232e-01 1.04139611e-02 9.45783401e+01] [-1.85146442e-01 9.82709096e-01 -1.90487012e-03 -6.71423064e+00] [-1.05865928e-02 -5.62797571e-05 9.99943959e-01 -2.60438028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75420382200001 meters 0.013868387608558005 Centerline is valid? [True, True] Translation: X:94.61, Y:-6.72, Z:-2.60 [[ 9.82176926e-01 1.87640824e-01 1.09273861e-02 9.46109083e+01] [-1.87630206e-01 9.82237707e-01 -1.99815991e-03 -6.71725219e+00] [-1.11082270e-02 -8.77611307e-05 9.99938298e-01 -2.60225046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784203822 meters 0.01578007051401528 Centerline is valid? [True, True] Translation: X:94.64, Y:-6.72, Z:-2.60 [[ 9.81351677e-01 1.91813837e-01 1.25035209e-02 9.46431575e+01] [-1.91800224e-01 9.81431317e-01 -2.29015244e-03 -6.71731844e+00] [-1.27106299e-02 -1.50733174e-04 9.99919205e-01 -2.59857771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814203822 meters 0.017549876008356634 Centerline is valid? [True, True] Translation: X:94.67, Y:-6.72, Z:-2.60 [[ 9.81001669e-01 1.93681828e-01 1.10939110e-02 9.46744280e+01] [-1.93671202e-01 9.81064384e-01 -2.03448132e-03 -6.71894299e+00] [-1.12778830e-02 -1.52741504e-04 9.99936391e-01 -2.60089144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.844203822 meters 0.02037398863996915 Centerline is valid? [True, True] Translation: X:94.71, Y:-6.72, Z:-2.61 [[ 9.80564111e-01 1.96031092e-01 8.11390578e-03 9.47050883e+01] [-1.96025474e-01 9.80597672e-01 -1.48978178e-03 -6.71530544e+00] [-8.24852067e-03 -1.29705679e-04 9.99965972e-01 -2.60683572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.874203822 meters 0.02270691407597492 Centerline is valid? [True, True] Translation: X:94.74, Y:-6.72, Z:-2.61 [[ 9.80372346e-01 1.96966278e-01 8.62256493e-03 9.47385016e+01] [-1.96960003e-01 9.80410252e-01 -1.57930170e-03 -6.71788395e+00] [-8.76472024e-03 -1.49996708e-04 9.99961578e-01 -2.60646809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904203822 meters 0.02335877992519284 Centerline is valid? [True, True] Translation: X:94.77, Y:-6.72, Z:-2.61 [[ 9.80249068e-01 1.97529185e-01 9.69464355e-03 9.47703315e+01] [-1.97521247e-01 9.80296992e-01 -1.77901517e-03 -6.71585085e+00] [-9.85503732e-03 -1.71020122e-04 9.99951423e-01 -2.61029272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.934203822 meters 0.019558769039706433 Centerline is valid? [True, True] Translation: X:94.80, Y:-6.72, Z:-2.61 [[ 9.80538833e-01 1.96112493e-01 9.13717207e-03 9.48022231e+01] [-1.96105371e-01 9.80581393e-01 -1.67774537e-03 -6.72184321e+00] [-9.28876775e-03 -1.46754032e-04 9.99956848e-01 -2.60923659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964203822 meters 0.019810795485443657 Centerline is valid? [True, True] Translation: X:94.83, Y:-6.73, Z:-2.61 [[ 9.80882979e-01 1.94426019e-01 8.19179684e-03 9.48327162e+01] [-1.94420228e-01 9.80917178e-01 -1.50509820e-03 -6.72617559e+00] [-8.32810449e-03 -1.16325805e-04 9.99965314e-01 -2.61395890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.994203822 meters 0.016562979327026887 Centerline is valid? [True, True] Translation: X:94.86, Y:-6.74, Z:-2.61 [[ 9.81409290e-01 1.91774655e-01 7.63461089e-03 9.48639947e+01] [-1.91769538e-01 9.81438981e-01 -1.40364249e-03 -6.73581541e+00] [-7.76208779e-03 -8.65380278e-05 9.99969871e-01 -2.61371153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024203822 meters 0.013789631257155615 Centerline is valid? [True, True] Translation: X:94.89, Y:-6.75, Z:-2.61 [[ 9.82608482e-01 1.85529758e-01 7.69936948e-03 9.48937609e+01] [-1.85524349e-01 9.82638645e-01 -1.41719089e-03 -6.74658548e+00] [-7.82862908e-03 -3.58767223e-05 9.99969355e-01 -2.61435829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054203822 meters 0.013953242021886367 Centerline is valid? [True, True] Translation: X:94.92, Y:-6.75, Z:-2.62 [[ 9.83147097e-01 1.82657708e-01 7.61232040e-03 9.49241935e+01] [-1.82652325e-01 9.83176567e-01 -1.40238530e-03 -6.75262502e+00] [-7.74041152e-03 -1.16569876e-05 9.99970042e-01 -2.61728738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084203822 meters 0.014203642768000563 Centerline is valid? [True, True] Translation: X:94.96, Y:-6.76, Z:-2.62 [[ 9.83635966e-01 1.80014869e-01 7.41168786e-03 9.49561554e+01] [-1.80009668e-01 9.83663889e-01 -1.36848691e-03 -6.75778959e+00] [-7.53695770e-03 1.19174735e-05 9.99971597e-01 -2.61866134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11420382200001 meters 0.016099463858267382 Centerline is valid? [True, True] Translation: X:94.99, Y:-6.76, Z:-2.62 [[ 9.84040762e-01 1.77785124e-01 7.49857862e-03 9.49870391e+01] [-1.77779751e-01 9.84069331e-01 -1.38251299e-03 -6.76411914e+00] [-7.62491149e-03 2.73536978e-05 9.99970930e-01 -2.62278371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144203822 meters 0.0172165127342343 Centerline is valid? [True, True] Translation: X:95.02, Y:-6.77, Z:-2.62 [[ 9.84763045e-01 1.73676036e-01 8.85321083e-03 9.50186357e+01] [-1.73668358e-01 9.84802838e-01 -1.63461225e-03 -6.77305646e+00] [-9.00256012e-03 7.21831491e-05 9.99959474e-01 -2.61821381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174203822 meters 0.017327125963320755 Centerline is valid? [True, True] Translation: X:95.05, Y:-6.78, Z:-2.61 [[ 9.85038015e-01 1.72056618e-01 9.83002941e-03 9.50512199e+01] [-1.72047048e-01 9.85087057e-01 -1.81735118e-03 -6.77993456e+00] [-9.99612204e-03 9.89324613e-05 9.99950033e-01 -2.61484535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204203822 meters 0.019490672656809795 Centerline is valid? [True, True] Translation: X:95.08, Y:-6.79, Z:-2.61 [[ 9.85506663e-01 1.69282510e-01 1.09566852e-02 9.50825770e+01] [-1.69270413e-01 9.85567558e-01 -2.02892409e-03 -6.78656488e+00] [-1.11420149e-02 1.44875577e-04 9.99937915e-01 -2.61323620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.234203822 meters 0.022731262410435986 Centerline is valid? [True, True] Translation: X:95.11, Y:-6.79, Z:-2.62 [[ 9.85691001e-01 1.68217012e-01 1.07836387e-02 9.51127989e+01] [-1.68205208e-01 9.85749975e-01 -1.99891430e-03 -6.79361123e+00] [-1.09662230e-02 1.56447643e-04 9.99939857e-01 -2.61708391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264203822 meters 0.022861208276683077 Centerline is valid? [True, True] Translation: X:95.15, Y:-6.79, Z:-2.62 [[ 9.85970033e-01 1.66644573e-01 9.62710284e-03 9.51456871e+01] [-1.66635081e-01 9.86017019e-01 -1.78540559e-03 -6.79369631e+00] [-9.79001540e-03 1.56143339e-04 9.99952064e-01 -2.61833155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.294203822 meters 0.0236481045855207 Centerline is valid? [True, True] Translation: X:95.18, Y:-6.80, Z:-2.62 [[ 9.86052633e-01 1.66151556e-01 9.68837395e-03 9.51777243e+01] [-1.66141903e-01 9.86100215e-01 -1.79846672e-03 -6.79909584e+00] [-9.85252567e-03 1.63737959e-04 9.99951449e-01 -2.61995864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324203822 meters 0.024444509779857012 Centerline is valid? [True, True] Translation: X:95.21, Y:-6.81, Z:-2.62 [[ 9.86102892e-01 1.65843578e-01 9.84855700e-03 9.52087906e+01] [-1.65833572e-01 9.86152056e-01 -1.82977024e-03 -6.80606741e+00] [-1.00156304e-02 1.71120335e-04 9.99949828e-01 -2.62066272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354203822 meters 0.023560816384431024 Centerline is valid? [True, True] Translation: X:95.24, Y:-6.81, Z:-2.62 [[ 9.86132556e-01 1.65666749e-01 9.85441926e-03 9.52413092e+01] [-1.65656707e-01 9.86181777e-01 -1.83237190e-03 -6.81236672e+00] [-1.00218118e-02 1.74510943e-04 9.99949765e-01 -2.61940417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384203822 meters 0.02437543684615858 Centerline is valid? [True, True] Translation: X:95.27, Y:-6.82, Z:-2.62 [[ 9.86015178e-01 1.66378709e-01 9.60171544e-03 9.52723162e+01] [-1.66369190e-01 9.86061914e-01 -1.78743557e-03 -6.81833101e+00] [-9.76527712e-03 1.65008986e-04 9.99952305e-01 -2.62082187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414203822 meters 0.023716794642461965 Centerline is valid? [True, True] Translation: X:95.30, Y:-6.82, Z:-2.62 [[ 9.85849682e-01 1.67354391e-01 9.63908098e-03 9.53044830e+01] [-1.67344823e-01 9.85896791e-01 -1.79655036e-03 -6.82038685e+00] [-9.80379960e-03 1.58078298e-04 9.99951929e-01 -2.62188934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444203822 meters 0.022512720586426567 Centerline is valid? [True, True] Translation: X:95.34, Y:-6.82, Z:-2.62 [[ 9.85602034e-01 1.68817064e-01 9.45673751e-03 9.53373611e+01] [-1.68807907e-01 9.85647391e-01 -1.76408592e-03 -6.82022516e+00] [-9.61881645e-03 1.42314600e-04 9.99953728e-01 -2.62393886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474203822 meters 0.01939016862443156 Centerline is valid? [True, True] Translation: X:95.37, Y:-6.81, Z:-2.63 [[ 9.85062981e-01 1.71931216e-01 9.51733165e-03 9.53711270e+01] [-1.71922070e-01 9.85108950e-01 -1.77701564e-03 -6.81360531e+00] [-9.68113305e-03 1.14232969e-04 9.99953130e-01 -2.62604532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50420382200001 meters 0.017984553804791078 Centerline is valid? [True, True] Translation: X:95.40, Y:-6.82, Z:-2.62 [[ 9.84770757e-01 1.73541039e-01 1.04911131e-02 9.54036698e+01] [-1.73529972e-01 9.84826632e-01 -1.96310185e-03 -6.81704222e+00] [-1.06726063e-02 1.12682735e-04 9.99943040e-01 -2.62496024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534203822 meters 0.015235015459632547 Centerline is valid? [True, True] Translation: X:95.44, Y:-6.82, Z:-2.62 [[ 9.84295890e-01 1.76203825e-01 1.06683496e-02 9.54357528e+01] [-1.76192551e-01 9.84353699e-01 -1.99494484e-03 -6.81952240e+00] [-1.08529464e-02 8.39322643e-05 9.99941102e-01 -2.62193055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564203822 meters 0.015800318131870123 Centerline is valid? [True, True] Translation: X:95.47, Y:-6.82, Z:-2.63 [[ 9.84094782e-01 1.77392728e-01 9.44885885e-03 9.54668975e+01] [-1.77383914e-01 9.84140140e-01 -1.76951631e-03 -6.82351102e+00] [-9.61290060e-03 6.52961944e-05 9.99953793e-01 -2.62618887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594203822 meters 0.015815255021489626 Centerline is valid? [True, True] Translation: X:95.50, Y:-6.83, Z:-2.63 [[ 9.83955521e-01 1.78214408e-01 8.43545894e-03 9.54980261e+01] [-1.78207409e-01 9.83991678e-01 -1.58032347e-03 -6.82584111e+00] [-8.58205781e-03 5.17067212e-05 9.99963172e-01 -2.62957426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624203822 meters 0.015984093537655272 Centerline is valid? [True, True] Translation: X:95.53, Y:-6.82, Z:-2.64 [[ 9.83654462e-01 1.79909412e-01 7.51678622e-03 9.55297898e+01] [-1.79903910e-01 9.83683182e-01 -1.40733104e-03 -6.82381257e+00] [-7.64732828e-03 3.20282225e-05 9.99970758e-01 -2.63595579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654203822 meters 0.028413139532550636 Centerline is valid? [True, True] Translation: X:95.56, Y:-6.83, Z:-2.64 [[ 9.83512844e-01 1.80724745e-01 6.40725832e-03 9.55622113e+01] [-1.80720764e-01 9.83533714e-01 -1.19969528e-03 -6.82655708e+00] [-6.51856919e-03 2.19910980e-05 9.99978754e-01 -2.63821750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684203822 meters 0.014820439239633514 Centerline is valid? [True, True] Translation: X:95.59, Y:-6.83, Z:-2.64 [[ 9.83406109e-01 1.81317211e-01 6.04098854e-03 9.55943003e+01] [-1.81313684e-01 9.83424663e-01 -1.13116075e-03 -6.83217667e+00] [-6.14595603e-03 1.70765095e-05 9.99981113e-01 -2.63723271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714203822 meters 0.014606440987606072 Centerline is valid? [True, True] Translation: X:95.63, Y:-6.84, Z:-2.64 [[ 9.83353522e-01 1.81598675e-01 6.14593405e-03 9.56267395e+01] [-1.81595021e-01 9.83372727e-01 -1.15211684e-03 -6.83925633e+00] [-6.25296682e-03 1.68671279e-05 9.99980450e-01 -2.63658448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744203822 meters 0.015418433322697312 Centerline is valid? [True, True] Translation: X:95.66, Y:-6.84, Z:-2.64 [[ 9.83241087e-01 1.82145325e-01 7.74886519e-03 9.56577106e+01] [-1.82139503e-01 9.83271621e-01 -1.45645687e-03 -6.84401261e+00] [-7.88452604e-03 2.06737793e-05 9.99968916e-01 -2.63870781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774203822 meters 0.01465844990643869 Centerline is valid? [True, True] Translation: X:95.69, Y:-6.85, Z:-2.64 [[ 9.83244206e-01 1.82157301e-01 7.03908954e-03 9.56896723e+01] [-1.82152493e-01 9.83269402e-01 -1.32360209e-03 -6.84739546e+00] [-7.16242515e-03 1.92363751e-05 9.99974349e-01 -2.63719652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804203822 meters 0.015925656334573837 Centerline is valid? [True, True] Translation: X:95.72, Y:-6.85, Z:-2.64 [[ 9.83393224e-01 1.81304523e-01 8.15090414e-03 9.57204311e+01] [-1.81298027e-01 9.83427002e-01 -1.53510764e-03 -6.85345534e+00] [-8.29414118e-03 3.18716115e-05 9.99965603e-01 -2.64056684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834203822 meters 0.01519411917951062 Centerline is valid? [True, True] Translation: X:95.75, Y:-6.86, Z:-2.64 [[ 9.83570820e-01 1.80315237e-01 8.65205347e-03 9.57531146e+01] [-1.80307871e-01 9.83608872e-01 -1.63044352e-03 -6.86045759e+00] [-8.80423036e-03 4.36233331e-05 9.99961241e-01 -2.63690684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86420382200001 meters 0.014924881214913508 Centerline is valid? [True, True] Translation: X:95.79, Y:-6.87, Z:-2.64 [[ 9.83760472e-01 1.79265345e-01 8.90338581e-03 9.57857655e+01] [-1.79257485e-01 9.83800759e-01 -1.67957282e-03 -6.86682372e+00] [-9.06024692e-03 5.62987994e-05 9.99958954e-01 -2.63557120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89420382200001 meters 0.018202924749155674 Centerline is valid? [True, True] Translation: X:95.82, Y:-6.88, Z:-2.64 [[ 9.84372253e-01 1.75895666e-01 8.48428228e-03 9.58151880e+01] [-1.75888384e-01 9.84408811e-01 -1.60274379e-03 -6.87785174e+00] [-8.63391792e-03 8.54098148e-05 9.99962723e-01 -2.63904129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924203822 meters 0.018202924749155674 Centerline is valid? [True, True] Translation: X:95.85, Y:-6.88, Z:-2.64 [[ 9.84338584e-01 1.76083987e-01 8.48414351e-03 9.58470427e+01] [-1.76076706e-01 9.84375143e-01 -1.60347822e-03 -6.88407451e+00] [-8.63392682e-03 8.45054412e-05 9.99962723e-01 -2.63996421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954203822 meters 0.02018770720100523 Centerline is valid? [True, True] Translation: X:95.88, Y:-6.89, Z:-2.64 [[ 9.84722849e-01 1.73895261e-01 9.01938641e-03 9.58761873e+01] [-1.73886910e-01 9.84764147e-01 -1.70794784e-03 -6.89496474e+00] [-9.17897240e-03 1.13502028e-04 9.99957866e-01 -2.63974576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.984203822 meters 0.021696153993653558 Centerline is valid? [True, True] Translation: X:95.91, Y:-6.91, Z:-2.64 [[ 9.85095186e-01 1.71715218e-01 1.00676552e-02 9.59067569e+01] [-1.71704688e-01 9.85146619e-01 -1.90759458e-03 -6.90538073e+00] [-1.02456795e-02 1.50498652e-04 9.99947500e-01 -2.63772293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.014203822 meters 0.02849241996957552 Centerline is valid? [True, True] Translation: X:95.94, Y:-6.92, Z:-2.64 [[ 9.85695720e-01 1.68248803e-01 9.81258463e-03 9.59367510e+01] [-1.68238610e-01 9.85744544e-01 -1.86107325e-03 -6.91720344e+00] [-9.98582511e-03 1.83596340e-04 9.99950124e-01 -2.63949546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044203822 meters 0.028394274897082825 Centerline is valid? [True, True] Translation: X:95.97, Y:-6.93, Z:-2.64 [[ 9.85799910e-01 1.67656023e-01 9.48658765e-03 9.59660585e+01] [-1.67646455e-01 9.85845538e-01 -1.80062275e-03 -6.92746148e+00] [-9.65419535e-03 1.84660953e-04 9.99953380e-01 -2.64418918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.074203822 meters 0.026108915915180775 Centerline is valid? [True, True] Translation: X:96.00, Y:-6.93, Z:-2.64 [[ 9.85842205e-01 1.67430113e-01 9.07219811e-03 9.59979010e+01] [-1.67421344e-01 9.85883931e-01 -1.72294618e-03 -6.93124443e+00] [-9.23260741e-03 1.79673461e-04 9.99957362e-01 -2.64374370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104203822 meters 0.025548623061871268 Centerline is valid? [True, True] Translation: X:96.03, Y:-6.94, Z:-2.64 [[ 9.85623497e-01 1.68637615e-01 1.03767433e-02 9.60286310e+01] [-1.68626183e-01 9.85678100e-01 -1.97324288e-03 -6.93844138e+00] [-1.05608916e-02 1.95083929e-04 9.99944213e-01 -2.64356788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.134203822 meters 0.025755130661018272 Centerline is valid? [True, True] Translation: X:96.06, Y:-6.95, Z:-2.64 [[ 9.85400143e-01 1.69876577e-01 1.13360984e-02 9.60586602e+01] [-1.69862984e-01 9.85465326e-01 -2.15835424e-03 -6.94664464e+00] [-1.15379858e-02 2.01259069e-04 9.99933415e-01 -2.64393405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164203822 meters 0.021649154411124374 Centerline is valid? [True, True] Translation: X:96.09, Y:-6.95, Z:-2.64 [[ 9.84886181e-01 1.72936815e-01 9.59520222e-03 9.60905711e+01] [-1.72927216e-01 9.84932911e-01 -1.82749275e-03 -6.94897496e+00] [-9.76667122e-03 1.40600753e-04 9.99952295e-01 -2.64481951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194203822 meters 0.020926173630811635 Centerline is valid? [True, True] Translation: X:96.12, Y:-6.95, Z:-2.65 [[ 9.84537533e-01 1.75019148e-01 7.35829180e-03 9.61216733e+01] [-1.75013558e-01 9.84565025e-01 -1.40188575e-03 -6.95401681e+00] [-7.49007360e-03 9.24083073e-05 9.99971945e-01 -2.64964339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224203822 meters 0.019639195934192884 Centerline is valid? [True, True] Translation: X:96.15, Y:-6.96, Z:-2.65 [[ 9.84084228e-01 1.77628292e-01 5.14023559e-03 9.61532100e+01] [-1.77625604e-01 9.84097651e-01 -9.78474236e-04 -6.95831548e+00] [-5.23229847e-03 4.98636145e-05 9.99986310e-01 -2.65375968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25420382200001 meters 0.01756172273918431 Centerline is valid? [True, True] Translation: X:96.19, Y:-6.96, Z:-2.66 [[ 9.83440712e-01 1.81185083e-01 4.04125567e-03 9.61859026e+01] [-1.81183456e-01 9.83449015e-01 -7.68292773e-04 -6.96134537e+00] [-4.11357210e-03 2.33617237e-05 9.99991539e-01 -2.65572051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284203822 meters 0.015219966915945267 Centerline is valid? [True, True] Translation: X:96.22, Y:-6.95, Z:-2.66 [[ 9.81951908e-01 1.89068789e-01 4.84193717e-03 9.62185642e+01] [-1.89066534e-01 9.81963845e-01 -9.23488923e-04 -6.95422295e+00] [-4.92921018e-03 -8.62656854e-06 9.99987851e-01 -2.65762791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314203822 meters 0.015736509341793006 Centerline is valid? [True, True] Translation: X:96.25, Y:-6.95, Z:-2.66 [[ 9.81103572e-01 1.93414940e-01 5.14219701e-03 9.62524427e+01] [-1.93412455e-01 9.81117047e-01 -9.81124597e-04 -6.95291805e+00] [-5.23486130e-03 -3.19800986e-05 9.99986298e-01 -2.65830454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.344203822 meters 0.01766052433067012 Centerline is valid? [True, True] Translation: X:96.28, Y:-6.95, Z:-2.66 [[ 9.80275048e-01 1.97562327e-01 5.47339615e-03 9.62837482e+01] [-1.97559560e-01 9.80290326e-01 -1.04709590e-03 -6.95231278e+00] [-5.57238400e-03 -5.48797497e-05 9.99984473e-01 -2.65850688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.374203822 meters 0.02176797580728734 Centerline is valid? [True, True] Translation: X:96.32, Y:-6.95, Z:-2.65 [[ 9.78808580e-01 2.04663571e-01 6.82548270e-03 9.63172346e+01] [-2.04659415e-01 9.78832370e-01 -1.30936549e-03 -6.94920359e+00] [-6.94898282e-03 -1.15281120e-04 9.99975849e-01 -2.65467881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404203822 meters 0.025307214788807316 Centerline is valid? [True, True] Translation: X:96.35, Y:-6.95, Z:-2.66 [[ 9.78293175e-01 2.07122503e-01 6.53705744e-03 9.63485657e+01] [-2.07118749e-01 9.78315007e-01 -1.25351989e-03 -6.95002585e+00] [-6.65493357e-03 -1.27637203e-04 9.99977848e-01 -2.65826751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.434203822 meters 0.02544209784523596 Centerline is valid? [True, True] Translation: X:96.38, Y:-6.96, Z:-2.66 [[ 9.77836432e-01 2.09305821e-01 5.19479468e-03 9.63794540e+01] [-2.09303481e-01 9.77850224e-01 -9.96187558e-04 -6.95634528e+00] [-5.28823899e-03 -1.13180119e-04 9.99986011e-01 -2.65849944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464203822 meters 0.029101524955250792 Centerline is valid? [True, True] Translation: X:96.41, Y:-6.96, Z:-2.66 [[ 9.77731776e-01 2.09782760e-01 5.63630122e-03 9.64115062e+01] [-2.09780022e-01 9.77748013e-01 -1.07919792e-03 -6.95746034e+00] [-5.73727944e-03 -1.27217292e-04 9.99983534e-01 -2.66308541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.494203822 meters 0.027969690772854994 Centerline is valid? [True, True] Translation: X:96.44, Y:-6.96, Z:-2.66 [[ 9.77733029e-01 2.09730709e-01 7.15215502e-03 9.64430770e+01] [-2.09726277e-01 9.77759175e-01 -1.37261002e-03 -6.96319870e+00] [-7.28096367e-03 -1.57948690e-04 9.99973481e-01 -2.66134329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524203822 meters 0.0231241688836093 Centerline is valid? [True, True] Translation: X:96.47, Y:-6.97, Z:-2.66 [[ 9.78373273e-01 2.06678211e-01 8.35802339e-03 9.64728559e+01] [-2.06672006e-01 9.78408960e-01 -1.60887224e-03 -6.97473005e+00] [-8.51008381e-03 -1.53291862e-04 9.99963777e-01 -2.65764214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554203822 meters 0.022989680248867193 Centerline is valid? [True, True] Translation: X:96.50, Y:-6.98, Z:-2.66 [[ 9.78757740e-01 2.04868591e-01 7.88329363e-03 9.65030626e+01] [-2.04863032e-01 9.78789478e-01 -1.51499037e-03 -6.98247551e+00] [-8.02645880e-03 -1.32186886e-04 9.99967779e-01 -2.66128679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584203822 meters 0.02065460573139174 Centerline is valid? [True, True] Translation: X:96.53, Y:-6.99, Z:-2.66 [[ 9.79071832e-01 2.03388840e-01 7.16425968e-03 9.65342104e+01] [-2.03384189e-01 9.79098038e-01 -1.37953714e-03 -6.99332015e+00] [-7.29509506e-03 -1.06431189e-04 9.99973385e-01 -2.66152038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61420382200001 meters 0.018775802930257487 Centerline is valid? [True, True] Translation: X:96.57, Y:-7.00, Z:-2.66 [[ 9.79330601e-01 2.02148414e-01 6.89875908e-03 9.65653055e+01] [-2.02144085e-01 9.79354895e-01 -1.32640799e-03 -7.00350626e+00] [-7.02446474e-03 -9.55514087e-05 9.99975324e-01 -2.66170556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64420382200001 meters 0.017893319207752778 Centerline is valid? [True, True] Translation: X:96.60, Y:-7.01, Z:-2.66 [[ 9.79545932e-01 2.01016826e-01 9.05558599e-03 9.65950499e+01] [-2.01009265e-01 9.79587783e-01 -1.74694855e-03 -7.01181825e+00] [-9.22190746e-03 -1.09040339e-04 9.99957471e-01 -2.66027241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674203822 meters 0.017797031150110706 Centerline is valid? [True, True] Translation: X:96.63, Y:-7.02, Z:-2.66 [[ 9.79606395e-01 2.00665237e-01 1.02358964e-02 9.66255763e+01] [-2.00655566e-01 9.79659864e-01 -1.97371949e-03 -7.01746039e+00] [-1.04237538e-02 -1.20421362e-04 9.99945664e-01 -2.65980038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704203822 meters 0.016269332708180886 Centerline is valid? [True, True] Translation: X:96.66, Y:-7.02, Z:-2.66 [[ 9.79692898e-01 2.00214792e-01 1.07639520e-02 9.66572761e+01] [-2.00204072e-01 9.79752021e-01 -2.07543609e-03 -7.02486462e+00] [-1.09615367e-02 -1.21697021e-04 9.99939913e-01 -2.65740858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.734203822 meters 0.016550222278297992 Centerline is valid? [True, True] Translation: X:96.69, Y:-7.03, Z:-2.66 [[ 9.79898677e-01 1.99225433e-01 1.03831134e-02 9.66883799e+01] [-1.99215372e-01 9.79953681e-01 -2.00493984e-03 -7.02887522e+00] [-1.05744052e-02 -1.03837895e-04 9.99944084e-01 -2.66115781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764203822 meters 0.015678779175608563 Centerline is valid? [True, True] Translation: X:96.72, Y:-7.04, Z:-2.66 [[ 9.79975154e-01 1.98908047e-01 9.18073169e-03 9.67195391e+01] [-1.98900175e-01 9.80018153e-01 -1.77192616e-03 -7.03547718e+00] [-9.34973408e-03 -8.96055296e-05 9.99956286e-01 -2.66262932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.794203822 meters 0.01584395526851182 Centerline is valid? [True, True] Translation: X:96.75, Y:-7.04, Z:-2.66 [[ 9.79938805e-01 1.99114331e-01 8.56868076e-03 9.67508311e+01] [-1.99107471e-01 9.79976263e-01 -1.65493381e-03 -7.04473851e+00] [-8.72662479e-03 -8.43544977e-05 9.99961919e-01 -2.66434068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824203822 meters 0.015769372852267243 Centerline is valid? [True, True] Translation: X:96.78, Y:-7.05, Z:-2.66 [[ 9.79923761e-01 1.99184016e-01 8.66892734e-03 9.67830767e+01] [-1.99176988e-01 9.79962102e-01 -1.67536796e-03 -7.05343722e+00] [-8.82892678e-03 -8.49179620e-05 9.99961021e-01 -2.66469168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.854203822 meters 0.015875441428344815 Centerline is valid? [True, True] Translation: X:96.81, Y:-7.06, Z:-2.67 [[ 9.79831109e-01 1.99702796e-01 7.05627279e-03 9.68146209e+01] [-1.99698148e-01 9.79856514e-01 -1.36448967e-03 -7.06025794e+00] [-7.18662726e-03 -7.21551777e-05 9.99974173e-01 -2.66585057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884203822 meters 0.01667439223351308 Centerline is valid? [True, True] Translation: X:96.85, Y:-7.06, Z:-2.67 [[ 9.79781270e-01 1.99956547e-01 6.78548741e-03 9.68462585e+01] [-1.99952249e-01 9.79804763e-01 -1.31288263e-03 -7.06486117e+00] [-6.91097237e-03 -7.04356573e-05 9.99976116e-01 -2.66894770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914203822 meters 0.016440278386684885 Centerline is valid? [True, True] Translation: X:96.88, Y:-7.07, Z:-2.67 [[ 9.79828552e-01 1.99732108e-01 6.56453437e-03 9.68789031e+01] [-1.99728075e-01 9.79850540e-01 -1.27102315e-03 -7.07109481e+00] [-6.68612668e-03 -6.57370403e-05 9.99977645e-01 -2.67038249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944203822 meters 0.015881845313265752 Centerline is valid? [True, True] Translation: X:96.91, Y:-7.08, Z:-2.67 [[ 9.79913264e-01 1.99324137e-01 6.31538984e-03 9.69108070e+01] [-1.99320389e-01 9.79933612e-01 -1.22377656e-03 -7.07812193e+00] [-6.43259098e-03 -5.95910730e-05 9.99979309e-01 -2.67156377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974203822 meters 0.015513820189704418 Centerline is valid? [True, True] Translation: X:96.94, Y:-7.09, Z:-2.68 [[ 9.80315729e-01 1.97320696e-01 6.75382759e-03 9.69404501e+01] [-1.97316344e-01 9.80338993e-01 -1.31129697e-03 -7.08778294e+00] [-6.87978657e-03 -4.71555206e-05 9.99976333e-01 -2.67510266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00420382200001 meters 0.014551234733946337 Centerline is valid? [True, True] Translation: X:96.97, Y:-7.10, Z:-2.67 [[ 9.80533850e-01 1.96222519e-01 7.07752748e-03 9.69709706e+01] [-1.96217704e-01 9.80559392e-01 -1.37526230e-03 -7.09778322e+00] [-7.20979347e-03 -4.02449528e-05 9.99974008e-01 -2.67489653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034203822 meters 0.014101564643602174 Centerline is valid? [True, True] Translation: X:97.00, Y:-7.11, Z:-2.67 [[ 9.80740676e-01 1.95166872e-01 7.59073318e-03 9.70008652e+01] [-1.95161286e-01 9.80770050e-01 -1.47690912e-03 -7.10742412e+00] [-7.73300750e-03 -3.29524044e-05 9.99970099e-01 -2.67486913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064203822 meters 0.01377744903785128 Centerline is valid? [True, True] Translation: X:97.03, Y:-7.12, Z:-2.68 [[ 9.81146213e-01 1.93116153e-01 7.63286769e-03 9.70313193e+01] [-1.93110435e-01 9.81175902e-01 -1.48612514e-03 -7.11693159e+00] [-7.77618061e-03 -1.58803505e-05 9.99969765e-01 -2.67618420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.094203822 meters 0.014126731913393305 Centerline is valid? [True, True] Translation: X:97.06, Y:-7.12, Z:-2.68 [[ 9.81188224e-01 1.92929508e-01 6.91911553e-03 9.70628772e+01] [-1.92924800e-01 9.81212620e-01 -1.34791038e-03 -7.12219036e+00] [-7.04917516e-03 -1.23151883e-05 9.99975154e-01 -2.67883432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124203822 meters 0.02741287372430397 Centerline is valid? [True, True] Translation: X:97.09, Y:-7.13, Z:-2.68 [[ 9.81096711e-01 1.93412270e-01 6.39825450e-03 9.70947908e+01] [-1.93408251e-01 9.81117574e-01 -1.24697951e-03 -7.12645483e+00] [-6.51862107e-03 -1.40677137e-05 9.99978753e-01 -2.67776347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.154203822 meters 0.013387997847872975 Centerline is valid? [True, True] Translation: X:97.13, Y:-7.13, Z:-2.68 [[ 9.80927654e-01 1.94263231e-01 6.53719939e-03 9.71267158e+01] [-1.94259049e-01 9.80949436e-01 -1.27476958e-03 -7.13276620e+00] [-6.66030291e-03 -1.94534060e-05 9.99977820e-01 -2.67734820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184203822 meters 0.0153628198471489 Centerline is valid? [True, True] Translation: X:97.16, Y:-7.14, Z:-2.68 [[ 9.80717514e-01 1.95332020e-01 6.20966162e-03 9.71575234e+01] [-1.95328256e-01 9.80737172e-01 -1.21276697e-03 -7.13745194e+00] [-6.32693820e-03 -2.35405714e-05 9.99979984e-01 -2.68310524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.214203822 meters 0.015296090920361756 Centerline is valid? [True, True] Translation: X:97.19, Y:-7.14, Z:-2.68 [[ 9.80546108e-01 1.96204643e-01 5.75046289e-03 9.71894728e+01] [-1.96201427e-01 9.80562970e-01 -1.12365625e-03 -7.14298644e+00] [-5.85915754e-03 -2.64522625e-05 9.99982835e-01 -2.68298565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244203822 meters 0.016024678628373572 Centerline is valid? [True, True] Translation: X:97.22, Y:-7.15, Z:-2.69 [[ 9.80300195e-01 1.97412200e-01 6.32073374e-03 9.72204019e+01] [-1.97408328e-01 9.80320571e-01 -1.23690903e-03 -7.14677121e+00] [-6.44052625e-03 -3.52233170e-05 9.99979259e-01 -2.68510834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274203822 meters 0.014768501708631886 Centerline is valid? [True, True] Translation: X:97.25, Y:-7.15, Z:-2.68 [[ 9.80265488e-01 1.97570795e-01 6.73457906e-03 9.72523063e+01] [-1.97566396e-01 9.80288621e-01 -1.31890116e-03 -7.15357125e+00] [-6.86240756e-03 -3.76532244e-05 9.99976453e-01 -2.68212617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304203822 meters 0.014532970128634552 Centerline is valid? [True, True] Translation: X:97.28, Y:-7.16, Z:-2.68 [[ 9.80345910e-01 1.97160317e-01 7.05019656e-03 9.72838407e+01] [-1.97155475e-01 9.80371260e-01 -1.38214691e-03 -7.15968924e+00] [-7.18431461e-03 -3.50027869e-05 9.99974192e-01 -2.68240371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334203822 meters 0.012437308386710417 Centerline is valid? [True, True] Translation: X:97.32, Y:-7.17, Z:-2.68 [[ 9.80878875e-01 1.94413892e-01 8.93712402e-03 9.73158023e+01] [-1.94405960e-01 9.80919588e-01 -1.75623983e-03 -7.16628962e+00] [-9.10803744e-03 -1.47716188e-05 9.99958521e-01 -2.67843199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36420382200001 meters 0.013368305825649135 Centerline is valid? [True, True] Translation: X:97.35, Y:-7.17, Z:-2.68 [[ 9.81243021e-01 1.92567056e-01 8.94773229e-03 9.73461419e+01] [-1.92559036e-01 9.81283817e-01 -1.75741692e-03 -7.17497617e+00] [-9.11868550e-03 1.48637864e-06 9.99958424e-01 -2.68248331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39420382200001 meters 0.01585532885689782 Centerline is valid? [True, True] Translation: X:97.38, Y:-7.19, Z:-2.69 [[ 9.82158408e-01 1.87923344e-01 7.04824743e-03 9.73753824e+01] [-1.87918225e-01 9.82183697e-01 -1.38752291e-03 -7.19195254e+00] [-7.18342167e-03 3.82731436e-05 9.99974198e-01 -2.68596601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424203822 meters 0.016735260919160246 Centerline is valid? [True, True] Translation: X:97.41, Y:-7.20, Z:-2.69 [[ 9.82519668e-01 1.86040534e-01 6.63489117e-03 9.74065575e+01] [-1.86035971e-01 9.82542069e-01 -1.30373436e-03 -7.20207070e+00] [-6.76160713e-03 4.66162252e-05 9.99977139e-01 -2.68610231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454203822 meters 0.01814039020570434 Centerline is valid? [True, True] Translation: X:97.44, Y:-7.21, Z:-2.69 [[ 9.82767994e-01 1.84726858e-01 6.56183891e-03 9.74361100e+01] [-1.84722347e-01 9.82789899e-01 -1.29216219e-03 -7.21104821e+00] [-6.68760606e-03 5.77773575e-05 9.99977636e-01 -2.68837770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.484203822 meters 0.01906137753730224 Centerline is valid? [True, True] Translation: X:97.47, Y:-7.22, Z:-2.69 [[ 9.83061477e-01 1.83154320e-01 6.68044867e-03 9.74669921e+01] [-1.83149615e-01 9.83084173e-01 -1.31453460e-03 -7.22174618e+00] [-6.80820605e-03 6.87467170e-05 9.99976822e-01 -2.68875616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.514203822 meters 0.024422425764074693 Centerline is valid? [True, True] Translation: X:97.50, Y:-7.23, Z:-2.69 [[ 9.83120213e-01 1.82832579e-01 6.84801443e-03 9.74990242e+01] [-1.82827623e-01 9.83144060e-01 -1.34815894e-03 -7.22805430e+00] [-6.97907209e-03 7.33961056e-05 9.99975643e-01 -2.68718051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544203822 meters 0.018010702395633762 Centerline is valid? [True, True] Translation: X:97.53, Y:-7.23, Z:-2.69 [[ 9.83000734e-01 1.83460188e-01 7.20531128e-03 9.75310489e+01] [-1.83454689e-01 9.83027138e-01 -1.42253081e-03 -7.23447083e+00] [-7.34399430e-03 7.65006890e-05 9.99973030e-01 -2.68783538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.574203822 meters 0.017857740298279568 Centerline is valid? [True, True] Translation: X:97.56, Y:-7.24, Z:-2.69 [[ 9.82421300e-01 1.86510159e-01 7.89625223e-03 9.75615317e+01] [-1.86503655e-01 9.82453031e-01 -1.55858326e-03 -7.23931001e+00] [-8.04838854e-03 5.85054828e-05 9.99967609e-01 -2.69114761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604203822 meters 0.015767668681023958 Centerline is valid? [True, True] Translation: X:97.59, Y:-7.24, Z:-2.69 [[ 9.81978639e-01 1.88845844e-01 7.42965991e-03 9.75941279e+01] [-1.88840151e-01 9.82006744e-01 -1.46683245e-03 -7.24240380e+00] [-7.57298135e-03 3.73800324e-05 9.99971324e-01 -2.68988840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.634203822 meters 0.014205208548210882 Centerline is valid? [True, True] Translation: X:97.63, Y:-7.24, Z:-2.69 [[ 9.80694252e-01 1.95438109e-01 6.53673938e-03 9.76286865e+01] [-1.95433844e-01 9.80716037e-01 -1.29112568e-03 -7.23768050e+00] [-6.66302030e-03 -1.13005676e-05 9.99977802e-01 -2.69220029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664203822 meters 0.014781567597800506 Centerline is valid? [True, True] Translation: X:97.66, Y:-7.24, Z:-2.69 [[ 9.79973638e-01 1.99040540e-01 5.87640624e-03 9.76609416e+01] [-1.99037151e-01 9.79991256e-01 -1.16182778e-03 -7.23804461e+00] [-5.99007756e-03 -3.10625610e-05 9.99982059e-01 -2.69379540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694203822 meters 0.01586284471067058 Centerline is valid? [True, True] Translation: X:97.69, Y:-7.24, Z:-2.69 [[ 9.79309483e-01 2.02290327e-01 5.61790497e-03 9.76937482e+01] [-2.02287279e-01 9.79325595e-01 -1.11145517e-03 -7.23964217e+00] [-5.72659476e-03 -4.79721214e-05 9.99983602e-01 -2.69408698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724203822 meters 0.018438560861358505 Centerline is valid? [True, True] Translation: X:97.73, Y:-7.24, Z:-2.69 [[ 9.78351484e-01 2.06847871e-01 6.50634909e-03 9.77255498e+01] [-2.06843859e-01 9.78373115e-01 -1.29100934e-03 -7.23686738e+00] [-6.63267956e-03 -8.27374477e-05 9.99978000e-01 -2.69277469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75420382200001 meters 0.018988749643722113 Centerline is valid? [True, True] Translation: X:97.76, Y:-7.24, Z:-2.69 [[ 9.78075632e-01 2.08130852e-01 7.04324366e-03 9.77583955e+01] [-2.08126194e-01 9.78100986e-01 -1.39603785e-03 -7.24006668e+00] [-7.17956211e-03 -1.00452895e-04 9.99974222e-01 -2.69300606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784203822 meters 0.018988749643722113 Centerline is valid? [True, True] Translation: X:97.79, Y:-7.25, Z:-2.69 [[ 9.78036104e-01 2.08316528e-01 7.04297645e-03 9.77902003e+01] [-2.08311865e-01 9.78061457e-01 -1.39738262e-03 -7.24657238e+00] [-7.17956171e-03 -1.00444907e-04 9.99974222e-01 -2.69392930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814203822 meters 0.018792732214380457 Centerline is valid? [True, True] Translation: X:97.82, Y:-7.25, Z:-2.69 [[ 9.77986620e-01 2.08542653e-01 7.22029264e-03 9.78223393e+01] [-2.08537748e-01 9.78013267e-01 -1.43410381e-03 -7.25156745e+00] [-7.36061380e-03 -1.03169228e-04 9.99972905e-01 -2.69410261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.844203822 meters 0.01861040546526737 Centerline is valid? [True, True] Translation: X:97.85, Y:-7.26, Z:-2.70 [[ 9.78196445e-01 2.07553672e-01 7.29306819e-03 9.78529407e+01] [-2.07548613e-01 9.78223627e-01 -1.45211280e-03 -7.25774981e+00] [-7.43564296e-03 -9.32146147e-05 9.99972351e-01 -2.69675759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.874203822 meters 0.015783687327815304 Centerline is valid? [True, True] Translation: X:97.88, Y:-7.27, Z:-2.70 [[ 9.79063364e-01 2.03415166e-01 7.56301097e-03 9.78834422e+01] [-2.03409607e-01 9.79092573e-01 -1.50525453e-03 -7.26830997e+00] [-7.71107947e-03 -6.46495257e-05 9.99970267e-01 -2.69786479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904203822 meters 0.01910637088496784 Centerline is valid? [True, True] Translation: X:97.91, Y:-7.28, Z:-2.70 [[ 9.79582987e-01 2.00870830e-01 8.25113963e-03 9.79143846e+01] [-2.00864109e-01 9.79617735e-01 -1.64387012e-03 -7.27821513e+00] [-8.41316827e-03 -4.70506032e-05 9.99964608e-01 -2.69544288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.934203822 meters 0.013389048711467422 Centerline is valid? [True, True] Translation: X:97.94, Y:-7.29, Z:-2.70 [[ 9.80599282e-01 1.95832238e-01 8.64770895e-03 9.79432854e+01] [-1.95824641e-01 9.80637412e-01 -1.72493022e-03 -7.29188875e+00] [-8.81806388e-03 -1.96916962e-06 9.99961120e-01 -2.69796474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964203822 meters 0.014372686739601742 Centerline is valid? [True, True] Translation: X:97.97, Y:-7.30, Z:-2.70 [[ 9.81054925e-01 1.93584338e-01 7.50590801e-03 9.79737209e+01] [-1.93578545e-01 9.81083637e-01 -1.49769430e-03 -7.30134664e+00] [-7.65385370e-03 1.63376154e-05 9.99970709e-01 -2.70040916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.994203822 meters 0.014341823214212195 Centerline is valid? [True, True] Translation: X:98.00, Y:-7.31, Z:-2.70 [[ 9.81405179e-01 1.91828530e-01 6.75938808e-03 9.80049675e+01] [-1.91823787e-01 9.81428456e-01 -1.34922597e-03 -7.30899168e+00] [-6.89267584e-03 2.75259362e-05 9.99976245e-01 -2.69995202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024203822 meters 0.017271318672914555 Centerline is valid? [True, True] Translation: X:98.03, Y:-7.32, Z:-2.71 [[ 9.81861970e-01 1.89471386e-01 6.90397150e-03 9.80348370e+01] [-1.89466368e-01 9.81886242e-01 -1.37973547e-03 -7.31912430e+00] [-7.04033502e-03 4.66393818e-05 9.99975215e-01 -2.70535927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054203822 meters 0.016197592172040313 Centerline is valid? [True, True] Translation: X:98.07, Y:-7.33, Z:-2.70 [[ 9.81944333e-01 1.89055704e-01 6.57784588e-03 9.80668969e+01] [-1.89051135e-01 9.81966363e-01 -1.31517900e-03 -7.32532309e+00] [-6.70786549e-03 4.78833353e-05 9.99977501e-01 -2.70327206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084203822 meters 0.016417274865959158 Centerline is valid? [True, True] Translation: X:98.10, Y:-7.33, Z:-2.70 [[ 9.81938996e-01 1.89105228e-01 5.91792511e-03 9.80985561e+01] [-1.89101528e-01 9.81956827e-01 -1.18376431e-03 -7.33166264e+00] [-6.03500298e-03 4.32956614e-05 9.99981788e-01 -2.70494911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11420382200001 meters 0.027788826673591643 Centerline is valid? [True, True] Translation: X:98.13, Y:-7.34, Z:-2.71 [[ 9.81932259e-01 1.89149005e-01 5.62969461e-03 9.81293086e+01] [-1.89145642e-01 9.81948396e-01 -1.12869729e-03 -7.33724996e+00] [-5.74156156e-03 4.34720730e-05 9.99983516e-01 -2.70921720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14420382200001 meters 0.017511070999231756 Centerline is valid? [True, True] Translation: X:98.16, Y:-7.34, Z:-2.71 [[ 9.81880124e-01 1.89428501e-01 5.31648399e-03 9.81611833e+01] [-1.89425516e-01 9.81894517e-01 -1.06400707e-03 -7.34397732e+00] [-5.42177974e-03 3.76496665e-05 9.99985301e-01 -2.70984647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174203822 meters 0.017445550849897483 Centerline is valid? [True, True] Translation: X:98.19, Y:-7.35, Z:-2.71 [[ 9.81777122e-01 1.89956928e-01 5.48162185e-03 9.81913025e+01] [-1.89953751e-01 9.81792424e-01 -1.09919455e-03 -7.35002486e+00] [-5.59061442e-03 3.79094260e-05 9.99984372e-01 -2.70986692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204203822 meters 0.027528258007993633 Centerline is valid? [True, True] Translation: X:98.22, Y:-7.36, Z:-2.71 [[ 9.81774407e-01 1.89952240e-01 6.09588267e-03 9.82216214e+01] [-1.89948302e-01 9.81793331e-01 -1.22389285e-03 -7.35607082e+00] [-6.21737814e-03 4.36841105e-05 9.99980671e-01 -2.70994518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.234203822 meters 0.01645100640055474 Centerline is valid? [True, True] Translation: X:98.25, Y:-7.36, Z:-2.71 [[ 9.81763675e-01 1.89986613e-01 6.72111527e-03 9.82538132e+01] [-1.89981802e-01 9.81786680e-01 -1.35299006e-03 -7.36211225e+00] [-6.85575144e-03 5.14269049e-05 9.99976498e-01 -2.70785571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264203822 meters 0.02492638646341324 Centerline is valid? [True, True] Translation: X:98.29, Y:-7.37, Z:-2.71 [[ 9.81693206e-01 1.90353631e-01 6.62910730e-03 9.82866011e+01] [-1.90348978e-01 9.81715587e-01 -1.33183119e-03 -7.36566046e+00] [-6.76141686e-03 4.56058385e-05 9.99977140e-01 -2.70781255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.294203822 meters 0.021758465696538623 Centerline is valid? [True, True] Translation: X:98.32, Y:-7.37, Z:-2.71 [[ 9.81611397e-01 1.90776833e-01 6.57768869e-03 9.83174775e+01] [-1.90772250e-01 9.81633434e-01 -1.32311660e-03 -7.37161339e+00] [-6.70929913e-03 4.39458675e-05 9.99977491e-01 -2.71279647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324203822 meters 0.017504877014624408 Centerline is valid? [True, True] Translation: X:98.35, Y:-7.38, Z:-2.71 [[ 9.81579869e-01 1.90928647e-01 6.87108717e-03 9.83483390e+01] [-1.90923635e-01 9.81603917e-01 -1.38417454e-03 -7.37837099e+00] [-7.00896465e-03 4.68249225e-05 9.99975436e-01 -2.71440704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.354203822 meters 0.016572857768862446 Centerline is valid? [True, True] Translation: X:98.38, Y:-7.39, Z:-2.71 [[ 9.81583050e-01 1.90896986e-01 7.28404373e-03 9.83795866e+01] [-1.90891342e-01 9.81610074e-01 -1.46880008e-03 -7.38507396e+00] [-7.43048022e-03 5.12883818e-05 9.99972392e-01 -2.71240024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384203822 meters 0.016874257531427128 Centerline is valid? [True, True] Translation: X:98.41, Y:-7.39, Z:-2.71 [[ 9.81561186e-01 1.91008641e-01 7.30318109e-03 9.84108427e+01] [-1.91002953e-01 9.81588354e-01 -1.47497430e-03 -7.39437029e+00] [-7.45045034e-03 5.28483720e-05 9.99972244e-01 -2.71248958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414203822 meters 0.018235628647625034 Centerline is valid? [True, True] Translation: X:98.44, Y:-7.40, Z:-2.71 [[ 9.81433610e-01 1.91667677e-01 7.18122139e-03 9.84432697e+01] [-1.91662200e-01 9.81459882e-01 -1.44968987e-03 -7.40025357e+00] [-7.32593939e-03 4.64056688e-05 9.99973164e-01 -2.71281455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444203822 meters 0.015018698595632355 Centerline is valid? [True, True] Translation: X:98.48, Y:-7.40, Z:-2.71 [[ 9.81198923e-01 1.92856817e-01 7.41094336e-03 9.84760017e+01] [-1.92850985e-01 9.81226909e-01 -1.50040534e-03 -7.40347433e+00] [-7.56118044e-03 4.29883769e-05 9.99971413e-01 -2.71155061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474203822 meters 0.013758977881050698 Centerline is valid? [True, True] Translation: X:98.51, Y:-7.40, Z:-2.71 [[ 9.80434182e-01 1.96667909e-01 8.39927120e-03 9.85076030e+01] [-1.96660558e-01 9.80470159e-01 -1.70053906e-03 -7.40278867e+00] [-8.56967623e-03 1.54612615e-05 9.99963280e-01 -2.71371984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50420382200001 meters 0.013346573293910806 Centerline is valid? [True, True] Translation: X:98.54, Y:-7.41, Z:-2.71 [[ 9.79965818e-01 1.99002872e-01 8.05308406e-03 9.85402130e+01] [-1.98996203e-01 9.79998906e-01 -1.62922142e-03 -7.40576458e+00] [-8.21623332e-03 -5.95185291e-06 9.99966246e-01 -2.71472579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534203822 meters 0.014463937324974311 Centerline is valid? [True, True] Translation: X:98.57, Y:-7.41, Z:-2.72 [[ 9.79209183e-01 2.02666901e-01 8.68920550e-03 9.85716762e+01] [-2.02659255e-01 9.79247735e-01 -1.76081414e-03 -7.40644693e+00] [-8.86574355e-03 -3.67425329e-05 9.99960698e-01 -2.71826875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564203822 meters 0.012905963499541281 Centerline is valid? [True, True] Translation: X:98.60, Y:-7.41, Z:-2.71 [[ 9.78988382e-01 2.03690843e-01 9.58068095e-03 9.86034362e+01] [-2.03681580e-01 9.79035259e-01 -1.94315547e-03 -7.41351077e+00] [-9.77562743e-03 -4.90816048e-05 9.99952216e-01 -2.71294396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.594203822 meters 0.014316965284413879 Centerline is valid? [True, True] Translation: X:98.63, Y:-7.42, Z:-2.72 [[ 9.78856651e-01 2.04324001e-01 9.55818246e-03 9.86345711e+01] [-2.04314798e-01 9.78903315e-01 -1.94005660e-03 -7.41952499e+00] [-9.75293662e-03 -5.38408065e-05 9.99952438e-01 -2.71690127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624203822 meters 0.014231945560719375 Centerline is valid? [True, True] Translation: X:98.67, Y:-7.43, Z:-2.72 [[ 9.78817450e-01 2.04573978e-01 8.11709788e-03 9.86658020e+01] [-2.04567340e-01 9.78851105e-01 -1.64863272e-03 -7.42687761e+00] [-8.28269758e-03 -4.67826412e-05 9.99965697e-01 -2.71807168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.654203822 meters 0.01517253323918167 Centerline is valid? [True, True] Translation: X:98.70, Y:-7.43, Z:-2.72 [[ 9.78871484e-01 2.04395980e-01 5.73594946e-03 9.86974304e+01] [-2.04392649e-01 9.78888289e-01 -1.16729239e-03 -7.43097423e+00] [-5.85344363e-03 -2.97566744e-05 9.99982868e-01 -2.72379455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684203822 meters 0.015010321501880296 Centerline is valid? [True, True] Translation: X:98.73, Y:-7.44, Z:-2.73 [[ 9.78885520e-01 2.04324453e-01 5.88701851e-03 9.87298885e+01] [-2.04320960e-01 9.78903221e-01 -1.19512610e-03 -7.43708625e+00] [-6.00701487e-03 -3.29496428e-05 9.99981957e-01 -2.72537232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.714203822 meters 0.014984748980782132 Centerline is valid? [True, True] Translation: X:98.76, Y:-7.44, Z:-2.73 [[ 9.78845303e-01 2.04512460e-01 6.04369536e-03 9.87619502e+01] [-2.04508774e-01 9.78863960e-01 -1.22827566e-03 -7.44339212e+00] [-6.16715325e-03 -3.36968657e-05 9.99980982e-01 -2.72557639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744203822 meters 0.014719107040162022 Centerline is valid? [True, True] Translation: X:98.79, Y:-7.45, Z:-2.73 [[ 9.78713306e-01 2.05147237e-01 5.90548934e-03 9.87939309e+01] [-2.05143724e-01 9.78731122e-01 -1.20112395e-03 -7.44953978e+00] [-6.02629347e-03 -3.59180794e-05 9.99981841e-01 -2.72514320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774203822 meters 0.01506743269887358 Centerline is valid? [True, True] Translation: X:98.83, Y:-7.46, Z:-2.73 [[ 9.78547157e-01 2.05942407e-01 5.76081776e-03 9.88258897e+01] [-2.05939070e-01 9.78564113e-01 -1.17301150e-03 -7.45514593e+00] [-5.87890234e-03 -3.85303805e-05 9.99982718e-01 -2.72634005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804203822 meters 0.01577693682297156 Centerline is valid? [True, True] Translation: X:98.86, Y:-7.46, Z:-2.73 [[ 9.78158377e-01 2.07785060e-01 5.61765816e-03 9.88577066e+01] [-2.07781910e-01 9.78174507e-01 -1.14505442e-03 -7.45901580e+00] [-5.73297521e-03 -4.72031699e-05 9.99983565e-01 -2.72688837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834203822 meters 0.015286314896551738 Centerline is valid? [True, True] Translation: X:98.89, Y:-7.46, Z:-2.73 [[ 9.78007193e-01 2.08476267e-01 6.29099149e-03 9.88889856e+01] [-2.08472321e-01 9.78027424e-01 -1.28391897e-03 -7.46441869e+00] [-6.42042883e-03 -5.58156133e-05 9.99979387e-01 -2.72544249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86420382200001 meters 0.015456750684577138 Centerline is valid? [True, True] Translation: X:98.92, Y:-7.47, Z:-2.72 [[ 9.78029091e-01 2.08205055e-01 1.04762314e-02 9.89197804e+01] [-2.08194010e-01 9.78085195e-01 -2.14613033e-03 -7.46640364e+00] [-1.06934820e-02 -8.21107240e-05 9.99942820e-01 -2.72421376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89420382200001 meters 0.013393469654036365 Centerline is valid? [True, True] Translation: X:98.95, Y:-7.47, Z:-2.72 [[ 9.78275097e-01 2.07005031e-01 1.12584472e-02 9.89509804e+01] [-2.06992224e-01 9.78339875e-01 -2.30389516e-03 -7.47481378e+00] [-1.14915057e-02 -7.65677591e-05 9.99933968e-01 -2.72159676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924203822 meters 0.01292023979673363 Centerline is valid? [True, True] Translation: X:98.98, Y:-7.48, Z:-2.72 [[ 9.78679158e-01 2.05111992e-01 1.07785486e-02 9.89820256e+01] [-2.05100112e-01 9.78738509e-01 -2.20819027e-03 -7.48351784e+00] [-1.10023069e-02 -4.95717376e-05 9.99939472e-01 -2.72395459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954203822 meters 0.025421628673185894 Centerline is valid? [True, True] Translation: X:99.01, Y:-7.49, Z:-2.73 [[ 9.79155902e-01 2.02880337e-01 9.65856994e-03 9.90126365e+01] [-2.02870689e-01 9.79203538e-01 -1.97867210e-03 -7.49252280e+00] [-9.85913952e-03 -2.20122675e-05 9.99951397e-01 -2.72627727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.984203822 meters 0.013515924373574252 Centerline is valid? [True, True] Translation: X:99.04, Y:-7.51, Z:-2.73 [[ 9.80112863e-01 1.98224363e-01 9.26697103e-03 9.90430154e+01] [-1.98215260e-01 9.80156672e-01 -1.89984143e-03 -7.50577181e+00] [-9.45967834e-03 2.52039531e-05 9.99955256e-01 -2.72896169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.014203822 meters 0.014305764668120707 Centerline is valid? [True, True] Translation: X:99.07, Y:-7.52, Z:-2.73 [[ 9.80559178e-01 1.95982697e-01 9.72014126e-03 9.90747301e+01] [-1.95972557e-01 9.80607353e-01 -1.99419360e-03 -7.51596567e+00] [-9.92246943e-03 5.05438942e-05 9.99950770e-01 -2.72904333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044203822 meters 0.018652808753196207 Centerline is valid? [True, True] Translation: X:99.10, Y:-7.53, Z:-2.73 [[ 9.81384201e-01 1.91789534e-01 1.00907848e-02 9.91030569e+01] [-1.91778340e-01 9.81436073e-01 -2.07448998e-03 -7.53014498e+00] [-1.03013256e-02 1.00677740e-04 9.99946935e-01 -2.73150137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.074203822 meters 0.018442319969441765 Centerline is valid? [True, True] Translation: X:99.13, Y:-7.54, Z:-2.73 [[ 9.81759738e-01 1.89877877e-01 9.70614911e-03 9.91343312e+01] [-1.89867416e-01 9.81807709e-01 -1.99659842e-03 -7.53736575e+00] [-9.90868190e-03 1.17298495e-04 9.99950901e-01 -2.72932107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104203822 meters 0.024205845393645068 Centerline is valid? [True, True] Translation: X:99.16, Y:-7.55, Z:-2.73 [[ 9.82452825e-01 1.86267535e-01 9.53160299e-03 9.91633738e+01] [-1.86257289e-01 9.82499050e-01 -1.95941029e-03 -7.55139945e+00] [-9.72976541e-03 1.49697650e-04 9.99952654e-01 -2.73355973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.134203822 meters 0.023751147562854263 Centerline is valid? [True, True] Translation: X:99.19, Y:-7.56, Z:-2.73 [[ 9.82723484e-01 1.84811223e-01 9.96822991e-03 9.91945857e+01] [-1.84799925e-01 9.82774024e-01 -2.05085882e-03 -7.55866288e+00] [-1.01755391e-02 1.73298988e-04 9.99948213e-01 -2.73100220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164203822 meters 0.02628319767607412 Centerline is valid? [True, True] Translation: X:99.22, Y:-7.57, Z:-2.73 [[ 9.83029686e-01 1.83158976e-01 1.02677543e-02 9.92243634e+01] [-1.83146875e-01 9.83083288e-01 -2.11465659e-03 -7.56849095e+00] [-1.04813760e-02 1.98263078e-04 9.99945049e-01 -2.73208355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194203822 meters 0.027997766243866254 Centerline is valid? [True, True] Translation: X:99.26, Y:-7.58, Z:-2.73 [[ 9.83366815e-01 1.81347196e-01 1.01440673e-02 9.92556217e+01] [-1.81335275e-01 9.83419111e-01 -2.09053952e-03 -7.57689056e+00] [-1.03549831e-02 2.16289964e-04 9.99946362e-01 -2.73337494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224203822 meters 0.03273617230220333 Centerline is valid? [True, True] Translation: X:99.28, Y:-7.59, Z:-2.74 [[ 9.84215623e-01 1.76676692e-01 1.02446693e-02 9.92847948e+01] [-1.76664231e-01 9.84268902e-01 -2.11595643e-03 -7.58887749e+00] [-1.04573496e-02 2.72690746e-04 9.99945283e-01 -2.73555385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25420382200001 meters 0.035986940584774404 Centerline is valid? [True, True] Translation: X:99.32, Y:-7.60, Z:-2.74 [[ 9.84672365e-01 1.74098357e-01 1.04926309e-02 9.93150113e+01] [-1.74085145e-01 9.84728220e-01 -2.16666165e-03 -7.60172527e+00] [-1.07096019e-02 3.06840689e-04 9.99942603e-01 -2.73604835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284203822 meters 0.03889513792770481 Centerline is valid? [True, True] Translation: X:99.34, Y:-7.61, Z:-2.74 [[ 9.85030956e-01 1.72027936e-01 1.09728873e-02 9.93441280e+01] [-1.72013373e-01 9.85092012e-01 -2.26456046e-03 -7.61446982e+00] [-1.11988713e-02 3.43178800e-04 9.99937232e-01 -2.73602642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314203822 meters 0.04188918095418608 Centerline is valid? [True, True] Translation: X:99.37, Y:-7.63, Z:-2.74 [[ 9.85473606e-01 1.69483165e-01 1.08272511e-02 9.93733975e+01] [-1.69468788e-01 9.85533013e-01 -2.23852875e-03 -7.62692257e+00] [-1.10500063e-02 3.71129883e-04 9.99938878e-01 -2.73701727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.344203822 meters 0.04100256765519179 Centerline is valid? [True, True] Translation: X:99.40, Y:-7.63, Z:-2.74 [[ 9.85473436e-01 1.69547793e-01 9.78027042e-03 9.94043069e+01] [-1.69536088e-01 9.85521910e-01 -2.01973923e-03 -7.63352685e+00] [-9.98111312e-03 3.32290570e-04 9.99950132e-01 -2.73877920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.374203822 meters 0.040172034359866986 Centerline is valid? [True, True] Translation: X:99.43, Y:-7.64, Z:-2.74 [[ 9.85022468e-01 1.72175790e-01 9.28625086e-03 9.94332544e+01] [-1.72165316e-01 9.85066196e-01 -1.92180297e-03 -7.64257353e+00] [-9.47845976e-03 2.94248799e-04 9.99955035e-01 -2.74138462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404203822 meters 0.03759731010438951 Centerline is valid? [True, True] Translation: X:99.46, Y:-7.65, Z:-2.74 [[ 9.84590653e-01 1.74592197e-01 9.94032571e-03 9.94643545e+01] [-1.74580318e-01 9.84640788e-01 -2.05710601e-03 -7.64600774e+00] [-1.01468048e-02 2.90022125e-04 9.99948478e-01 -2.74101111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.434203822 meters 0.03454633391791408 Centerline is valid? [True, True] Translation: X:99.50, Y:-7.65, Z:-2.74 [[ 9.84084518e-01 1.77415984e-01 1.00613425e-02 9.94965637e+01] [-1.77403962e-01 9.84135915e-01 -2.08219147e-03 -7.64717486e+00] [-1.02711425e-02 2.64130363e-04 9.99947216e-01 -2.74215838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464203822 meters 0.029517812280420313 Centerline is valid? [True, True] Translation: X:99.53, Y:-7.65, Z:-2.74 [[ 9.83588852e-01 1.80168645e-01 9.60361651e-03 9.95296494e+01] [-1.80157845e-01 9.83635710e-01 -1.98523052e-03 -7.64647753e+00] [-9.80413644e-03 2.22483753e-04 9.99951914e-01 -2.74234849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.494203822 meters 0.028397076077500385 Centerline is valid? [True, True] Translation: X:99.56, Y:-7.65, Z:-2.75 [[ 9.82941202e-01 1.83695523e-01 9.08562745e-03 9.95593813e+01] [-1.83685966e-01 9.82983175e-01 -1.88254778e-03 -7.65082378e+00] [-9.27683452e-03 1.81531516e-04 9.99956953e-01 -2.74713323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524203822 meters 0.025195437102282846 Centerline is valid? [True, True] Translation: X:99.59, Y:-7.66, Z:-2.75 [[ 9.82636115e-01 1.85299540e-01 9.50506702e-03 9.95912091e+01] [-1.85289183e-01 9.82682070e-01 -1.96665218e-03 -7.65514860e+00] [-9.70487868e-03 1.71317361e-04 9.99952892e-01 -2.74565491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554203822 meters 0.023588169628703325 Centerline is valid? [True, True] Translation: X:99.62, Y:-7.66, Z:-2.75 [[ 9.82247523e-01 1.87335417e-01 9.75938480e-03 9.96212049e+01] [-1.87324577e-01 9.82295993e-01 -2.02132908e-03 -7.66317182e+00] [-9.96527110e-03 1.57272845e-04 9.99950333e-01 -2.74653739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584203822 meters 0.022500141508157274 Centerline is valid? [True, True] Translation: X:99.65, Y:-7.67, Z:-2.75 [[ 9.82138331e-01 1.87940821e-01 9.08548824e-03 9.96535885e+01] [-1.87931450e-01 9.82180344e-01 -1.88214642e-03 -7.67094124e+00] [-9.27732011e-03 1.41079166e-04 9.99956955e-01 -2.74709600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61420382200001 meters 0.022887273975329168 Centerline is valid? [True, True] Translation: X:99.68, Y:-7.68, Z:-2.75 [[ 9.82025220e-01 1.88565704e-01 8.33317009e-03 9.96843380e+01] [-1.88557830e-01 9.82060568e-01 -1.72778607e-03 -7.67882763e+00] [-8.50947895e-03 1.25445029e-04 9.99963786e-01 -2.75017427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64420382200001 meters 0.020952722043904647 Centerline is valid? [True, True] Translation: X:99.72, Y:-7.68, Z:-2.75 [[ 9.81701369e-01 1.90219980e-01 8.87588339e-03 9.97167501e+01] [-1.90211095e-01 9.81741486e-01 -1.84251327e-03 -7.68219494e+00] [-9.06430578e-03 1.20506302e-04 9.99958911e-01 -2.75053725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674203822 meters 0.020354486754401744 Centerline is valid? [True, True] Translation: X:99.75, Y:-7.69, Z:-2.75 [[ 9.81444496e-01 1.91528423e-01 9.14141463e-03 9.97477147e+01] [-1.91519036e-01 9.81487061e-01 -1.89962504e-03 -7.68741203e+00] [-9.33601236e-03 1.13621627e-04 9.99956412e-01 -2.75226948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704203822 meters 0.020354486754401744 Centerline is valid? [True, True] Translation: X:99.78, Y:-7.69, Z:-2.75 [[ 9.81408347e-01 1.91713570e-01 9.14125398e-03 9.97794490e+01] [-1.91704184e-01 9.81450913e-01 -1.90039799e-03 -7.69421826e+00] [-9.33602414e-03 1.12649812e-04 9.99956412e-01 -2.75319237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.734203822 meters 0.019383575119000636 Centerline is valid? [True, True] Translation: X:99.81, Y:-7.70, Z:-2.76 [[ 9.81118092e-01 1.93225441e-01 8.43910917e-03 9.98114648e+01] [-1.93217487e-01 9.81154382e-01 -1.75565486e-03 -7.70019395e+00] [-8.61930612e-03 9.19212783e-05 9.99962849e-01 -2.75503723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764203822 meters 0.02357205335406626 Centerline is valid? [True, True] Translation: X:99.84, Y:-7.71, Z:-2.76 [[ 9.80495127e-01 1.96420854e-01 6.93926612e-03 9.98439223e+01] [-1.96415554e-01 9.80519681e-01 -1.44390901e-03 -7.70545774e+00] [-7.08770085e-03 5.27659497e-05 9.99974881e-01 -2.75603207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.794203822 meters 0.016163896824755854 Centerline is valid? [True, True] Translation: X:99.87, Y:-7.71, Z:-2.76 [[ 9.80033722e-01 1.98692018e-01 7.44219392e-03 9.98745844e+01] [-1.98685967e-01 9.80061978e-01 -1.55128737e-03 -7.71104381e+00] [-7.60203971e-03 4.16544413e-05 9.99971103e-01 -2.75740641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824203822 meters 0.01316143937189266 Centerline is valid? [True, True] Translation: X:99.91, Y:-7.71, Z:-2.75 [[ 9.78837703e-01 2.04448262e-01 8.81247367e-03 9.99083135e+01] [-2.04439972e-01 9.78877371e-01 -1.84111391e-03 -7.70959788e+00] [-9.00274360e-03 5.29845275e-07 9.99959474e-01 -2.75432074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.854203822 meters 0.013468910500035658 Centerline is valid? [True, True] Translation: X:99.94, Y:-7.71, Z:-2.76 [[ 9.78118831e-01 2.07859765e-01 8.82441705e-03 9.99412806e+01] [-2.07851609e-01 9.78158636e-01 -1.84160330e-03 -7.71137404e+00] [-9.01447497e-03 -3.28624155e-05 9.99959368e-01 -2.75571823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884203822 meters 0.014377458481155103 Centerline is valid? [True, True] Translation: X:99.97, Y:-7.71, Z:-2.76 [[ 9.77344708e-01 2.11453188e-01 9.21256387e-03 9.99736336e+01] [-2.11444435e-01 9.77388124e-01 -1.92510334e-03 -7.71295066e+00] [-9.41131976e-03 -6.64557942e-05 9.99955710e-01 -2.75573673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914203822 meters 0.017422617321102674 Centerline is valid? [True, True] Translation: X:100.01, Y:-7.71, Z:-2.75 [[ 9.75773689e-01 2.18548017e-01 1.01228714e-02 1.00007516e+02] [-2.18537784e-01 9.75826185e-01 -2.11970243e-03 -7.70972944e+00] [-1.03414198e-02 -1.43880030e-04 9.99946516e-01 -2.75363732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944203822 meters 0.021043541204933323 Centerline is valid? [True, True] Translation: X:100.04, Y:-7.71, Z:-2.76 [[ 9.75012986e-01 2.21946395e-01 9.45909473e-03 1.00039046e+02] [-2.21937623e-01 9.75058854e-01 -1.98046982e-03 -7.70997952e+00] [-9.66273221e-03 -1.68345209e-04 9.99953301e-01 -2.75679994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974203822 meters 0.0263856197061883 Centerline is valid? [True, True] Translation: X:100.07, Y:-7.71, Z:-2.76 [[ 9.74457680e-01 2.24399201e-01 8.78793634e-03 1.00070309e+02] [-2.24391713e-01 9.74497289e-01 -1.84170305e-03 -7.70893368e+00] [-8.97709684e-03 -1.77278412e-04 9.99959689e-01 -2.76257588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00420382200001 meters 0.02726445467503547 Centerline is valid? [True, True] Translation: X:100.10, Y:-7.71, Z:-2.76 [[ 9.74080379e-01 2.26032595e-01 8.75680455e-03 1.00102998e+02] [-2.26025248e-01 9.74119720e-01 -1.83272197e-03 -7.71082379e+00] [-8.94443089e-03 -1.94040410e-04 9.99959979e-01 -2.76305376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034203822 meters 0.024995871455521238 Centerline is valid? [True, True] Translation: X:100.13, Y:-7.72, Z:-2.76 [[ 9.74372278e-01 2.24778766e-01 8.55391818e-03 1.00134662e+02] [-2.24771696e-01 9.74409809e-01 -1.79149641e-03 -7.71798177e+00] [-8.73771213e-03 -1.77094258e-04 9.99961810e-01 -2.76384794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064203822 meters 0.018375732270001596 Centerline is valid? [True, True] Translation: X:100.16, Y:-7.73, Z:-2.77 [[ 9.75772317e-01 2.18678343e-01 6.94034092e-03 1.00163738e+02] [-2.18673511e-01 9.75796994e-01 -1.45684012e-03 -7.73215544e+00] [-7.09094319e-03 -9.61244626e-05 9.99974854e-01 -2.76527777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.094203822 meters 0.016686548278546966 Centerline is valid? [True, True] Translation: X:100.19, Y:-7.74, Z:-2.77 [[ 9.76570894e-01 2.15082606e-01 6.98292989e-03 1.00193752e+02] [-2.15077644e-01 9.76595857e-01 -1.46280428e-03 -7.74255965e+00] [-7.13412415e-03 -7.33400269e-05 9.99974549e-01 -2.76830245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124203822 meters 0.015443770452873434 Centerline is valid? [True, True] Translation: X:100.22, Y:-7.75, Z:-2.77 [[ 9.77375850e-01 2.11375959e-01 7.52672640e-03 1.00223133e+02] [-2.11370069e-01 9.77404830e-01 -1.57877410e-03 -7.75370299e+00] [-7.69037363e-03 -4.78689951e-05 9.99970427e-01 -2.77132373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.154203822 meters 0.01376149429802798 Centerline is valid? [True, True] Translation: X:100.25, Y:-7.77, Z:-2.77 [[ 9.78138425e-01 2.07799063e-01 8.04806262e-03 1.00253074e+02] [-2.07792196e-01 9.78171533e-01 -1.68952886e-03 -7.76649043e+00] [-8.22346827e-03 -1.97315005e-05 9.99966187e-01 -2.76983975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184203822 meters 0.01522389901675309 Centerline is valid? [True, True] Translation: X:100.28, Y:-7.78, Z:-2.77 [[ 9.79450306e-01 2.01536802e-01 7.74691340e-03 1.00283155e+02] [-2.01530234e-01 9.79480942e-01 -1.62745762e-03 -7.78121699e+00] [-7.91594664e-03 3.27765954e-05 9.99968668e-01 -2.77026913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.214203822 meters 0.016481283465892296 Centerline is valid? [True, True] Translation: X:100.32, Y:-7.79, Z:-2.77 [[ 9.79868339e-01 1.99483440e-01 8.02471239e-03 1.00315631e+02] [-1.99476314e-01 9.79901196e-01 -1.68688243e-03 -7.78868734e+00] [-8.19993038e-03 5.21826330e-05 9.99966379e-01 -2.77127263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244203822 meters 0.01812266188401738 Centerline is valid? [True, True] Translation: X:100.35, Y:-7.79, Z:-2.77 [[ 9.80414114e-01 1.96741013e-01 9.00768350e-03 1.00347595e+02] [-1.96731897e-01 9.80455489e-01 -1.89593142e-03 -7.79468323e+00] [-9.20464020e-03 8.66992615e-05 9.99957633e-01 -2.77123882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274203822 meters 0.02002802070596936 Centerline is valid? [True, True] Translation: X:100.38, Y:-7.80, Z:-2.77 [[ 9.80678897e-01 1.95413787e-01 9.07479813e-03 1.00377850e+02] [-1.95404454e-01 9.80720878e-01 -1.91258925e-03 -7.80413399e+00] [-9.27359030e-03 1.02379936e-04 9.99956994e-01 -2.77305091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304203822 meters 0.018984600525529187 Centerline is valid? [True, True] Translation: X:100.41, Y:-7.81, Z:-2.77 [[ 9.80946426e-01 1.94074673e-01 8.89555014e-03 1.00408989e+02] [-1.94065642e-01 9.80986752e-01 -1.87572298e-03 -7.81132745e+00] [-9.09044716e-03 1.13663105e-04 9.99958675e-01 -2.76985151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334203822 meters 0.027083451463250415 Centerline is valid? [True, True] Translation: X:100.44, Y:-7.82, Z:-2.77 [[ 9.81406260e-01 1.91710599e-01 9.42334159e-03 1.00438616e+02] [-1.91700334e-01 9.81451489e-01 -1.98926935e-03 -7.82013466e+00] [-9.62991666e-03 1.45823668e-04 9.99953621e-01 -2.77098108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36420382200001 meters 0.031064844295967432 Centerline is valid? [True, True] Translation: X:100.47, Y:-7.83, Z:-2.77 [[ 9.81717468e-01 1.90085990e-01 9.90601974e-03 1.00469709e+02] [-1.90074546e-01 9.81767430e-01 -2.09285188e-03 -7.82745879e+00] [-1.01232294e-02 1.71707039e-04 9.99948744e-01 -2.77158947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39420382200001 meters 0.02576665748670131 Centerline is valid? [True, True] Translation: X:100.50, Y:-7.84, Z:-2.77 [[ 9.82085889e-01 1.88159325e-01 1.01673119e-02 1.00499731e+02] [-1.88147130e-01 9.82138498e-01 -2.15151547e-03 -7.83699251e+00] [-1.03905361e-02 2.00022432e-04 9.99945997e-01 -2.77358808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424203822 meters 0.03129290966407865 Centerline is valid? [True, True] Translation: X:100.53, Y:-7.85, Z:-2.78 [[ 9.83026821e-01 1.83208333e-01 9.64244186e-03 1.00527696e+02] [-1.83197102e-01 9.83074081e-01 -2.04293367e-03 -7.84856494e+00] [-9.85351714e-03 2.41791181e-04 9.99951424e-01 -2.77582465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454203822 meters 0.033937820534566 Centerline is valid? [True, True] Translation: X:100.56, Y:-7.86, Z:-2.78 [[ 9.83426485e-01 1.81105005e-01 8.56301162e-03 1.00558055e+02] [-1.81096077e-01 9.83463738e-01 -1.81327850e-03 -7.85881377e+00] [-8.74980523e-03 2.32498295e-04 9.99961693e-01 -2.77903400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.484203822 meters 0.03731426496388329 Centerline is valid? [True, True] Translation: X:100.59, Y:-7.87, Z:-2.78 [[ 9.83820204e-01 1.79002457e-01 7.47834188e-03 1.00588771e+02] [-1.78995604e-01 9.83848603e-01 -1.58136267e-03 -7.86690493e+00] [-7.64062402e-03 2.17186224e-04 9.99970786e-01 -2.77981369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.514203822 meters 0.040657167783913324 Centerline is valid? [True, True] Translation: X:100.61, Y:-7.89, Z:-2.78 [[ 9.84482805e-01 1.75362691e-01 6.44457351e-03 1.00614677e+02] [-1.75357496e-01 9.84503875e-01 -1.36681876e-03 -7.88780520e+00] [-6.58439661e-03 2.15505293e-04 9.99978299e-01 -2.78345836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544203822 meters 0.041850615652256645 Centerline is valid? [True, True] Translation: X:100.65, Y:-7.90, Z:-2.78 [[ 9.84617239e-01 1.74601974e-01 6.56071366e-03 1.00645548e+02] [-1.74596599e-01 9.84639072e-01 -1.38771117e-03 -7.89782664e+00] [-6.70223212e-03 2.20886046e-04 9.99977515e-01 -2.78351670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.574203822 meters 0.040534021057291966 Centerline is valid? [True, True] Translation: X:100.68, Y:-7.90, Z:-2.78 [[ 9.84408322e-01 1.75693144e-01 8.49554238e-03 1.00676389e+02] [-1.75684121e-01 9.84444940e-01 -1.80281778e-03 -7.90218850e+00] [-8.68013643e-03 2.82176929e-04 9.99962287e-01 -2.78183340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604203822 meters 0.03747641637430173 Centerline is valid? [True, True] Translation: X:100.71, Y:-7.91, Z:-2.78 [[ 9.84109913e-01 1.77333263e-01 8.97738083e-03 1.00708193e+02] [-1.77323280e-01 9.84150819e-01 -1.90244326e-03 -7.90583367e+00] [-9.17246317e-03 2.80314660e-04 9.99957893e-01 -2.78094099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.634203822 meters 0.03585112506075234 Centerline is valid? [True, True] Translation: X:100.74, Y:-7.91, Z:-2.78 [[ 9.83718211e-01 1.79491401e-01 9.01768938e-03 1.00737782e+02] [-1.79481375e-01 9.83759506e-01 -1.91574187e-03 -7.91218899e+00] [-9.21509685e-03 2.66042872e-04 9.99957505e-01 -2.78219209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664203822 meters 0.02829164067553611 Centerline is valid? [True, True] Translation: X:100.77, Y:-7.91, Z:-2.78 [[ 9.82717005e-01 1.84903609e-01 8.82850821e-03 1.00769344e+02] [-1.84894216e-01 9.82756639e-01 -1.87564979e-03 -7.91355626e+00] [-9.02308946e-03 2.10892837e-04 9.99959269e-01 -2.77983640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694203822 meters 0.026666511357966036 Centerline is valid? [True, True] Translation: X:100.80, Y:-7.92, Z:-2.78 [[ 9.82049873e-01 1.88394267e-01 9.25458301e-03 1.00799282e+02] [-1.88384110e-01 9.82093461e-01 -1.96510781e-03 -7.91835399e+00] [-9.45908050e-03 1.86417487e-04 9.99955245e-01 -2.78178998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724203822 meters 0.023420323800148496 Centerline is valid? [True, True] Translation: X:100.83, Y:-7.92, Z:-2.78 [[ 9.81373241e-01 1.91895564e-01 9.09143804e-03 1.00831195e+02] [-1.91885922e-01 9.81415340e-01 -1.92932912e-03 -7.92134629e+00] [-9.29270646e-03 1.48873002e-04 9.99956811e-01 -2.78302655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75420382200001 meters 0.02654913915083929 Centerline is valid? [True, True] Translation: X:100.86, Y:-7.92, Z:-2.79 [[ 9.80265404e-01 1.97539723e-01 7.60228864e-03 1.00864699e+02] [-1.97533135e-01 9.80294880e-01 -1.61543755e-03 -7.92085145e+00] [-7.77159772e-03 8.18536369e-05 9.99969797e-01 -2.78651381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784203822 meters 0.028462326117908734 Centerline is valid? [True, True] Translation: X:100.90, Y:-7.92, Z:-2.79 [[ 9.79697677e-01 2.00323683e-01 7.92987468e-03 1.00896914e+02] [-2.00316613e-01 9.79729768e-01 -1.68419220e-03 -7.92302357e+00] [-8.10651787e-03 6.15135474e-05 9.99967140e-01 -2.78543634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814203822 meters 0.013446798409984034 Centerline is valid? [True, True] Translation: X:100.93, Y:-7.92, Z:-2.79 [[ 9.78655559e-01 2.05313582e-01 8.92354730e-03 1.00928839e+02] [-2.05304815e-01 9.78696241e-01 -1.89752973e-03 -7.92416745e+00] [-9.12303083e-03 2.49807912e-05 9.99958384e-01 -2.78704816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.844203822 meters 0.01389974300686766 Centerline is valid? [True, True] Translation: X:100.96, Y:-7.93, Z:-2.79 [[ 9.78142191e-01 2.07784654e-01 7.96194699e-03 1.00959385e+02] [-2.07777746e-01 9.78174595e-01 -1.69429166e-03 -7.92909963e+00] [-8.14022208e-03 2.94276148e-06 9.99966868e-01 -2.79153972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.874203822 meters 0.014155278435958756 Centerline is valid? [True, True] Translation: X:100.99, Y:-7.93, Z:-2.79 [[ 9.77651020e-01 2.10126787e-01 6.72425546e-03 1.00990729e+02] [-2.10121914e-01 9.77674145e-01 -1.43114499e-03 -7.93492703e+00] [-6.87485260e-03 -1.37530652e-05 9.99976368e-01 -2.79348962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904203822 meters 0.01473369691162916 Centerline is valid? [True, True] Translation: X:101.02, Y:-7.94, Z:-2.79 [[ 9.76958280e-01 2.13284735e-01 7.88295310e-03 1.01021837e+02] [-2.13278121e-01 9.76990082e-01 -1.68021504e-03 -7.94019083e+00] [-8.05993121e-03 -3.97614278e-05 9.99967517e-01 -2.79257445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.934203822 meters 0.014367993992190603 Centerline is valid? [True, True] Translation: X:101.05, Y:-7.95, Z:-2.79 [[ 9.76750335e-01 2.14213181e-01 8.45549931e-03 1.01053128e+02] [-2.14205593e-01 9.76786932e-01 -1.80369790e-03 -7.94744752e+00] [-8.64559709e-03 -4.94527180e-05 9.99962625e-01 -2.79055006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964203822 meters 0.014446428678021374 Centerline is valid? [True, True] Translation: X:101.08, Y:-7.95, Z:-2.79 [[ 9.76623593e-01 2.14816690e-01 7.75543174e-03 1.01084747e+02] [-2.14810318e-01 9.76654385e-01 -1.65522636e-03 -7.95488811e+00] [-7.92994666e-03 -4.94136457e-05 9.99968556e-01 -2.79123133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.994203822 meters 0.016849327212756407 Centerline is valid? [True, True] Translation: X:101.12, Y:-7.96, Z:-2.80 [[ 9.76420201e-01 2.15798668e-01 5.87581878e-03 1.01115220e+02] [-2.15795018e-01 9.76437880e-01 -1.25580965e-03 -7.96053188e+00] [-6.00837408e-03 -4.17745150e-05 9.99981949e-01 -2.79998208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024203822 meters 0.015930053737969324 Centerline is valid? [True, True] Translation: X:101.15, Y:-7.97, Z:-2.80 [[ 9.76295848e-01 2.16351736e-01 6.19230544e-03 1.01147419e+02] [-2.16347703e-01 9.76315484e-01 -1.32179322e-03 -7.96930273e+00] [-6.33161594e-03 -4.92298243e-05 9.99979954e-01 -2.79892116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054203822 meters 0.016191010495646904 Centerline is valid? [True, True] Translation: X:101.18, Y:-7.98, Z:-2.80 [[ 9.75794653e-01 2.18533701e-01 8.23508159e-03 1.01178369e+02] [-2.18526614e-01 9.75829399e-01 -1.76171810e-03 -7.97730529e+00] [-8.42102949e-03 -8.05093986e-05 9.99964539e-01 -2.79602341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084203822 meters 0.01672195431849529 Centerline is valid? [True, True] Translation: X:101.21, Y:-7.98, Z:-2.79 [[ 9.75297240e-01 2.20690442e-01 9.54058204e-03 1.01211428e+02] [-2.20681016e-01 9.75343896e-01 -2.04291870e-03 -7.98286367e+00] [-9.75620109e-03 -1.12972368e-04 9.99952401e-01 -2.79262402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11420382200001 meters 0.01859367296556063 Centerline is valid? [True, True] Translation: X:101.24, Y:-7.99, Z:-2.79 [[ 9.74662075e-01 2.23428932e-01 1.06467008e-02 1.01242285e+02] [-2.23417314e-01 9.74720211e-01 -2.28361860e-03 -7.98533673e+00] [-1.08877809e-02 -1.52900849e-04 9.99940715e-01 -2.79094727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14420382200001 meters 0.02118019534761215 Centerline is valid? [True, True] Translation: X:101.27, Y:-7.99, Z:-2.79 [[ 9.73982689e-01 2.26336148e-01 1.13872770e-02 1.01273403e+02] [-2.26323026e-01 9.74049234e-01 -2.44509996e-03 -7.98678368e+00] [-1.16451830e-02 -1.95717959e-04 9.99932173e-01 -2.79025412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174203822 meters 0.026874648086187315 Centerline is valid? [True, True] Translation: X:101.31, Y:-7.98, Z:-2.79 [[ 9.72684889e-01 2.31903273e-01 1.02459535e-02 1.01306206e+02] [-2.31892939e-01 9.72738823e-01 -2.20172595e-03 -7.98217819e+00] [-1.04772242e-02 -2.34378709e-04 9.99945085e-01 -2.79247858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204203822 meters 0.02981687410859844 Centerline is valid? [True, True] Translation: X:101.34, Y:-7.98, Z:-2.80 [[ 9.72171630e-01 2.34085510e-01 9.28955389e-03 1.01337981e+02] [-2.34077123e-01 9.72215984e-01 -1.99537891e-03 -7.98338178e+00] [-9.49854207e-03 -2.34621278e-04 9.99954860e-01 -2.79540362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.234203822 meters 0.030633958693603924 Centerline is valid? [True, True] Translation: X:101.37, Y:-7.99, Z:-2.80 [[ 9.71773597e-01 2.35742276e-01 9.03636032e-03 1.01370318e+02] [-2.35734420e-01 9.71815579e-01 -1.93998673e-03 -7.98740744e+00] [-9.23901262e-03 -2.44953276e-04 9.99957289e-01 -2.79680519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264203822 meters 0.02899239259951579 Centerline is valid? [True, True] Translation: X:101.40, Y:-7.99, Z:-2.79 [[ 9.71415395e-01 2.37156639e-01 1.04335028e-02 1.01402729e+02] [-2.37146228e-01 9.71471379e-01 -2.24184356e-03 -7.99246575e+00] [-1.06675175e-02 -2.96504495e-04 9.99943056e-01 -2.79440693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.294203822 meters 0.03225929574019578 Centerline is valid? [True, True] Translation: X:101.43, Y:-8.00, Z:-2.80 [[ 9.71561265e-01 2.36570956e-01 1.01435349e-02 1.01433666e+02] [-2.36561057e-01 9.71614175e-01 -2.18211813e-03 -7.99560784e+00] [-1.03718280e-02 -2.79503883e-04 9.99946172e-01 -2.79795638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324203822 meters 0.03131815129419698 Centerline is valid? [True, True] Translation: X:101.46, Y:-8.00, Z:-2.80 [[ 9.71838056e-01 2.35439679e-01 9.94736957e-03 1.01464139e+02] [-2.35430073e-01 9.71888929e-01 -2.14264338e-03 -8.00005666e+00] [-1.01722016e-02 -2.59607563e-04 9.99948228e-01 -2.80103892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.354203822 meters 0.027460752324005838 Centerline is valid? [True, True] Translation: X:101.49, Y:-8.01, Z:-2.80 [[ 9.72844086e-01 2.31201766e-01 1.09602860e-02 1.01493274e+02] [-2.31189800e-01 9.72905796e-01 -2.36381310e-03 -8.00679104e+00] [-1.12098436e-02 -2.34284749e-04 9.99937140e-01 -2.80131141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384203822 meters 0.024801831315019274 Centerline is valid? [True, True] Translation: X:101.52, Y:-8.02, Z:-2.80 [[ 9.73385593e-01 2.28943968e-01 1.02541484e-02 1.01524585e+02] [-2.28933400e-01 9.73439582e-01 -2.20864871e-03 -8.01526613e+00] [-1.04874508e-02 -1.97650230e-04 9.99944986e-01 -2.80335460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414203822 meters 0.01932578454403379 Centerline is valid? [True, True] Translation: X:101.55, Y:-8.03, Z:-2.81 [[ 9.74905929e-01 2.22485958e-01 7.64383248e-03 1.01554428e+02] [-2.22479886e-01 9.74935890e-01 -1.64648810e-03 -8.03031797e+00] [-7.81856711e-03 -9.54279703e-05 9.99969430e-01 -2.80787994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444203822 meters 0.016688516408283297 Centerline is valid? [True, True] Translation: X:101.58, Y:-8.04, Z:-2.81 [[ 9.75808831e-01 2.18486365e-01 7.79959949e-03 1.01583369e+02] [-2.18479902e-01 9.75839999e-01 -1.68165618e-03 -8.04286452e+00] [-7.97858011e-03 -6.30807834e-05 9.99968169e-01 -2.80888302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474203822 meters 0.014580016118098614 Centerline is valid? [True, True] Translation: X:101.61, Y:-8.06, Z:-2.81 [[ 9.76772961e-01 2.14100963e-01 8.68096992e-03 1.01613418e+02] [-2.14092770e-01 9.76811536e-01 -1.87330094e-03 -8.05687080e+00] [-8.88074710e-03 -2.87431852e-05 9.99960565e-01 -2.80867703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50420382200001 meters 0.015801906971405506 Centerline is valid? [True, True] Translation: X:101.64, Y:-8.08, Z:-2.81 [[ 9.78839826e-01 2.04433685e-01 8.91429306e-03 1.01641766e+02] [-2.04424631e-01 9.78880414e-01 -1.92500258e-03 -8.07962359e+00] [-9.11956226e-03 6.19681237e-05 9.99958414e-01 -2.80526889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534203822 meters 0.020999008469875097 Centerline is valid? [True, True] Translation: X:101.67, Y:-8.10, Z:-2.81 [[ 9.79766852e-01 1.99942229e-01 8.94539022e-03 1.01669585e+02] [-1.99932884e-01 9.79807682e-01 -1.93614277e-03 -8.09531472e+00] [-9.15187876e-03 1.08490845e-04 9.99958115e-01 -2.80888696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564203822 meters 0.02277105483669695 Centerline is valid? [True, True] Translation: X:101.70, Y:-8.11, Z:-2.81 [[ 9.80578426e-01 1.95909970e-01 9.23219831e-03 1.01700344e+02] [-1.95899839e-01 9.80621875e-01 -1.99801124e-03 -8.10687552e+00] [-9.44472594e-03 1.50620552e-04 9.99955386e-01 -2.80705878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.594203822 meters 0.02277105483669695 Centerline is valid? [True, True] Translation: X:101.73, Y:-8.11, Z:-2.81 [[ 9.80540784e-01 1.96098261e-01 9.23268033e-03 1.01732026e+02] [-1.96088159e-01 9.80584239e-01 -1.99578715e-03 -8.11393009e+00] [-9.44479121e-03 1.46531409e-04 9.99955386e-01 -2.80798077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624203822 meters 0.03291181935670958 Centerline is valid? [True, True] Translation: X:101.76, Y:-8.13, Z:-2.81 [[ 9.81244857e-01 1.92555097e-01 9.00364539e-03 1.01762116e+02] [-1.92545300e-01 9.81286147e-01 -1.95075929e-03 -8.12558148e+00] [-9.21078114e-03 1.80562917e-04 9.99957564e-01 -2.80887281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.654203822 meters 0.02954781046686261 Centerline is valid? [True, True] Translation: X:101.79, Y:-8.14, Z:-2.81 [[ 9.82169571e-01 1.87799707e-01 8.61421084e-03 1.01790038e+02] [-1.87790546e-01 9.82207322e-01 -1.86749264e-03 -8.14319051e+00] [-8.81165553e-03 2.16527082e-04 9.99961153e-01 -2.80923804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684203822 meters 0.03234003066208723 Centerline is valid? [True, True] Translation: X:101.82, Y:-8.15, Z:-2.81 [[ 9.82312560e-01 1.87054161e-01 8.53089393e-03 1.01819497e+02] [-1.87045174e-01 9.82349578e-01 -1.84653920e-03 -8.15479213e+00] [-8.72572290e-03 2.18216111e-04 9.99961906e-01 -2.81209014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.714203822 meters 0.029441552652963127 Centerline is valid? [True, True] Translation: X:101.85, Y:-8.16, Z:-2.81 [[ 9.81893619e-01 1.89264799e-01 7.98483593e-03 1.01851738e+02] [-1.89256992e-01 9.81926067e-01 -1.72918520e-03 -8.15786382e+00] [-8.16779243e-03 1.86689889e-04 9.99966626e-01 -2.81258245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744203822 meters 0.02956905052921732 Centerline is valid? [True, True] Translation: X:101.88, Y:-8.16, Z:-2.81 [[ 9.81359542e-01 1.92011702e-01 8.05944884e-03 1.01882963e+02] [-1.92003826e-01 9.81392622e-01 -1.74713055e-03 -8.16114078e+00] [-8.24495314e-03 1.67118222e-04 9.99965996e-01 -2.81424730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774203822 meters 0.02306830562374681 Centerline is valid? [True, True] Translation: X:101.92, Y:-8.16, Z:-2.81 [[ 9.80664301e-01 1.95532265e-01 8.04132246e-03 1.01915537e+02] [-1.95524511e-01 9.80697259e-01 -1.74699528e-03 -8.16143062e+00] [-8.22769684e-03 1.40940261e-04 9.99966142e-01 -2.81337073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804203822 meters 0.016949839878752662 Centerline is valid? [True, True] Translation: X:101.95, Y:-8.16, Z:-2.81 [[ 9.78909279e-01 2.04158488e-01 7.47901461e-03 1.01948341e+02] [-2.04152028e-01 9.78937847e-01 -1.62531479e-03 -8.15565626e+00] [-7.65331226e-03 6.41797248e-05 9.99970711e-01 -2.81483991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834203822 meters 0.024366438942497685 Centerline is valid? [True, True] Translation: X:101.98, Y:-8.16, Z:-2.82 [[ 9.78056299e-01 2.08218306e-01 7.14227833e-03 1.01979677e+02] [-2.08212543e-01 9.78082377e-01 -1.54944164e-03 -8.15691364e+00] [-7.30835868e-03 2.83292228e-05 9.99973293e-01 -2.81626606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86420382200001 meters 0.01410920334213871 Centerline is valid? [True, True] Translation: X:102.01, Y:-8.16, Z:-2.82 [[ 9.77219287e-01 2.12087394e-01 7.83590693e-03 1.02011065e+02] [-2.12080567e-01 9.77250703e-01 -1.70171091e-03 -8.15916283e+00] [-8.01855699e-03 1.10113985e-06 9.99967851e-01 -2.81614610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89420382200001 meters 0.02621270045758976 Centerline is valid? [True, True] Translation: X:102.05, Y:-8.16, Z:-2.82 [[ 9.76068042e-01 2.17293083e-01 8.65406740e-03 1.02045273e+02] [-2.17284946e-01 9.76106405e-01 -1.88103274e-03 -8.15504455e+00] [-8.85602602e-03 -4.43826215e-05 9.99960784e-01 -2.81563968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924203822 meters 0.014728265296138616 Centerline is valid? [True, True] Translation: X:102.08, Y:-8.16, Z:-2.82 [[ 9.75639898e-01 2.19198270e-01 8.88306155e-03 1.02078106e+02] [-2.19189764e-01 9.75680334e-01 -1.93200618e-03 -8.15813217e+00] [-9.09052087e-03 -6.21338602e-05 9.99958678e-01 -2.81609442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954203822 meters 0.014173670667944142 Centerline is valid? [True, True] Translation: X:102.11, Y:-8.16, Z:-2.82 [[ 9.75570233e-01 2.19467834e-01 9.82802568e-03 1.02110338e+02] [-2.19457407e-01 9.75619734e-01 -2.14044936e-03 -8.16158126e+00] [-1.00581756e-02 -6.86743541e-05 9.99949413e-01 -2.81576273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.984203822 meters 0.013828083080833305 Centerline is valid? [True, True] Translation: X:102.14, Y:-8.17, Z:-2.82 [[ 9.75738779e-01 2.18729800e-01 9.54517771e-03 1.02142185e+02] [-2.18719918e-01 9.75785464e-01 -2.07992147e-03 -8.16795779e+00] [-9.76898647e-03 -5.82604498e-05 9.99952281e-01 -2.81764081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.014203822 meters 0.014043640779328601 Centerline is valid? [True, True] Translation: X:102.17, Y:-8.18, Z:-2.82 [[ 9.76072610e-01 2.17241855e-01 9.39340889e-03 1.02172809e+02] [-2.17232181e-01 9.76117808e-01 -2.05048334e-03 -8.17528069e+00] [-9.61452450e-03 -3.91300830e-05 9.99953779e-01 -2.82155356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044203822 meters 0.01239039115445798 Centerline is valid? [True, True] Translation: X:102.20, Y:-8.19, Z:-2.82 [[ 9.77039328e-01 2.12832291e-01 9.82685591e-03 1.02202307e+02] [-2.12821485e-01 9.77088745e-01 -2.14470530e-03 -8.19099684e+00] [-1.00581728e-02 4.09536093e-06 9.99949415e-01 -2.81787789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.074203822 meters 0.014057226054944767 Centerline is valid? [True, True] Translation: X:102.23, Y:-8.20, Z:-2.82 [[ 9.77613827e-01 2.10191501e-01 9.52566897e-03 1.02231361e+02] [-2.10181204e-01 9.77660233e-01 -2.08077131e-03 -8.20286427e+00] [-9.75022819e-03 3.20742283e-05 9.99952465e-01 -2.82070048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104203822 meters 0.01591724023203174 Centerline is valid? [True, True] Translation: X:102.26, Y:-8.21, Z:-2.82 [[ 9.78177259e-01 2.07589195e-01 8.71640662e-03 1.02260513e+02] [-2.07580437e-01 9.78216092e-01 -1.90773917e-03 -8.21328225e+00] [-8.92255526e-03 5.67515840e-05 9.99960192e-01 -2.82267647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.134203822 meters 0.018299610753244752 Centerline is valid? [True, True] Translation: X:102.29, Y:-8.22, Z:-2.82 [[ 9.79132794e-01 2.03101681e-01 6.97697861e-03 1.02291269e+02] [-2.03095961e-01 9.79157649e-01 -1.52623617e-03 -8.22396693e+00] [-7.14154311e-03 7.73917048e-05 9.99974496e-01 -2.82450861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164203822 meters 0.022319359132811554 Centerline is valid? [True, True] Translation: X:102.32, Y:-8.24, Z:-2.83 [[ 9.79475757e-01 2.01445147e-01 6.86245764e-03 1.02320787e+02] [-2.01439585e-01 9.79499793e-01 -1.49943813e-03 -8.23596690e+00] [-7.02383038e-03 8.62926792e-05 9.99975329e-01 -2.83069838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194203822 meters 0.022293733798416617 Centerline is valid? [True, True] Translation: X:102.35, Y:-8.25, Z:-2.83 [[ 9.79863582e-01 1.99484667e-01 8.55741302e-03 1.02352200e+02] [-1.99475926e-01 9.79900940e-01 -1.87177439e-03 -8.24845472e+00] [-8.75880735e-03 1.27085677e-04 9.99961633e-01 -2.82637561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224203822 meters 0.02318676966508572 Centerline is valid? [True, True] Translation: X:102.38, Y:-8.26, Z:-2.83 [[ 9.79934778e-01 1.99062914e-01 1.00889640e-02 1.02382028e+02] [-1.99050703e-01 9.79986700e-01 -2.21045689e-03 -8.25982118e+00] [-1.03270705e-02 1.57888197e-04 9.99946662e-01 -2.82511017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25420382200001 meters 0.022284421307544305 Centerline is valid? [True, True] Translation: X:102.41, Y:-8.27, Z:-2.82 [[ 9.79965914e-01 1.98878196e-01 1.06897900e-02 1.02414104e+02] [-1.98864462e-01 9.80024201e-01 -2.34340820e-03 -8.26883044e+00] [-1.09423057e-02 1.70640813e-04 9.99940117e-01 -2.82295970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284203822 meters 0.032233103628532 Centerline is valid? [True, True] Translation: X:102.44, Y:-8.28, Z:-2.82 [[ 9.79945647e-01 1.99001822e-01 1.02373814e-02 1.02444418e+02] [-1.98989206e-01 9.79999106e-01 -2.24674561e-03 -8.27700761e+00] [-1.04797311e-02 1.64560169e-04 9.99945073e-01 -2.82489380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314203822 meters 0.022350129197995953 Centerline is valid? [True, True] Translation: X:102.48, Y:-8.28, Z:-2.83 [[ 9.79735328e-01 2.00070969e-01 9.50233683e-03 1.02475234e+02] [-2.00060143e-01 9.79781398e-01 -2.08621971e-03 -8.28387372e+00] [-9.72760486e-03 1.42904295e-04 9.99952676e-01 -2.82760387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.344203822 meters 0.021432052293064236 Centerline is valid? [True, True] Translation: X:102.51, Y:-8.29, Z:-2.83 [[ 9.79612724e-01 2.00668709e-01 9.53835667e-03 1.02506243e+02] [-2.00657809e-01 9.79659150e-01 -2.09613442e-03 -8.29062060e+00] [-9.76496698e-03 1.39454199e-04 9.99952312e-01 -2.82839792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.374203822 meters 0.023694416656739187 Centerline is valid? [True, True] Translation: X:102.54, Y:-8.30, Z:-2.83 [[ 9.79281169e-01 2.02363517e-01 7.57621866e-03 1.02535419e+02] [-2.02356687e-01 9.79310470e-01 -1.66553800e-03 -8.30098675e+00] [-7.75651439e-03 9.79314930e-05 9.99969913e-01 -2.83425760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404203822 meters 0.020198487718614905 Centerline is valid? [True, True] Translation: X:102.57, Y:-8.31, Z:-2.83 [[ 9.79030218e-01 2.03601245e-01 6.80921220e-03 1.02567048e+02] [-2.03595758e-01 9.79053894e-01 -1.49677554e-03 -8.31074120e+00] [-6.97133108e-03 7.90617619e-05 9.99975697e-01 -2.83486982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.434203822 meters 0.028453823370959044 Centerline is valid? [True, True] Translation: X:102.60, Y:-8.32, Z:-2.84 [[ 9.78690641e-01 2.05220044e-01 7.02591217e-03 1.02598131e+02] [-2.05214229e-01 9.78715857e-01 -1.54654792e-03 -8.31938227e+00] [-7.19375428e-03 7.17748217e-05 9.99974122e-01 -2.83579273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464203822 meters 0.016265582366160797 Centerline is valid? [True, True] Translation: X:102.63, Y:-8.33, Z:-2.83 [[ 9.77743001e-01 2.09678568e-01 7.31586252e-03 1.02629594e+02] [-2.09672377e-01 9.77770370e-01 -1.61187021e-03 -8.32656220e+00] [-7.49120824e-03 4.20605314e-05 9.99971940e-01 -2.83444834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.494203822 meters 0.013896602641650158 Centerline is valid? [True, True] Translation: X:102.66, Y:-8.33, Z:-2.83 [[ 9.77024765e-01 2.13014597e-01 6.88405219e-03 1.02662284e+02] [-2.13009197e-01 9.77049017e-01 -1.51691015e-03 -8.32986506e+00] [-7.04918043e-03 1.56923520e-05 9.99975154e-01 -2.83322103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524203822 meters 0.013634916269912086 Centerline is valid? [True, True] Translation: X:102.69, Y:-8.33, Z:-2.84 [[ 9.76255639e-01 2.16511700e-01 6.90007547e-03 1.02694368e+02] [-2.16506349e-01 9.76280023e-01 -1.52219850e-03 -8.33318117e+00] [-7.06597963e-03 -7.85527708e-06 9.99975036e-01 -2.83574451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554203822 meters 0.014314767207590806 Centerline is valid? [True, True] Translation: X:102.73, Y:-8.34, Z:-2.84 [[ 9.75439403e-01 2.20167870e-01 6.63925758e-03 1.02726024e+02] [-2.20162989e-01 9.75461997e-01 -1.46638273e-03 -8.33599343e+00] [-6.79919382e-03 -3.13513032e-05 9.99976885e-01 -2.83818529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584203822 meters 0.017819452033484253 Centerline is valid? [True, True] Translation: X:102.76, Y:-8.34, Z:-2.84 [[ 9.74006767e-01 2.26429871e-01 6.35075778e-03 1.02757713e+02] [-2.26425532e-01 9.74027468e-01 -1.40354945e-03 -8.33694196e+00] [-6.50361804e-03 -7.09070483e-05 9.99978849e-01 -2.84130838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61420382200001 meters 0.020073324727865112 Centerline is valid? [True, True] Translation: X:102.79, Y:-8.34, Z:-2.84 [[ 9.73264255e-01 2.29610965e-01 5.95772144e-03 1.02789422e+02] [-2.29607203e-01 9.73282486e-01 -1.31721275e-03 -8.34130258e+00] [-6.10099243e-03 -8.59396711e-05 9.99981385e-01 -2.84237558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64420382200001 meters 0.02394416792443837 Centerline is valid? [True, True] Translation: X:102.82, Y:-8.34, Z:-2.84 [[ 9.71983271e-01 2.34971046e-01 6.09335297e-03 1.02820850e+02] [-2.34967188e-01 9.72002363e-01 -1.35176209e-03 -8.34245470e+00] [-6.24037844e-03 -1.17847879e-04 9.99980522e-01 -2.84203743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674203822 meters 0.026748271090468234 Centerline is valid? [True, True] Translation: X:102.85, Y:-8.35, Z:-2.84 [[ 9.71328296e-01 2.37640141e-01 6.96451407e-03 1.02851996e+02] [-2.37635190e-01 9.71353251e-01 -1.54211312e-03 -8.34522468e+00] [-7.13147137e-03 -1.57115510e-04 9.99974558e-01 -2.84227512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704203822 meters 0.02655648909081698 Centerline is valid? [True, True] Translation: X:102.88, Y:-8.35, Z:-2.84 [[ 9.70787378e-01 2.39811718e-01 7.88706361e-03 1.02883344e+02] [-2.39805427e-01 9.70819397e-01 -1.74790069e-03 -8.35248478e+00] [-8.07608141e-03 -1.94520723e-04 9.99967369e-01 -2.83888336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.734203822 meters 0.030121655118187273 Centerline is valid? [True, True] Translation: X:102.92, Y:-8.36, Z:-2.84 [[ 9.69870293e-01 2.43502121e-01 7.63751805e-03 1.02915011e+02] [-2.43496303e-01 9.69900341e-01 -1.69680570e-03 -8.35520055e+00] [-7.82080715e-03 -2.14025962e-04 9.99969394e-01 -2.83848327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764203822 meters 0.034799228017099955 Centerline is valid? [True, True] Translation: X:102.95, Y:-8.36, Z:-2.84 [[ 9.69471844e-01 2.45091817e-01 7.37185756e-03 1.02946563e+02] [-2.45086462e-01 9.69499846e-01 -1.63516452e-03 -8.35564811e+00] [-7.54778022e-03 -2.21496525e-04 9.99971491e-01 -2.84287835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.794203822 meters 0.03393513286084535 Centerline is valid? [True, True] Translation: X:102.98, Y:-8.36, Z:-2.84 [[ 9.69173607e-01 2.46264029e-01 7.51976688e-03 1.02977517e+02] [-2.46258484e-01 9.69202751e-01 -1.66909908e-03 -8.36289668e+00] [-7.69921782e-03 -2.34159609e-04 9.99970333e-01 -2.84253506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824203822 meters 0.03435602151096375 Centerline is valid? [True, True] Translation: X:103.01, Y:-8.37, Z:-2.85 [[ 9.69119684e-01 2.46491781e-01 6.98860587e-03 1.03008692e+02] [-2.46486989e-01 9.69144857e-01 -1.55232946e-03 -8.36757884e+00] [-7.15560789e-03 -2.18207380e-04 9.99974375e-01 -2.84579475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.854203822 meters 0.03670076767668091 Centerline is valid? [True, True] Translation: X:103.04, Y:-8.37, Z:-2.85 [[ 9.69311687e-01 2.45743313e-01 6.71395037e-03 1.03040138e+02] [-2.45738868e-01 9.69334918e-01 -1.49198521e-03 -8.37133444e+00] [-6.87471192e-03 -2.03679864e-04 9.99976348e-01 -2.85065984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884203822 meters 0.029230897984976217 Centerline is valid? [True, True] Translation: X:103.07, Y:-8.39, Z:-2.85 [[ 9.69720932e-01 2.44113737e-01 7.05677169e-03 1.03069615e+02] [-2.44108775e-01 9.69746587e-01 -1.56942667e-03 -8.38711170e+00] [-7.22639887e-03 -2.00714001e-04 9.99973869e-01 -2.84589304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914203822 meters 0.03311549935928056 Centerline is valid? [True, True] Translation: X:103.10, Y:-8.40, Z:-2.84 [[ 9.70963497e-01 2.39042015e-01 9.42355214e-03 1.03098088e+02] [-2.39032865e-01 9.71009202e-01 -2.10216423e-03 -8.40149274e+00] [-9.65286142e-03 -2.11413935e-04 9.99953388e-01 -2.84358606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944203822 meters 0.025670113065604745 Centerline is valid? [True, True] Translation: X:103.13, Y:-8.41, Z:-2.85 [[ 9.71513140e-01 2.36801978e-01 9.32966506e-03 1.03128171e+02] [-2.36792933e-01 9.71557918e-01 -2.07841790e-03 -8.40857182e+00] [-9.55648343e-03 -1.89988457e-04 9.99954318e-01 -2.84840855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974203822 meters 0.022263018102728606 Centerline is valid? [True, True] Translation: X:103.16, Y:-8.42, Z:-2.85 [[ 9.72040012e-01 2.34652921e-01 8.73051354e-03 1.03158252e+02] [-2.34644904e-01 9.72079206e-01 -1.94600357e-03 -8.42194465e+00] [-8.94338609e-03 -1.56977179e-04 9.99959995e-01 -2.84817368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00420382200001 meters 0.018819992516124203 Centerline is valid? [True, True] Translation: X:103.19, Y:-8.43, Z:-2.85 [[ 9.72518232e-01 2.32682418e-01 8.19637097e-03 1.03188921e+02] [-2.32675255e-01 9.72552763e-01 -1.83013447e-03 -8.43453229e+00] [-8.39724335e-03 -1.27253568e-04 9.99964734e-01 -2.84642544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03420382200001 meters 0.018495752573878352 Centerline is valid? [True, True] Translation: X:103.22, Y:-8.44, Z:-2.85 [[ 9.73076654e-01 2.30342416e-01 8.01225978e-03 1.03218682e+02] [-2.30335505e-01 9.73109634e-01 -1.78749896e-03 -8.44206458e+00] [-8.20854401e-03 -1.06134397e-04 9.99966304e-01 -2.85179806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064203822 meters 0.017974893958480904 Centerline is valid? [True, True] Translation: X:103.25, Y:-8.45, Z:-2.85 [[ 9.73247709e-01 2.29651151e-01 7.01747551e-03 1.03250086e+02] [-2.29645828e-01 9.73273004e-01 -1.56601554e-03 -8.45011964e+00] [-7.18955674e-03 -8.74129332e-05 9.99974151e-01 -2.85478639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.094203822 meters 0.01677358939313435 Centerline is valid? [True, True] Translation: X:103.28, Y:-8.46, Z:-2.85 [[ 9.73292440e-01 2.29482153e-01 6.30618487e-03 1.03281309e+02] [-2.29477848e-01 9.73312866e-01 -1.40772071e-03 -8.45852356e+00] [-6.46093765e-03 -7.70058107e-05 9.99979125e-01 -2.85448100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124203822 meters 0.018323457484271492 Centerline is valid? [True, True] Translation: X:103.31, Y:-8.46, Z:-2.86 [[ 9.72990219e-01 2.30712969e-01 7.84601347e-03 1.03312274e+02] [-2.30706322e-01 9.73021847e-01 -1.75437527e-03 -8.46123622e+00] [-8.03909965e-03 -1.03134933e-04 9.99967681e-01 -2.85580660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.154203822 meters 0.02013631640175627 Centerline is valid? [True, True] Translation: X:103.34, Y:-8.46, Z:-2.86 [[ 9.72625017e-01 2.32212142e-01 8.83723684e-03 1.03344284e+02] [-2.32203755e-01 9.72665155e-01 -1.97775940e-03 -8.46428005e+00] [-9.05493210e-03 -1.28421308e-04 9.99958995e-01 -2.85663657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184203822 meters 0.020398481038167493 Centerline is valid? [True, True] Translation: X:103.38, Y:-8.47, Z:-2.86 [[ 9.72121657e-01 2.34332015e-01 8.24568754e-03 1.03376472e+02] [-2.34324778e-01 9.72156617e-01 -1.84672655e-03 -8.46902056e+00] [-8.44884685e-03 -1.36926024e-04 9.99964298e-01 -2.85543770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.214203822 meters 0.02506948439167807 Centerline is valid? [True, True] Translation: X:103.41, Y:-8.46, Z:-2.86 [[ 9.71099586e-01 2.38607937e-01 5.64333285e-03 1.03407682e+02] [-2.38604600e-01 9.71115976e-01 -1.26720902e-03 -8.46462610e+00] [-5.78269682e-03 -1.15939020e-04 9.99983273e-01 -2.86094586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244203822 meters 0.02809749971940836 Centerline is valid? [True, True] Translation: X:103.44, Y:-8.47, Z:-2.87 [[ 9.70664593e-01 2.40390231e-01 4.77331976e-03 1.03439120e+02] [-2.40387883e-01 9.70676323e-01 -1.06818876e-03 -8.46575284e+00] [-4.89013062e-03 -1.10595225e-04 9.99988037e-01 -2.86521667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274203822 meters 0.02865253202755863 Centerline is valid? [True, True] Translation: X:103.47, Y:-8.47, Z:-2.87 [[ 9.70375594e-01 2.41558465e-01 4.55124415e-03 1.03471231e+02] [-2.41556342e-01 9.70386261e-01 -1.01878913e-03 -8.47048765e+00] [-4.66256193e-03 -1.10773779e-04 9.99989124e-01 -2.86534474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304203822 meters 0.027086889922172442 Centerline is valid? [True, True] Translation: X:103.50, Y:-8.48, Z:-2.86 [[ 9.70511390e-01 2.40975231e-01 6.21130303e-03 1.03503128e+02] [-2.40971248e-01 9.70531255e-01 -1.39310131e-03 -8.47600219e+00] [-6.36396664e-03 -1.44724752e-04 9.99979739e-01 -2.86225838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334203822 meters 0.02591725906854169 Centerline is valid? [True, True] Translation: X:103.53, Y:-8.48, Z:-2.86 [[ 9.71063307e-01 2.38704186e-01 7.50769482e-03 1.03532779e+02] [-2.38698256e-01 9.71092317e-01 -1.68936177e-03 -8.48227180e+00] [-7.69392249e-03 -1.51596437e-04 9.99970390e-01 -2.86254388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36420382200001 meters 0.017804808458182293 Centerline is valid? [True, True] Translation: X:103.56, Y:-8.50, Z:-2.86 [[ 9.73346297e-01 2.29200116e-01 8.01831769e-03 1.03559354e+02] [-2.29193026e-01 9.73379320e-01 -1.80466182e-03 -8.49911185e+00] [-8.21849331e-03 -8.11815950e-05 9.99966224e-01 -2.86489184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39420382200001 meters 0.014955255907743964 Centerline is valid? [True, True] Translation: X:103.59, Y:-8.51, Z:-2.87 [[ 9.74672414e-01 2.23522973e-01 7.15299925e-03 1.03589258e+02] [-2.23517187e-01 9.74698661e-01 -1.60862596e-03 -8.51462081e+00] [-7.33158365e-03 -3.09349158e-05 9.99973123e-01 -2.86736210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424203822 meters 0.014574938643864766 Centerline is valid? [True, True] Translation: X:103.62, Y:-8.53, Z:-2.87 [[ 9.75970087e-01 2.17799080e-01 6.77863381e-03 1.03619911e+02] [-2.17793754e-01 9.75993627e-01 -1.52315738e-03 -8.53000266e+00] [-6.94764568e-03 1.02119325e-05 9.99975865e-01 -2.86826572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454203822 meters 0.015632076435744983 Centerline is valid? [True, True] Translation: X:103.65, Y:-8.54, Z:-2.87 [[ 9.77154425e-01 2.12400306e-01 7.43910824e-03 1.03649905e+02] [-2.12393732e-01 9.77182740e-01 -1.67199073e-03 -8.54400358e+00] [-7.62449951e-03 5.37731820e-05 9.99970932e-01 -2.86564377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.484203822 meters 0.023835200766838816 Centerline is valid? [True, True] Translation: X:103.68, Y:-8.57, Z:-2.87 [[ 9.79186851e-01 2.02808465e-01 7.86370252e-03 1.03675264e+02] [-2.02800765e-01 9.79218416e-01 -1.77281311e-03 -8.56655165e+00] [-8.05982383e-03 1.41150399e-04 9.99967509e-01 -2.86665188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.514203822 meters 0.023835200766838816 Centerline is valid? [True, True] Translation: X:103.71, Y:-8.57, Z:-2.87 [[ 9.79147020e-01 2.03000646e-01 7.86458049e-03 1.03706883e+02] [-2.02992984e-01 9.79178594e-01 -1.76892045e-03 -8.57387179e+00] [-8.05992087e-03 1.35578531e-04 9.99967509e-01 -2.86757339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544203822 meters 0.029651317206430255 Centerline is valid? [True, True] Translation: X:103.74, Y:-8.59, Z:-2.87 [[ 9.79827678e-01 1.99715858e-01 7.16225477e-03 1.03735569e+02] [-1.99709402e-01 9.79853843e-01 -1.61273985e-03 -8.58910123e+00] [-7.34005259e-03 1.49837523e-04 9.99973050e-01 -2.87121566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.574203822 meters 0.030414414983694463 Centerline is valid? [True, True] Translation: X:103.77, Y:-8.60, Z:-2.87 [[ 9.80141850e-01 1.98177199e-01 6.91022938e-03 1.03766642e+02] [-1.98171146e-01 9.80166197e-01 -1.55679329e-03 -8.59775794e+00] [-7.08169418e-03 1.56470188e-04 9.99974912e-01 -2.87106284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604203822 meters 0.02731514309494032 Centerline is valid? [True, True] Translation: X:103.80, Y:-8.60, Z:-2.87 [[ 9.79949703e-01 1.99111312e-01 7.29826712e-03 1.03799439e+02] [-1.99104558e-01 9.79976867e-01 -1.64800825e-03 -8.60129221e+00] [-7.48027002e-03 1.61846945e-04 9.99972009e-01 -2.86891329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634203822 meters 0.02970025409796119 Centerline is valid? [True, True] Translation: X:103.83, Y:-8.61, Z:-2.87 [[ 9.79499545e-01 2.01315262e-01 7.26682754e-03 1.03830106e+02] [-2.01308628e-01 9.79526490e-01 -1.64058710e-03 -8.60726660e+00] [-7.44832529e-03 1.44079235e-04 9.99972250e-01 -2.87158141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664203822 meters 0.01953174096228979 Centerline is valid? [True, True] Translation: X:103.86, Y:-8.61, Z:-2.87 [[ 9.78183517e-01 2.07575578e-01 8.32981897e-03 1.03862395e+02] [-2.07567062e-01 9.78218977e-01 -1.88362154e-03 -8.60542475e+00] [-8.53938082e-03 1.13531485e-04 9.99963532e-01 -2.86794517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694203822 meters 0.029093929012064357 Centerline is valid? [True, True] Translation: X:103.89, Y:-8.61, Z:-2.87 [[ 9.77458109e-01 2.10927398e-01 9.23456719e-03 1.03893628e+02] [-2.10917107e-01 9.77501726e-01 -2.08550215e-03 -8.60801726e+00] [-9.46669491e-03 9.07627911e-05 9.99955186e-01 -2.86852552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724203822 meters 0.01541824016820817 Centerline is valid? [True, True] Translation: X:103.92, Y:-8.61, Z:-2.87 [[ 9.76727076e-01 2.14246132e-01 1.01397537e-02 1.03924602e+02] [-2.14233868e-01 9.76779704e-01 -2.29327623e-03 -8.61042457e+00] [-1.03956311e-02 6.76263398e-05 9.99945962e-01 -2.86941575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75420382200001 meters 0.012899381469879286 Centerline is valid? [True, True] Translation: X:103.96, Y:-8.61, Z:-2.87 [[ 9.75371810e-01 2.20359150e-01 9.57479861e-03 1.03957980e+02] [-2.20348515e-01 9.75418805e-01 -2.16496409e-03 -8.60801035e+00] [-9.81650827e-03 1.85228802e-06 9.99951817e-01 -2.87084473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78420382200001 meters 0.01295515050839671 Centerline is valid? [True, True] Translation: X:103.99, Y:-8.61, Z:-2.87 [[ 9.74829459e-01 2.22744439e-01 9.61462512e-03 1.03989089e+02] [-2.22733816e-01 9.74876872e-01 -2.17549229e-03 -8.61314163e+00] [-9.85765447e-03 -2.07681683e-05 9.99951412e-01 -2.87172022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814203822 meters 0.01287364054594361 Centerline is valid? [True, True] Translation: X:104.02, Y:-8.62, Z:-2.87 [[ 9.74460569e-01 2.24329391e-01 1.01451663e-02 1.04020662e+02] [-2.24317624e-01 9.74513378e-01 -2.29792402e-03 -8.61886897e+00] [-1.04020922e-02 -3.65032661e-05 9.99945896e-01 -2.87122928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.844203822 meters 0.012698982021438598 Centerline is valid? [True, True] Translation: X:104.05, Y:-8.62, Z:-2.87 [[ 9.74117599e-01 2.25823465e-01 9.93310305e-03 1.04052424e+02] [-2.25812248e-01 9.74168240e-01 -2.25141198e-03 -8.62401494e+00] [-1.01849352e-02 -4.98762964e-05 9.99948131e-01 -2.87058310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.874203822 meters 0.01395585991511011 Centerline is valid? [True, True] Translation: X:104.08, Y:-8.63, Z:-2.87 [[ 9.73663989e-01 2.27820957e-01 8.72060160e-03 1.04083627e+02] [-2.27812379e-01 9.73703039e-01 -1.97782401e-03 -8.62746312e+00] [-8.94186603e-03 -6.09249836e-05 9.99960019e-01 -2.87464046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904203822 meters 0.014374324409795722 Centerline is valid? [True, True] Translation: X:104.11, Y:-8.63, Z:-2.88 [[ 9.73401320e-01 2.28920692e-01 9.22968035e-03 1.04114758e+02] [-2.28911121e-01 9.73445074e-01 -2.09463745e-03 -8.63325771e+00] [-9.46409272e-03 -7.38536133e-05 9.99955212e-01 -2.87517134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.934203822 meters 0.015247505424488448 Centerline is valid? [True, True] Translation: X:104.15, Y:-8.64, Z:-2.88 [[ 9.73091019e-01 2.30197137e-01 1.01560852e-02 1.04145931e+02] [-2.30185587e-01 9.73144013e-01 -2.30784562e-03 -8.63671778e+00] [-1.04145930e-02 -9.20405905e-05 9.99945762e-01 -2.87579995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964203822 meters 0.016437710645188095 Centerline is valid? [True, True] Translation: X:104.18, Y:-8.64, Z:-2.88 [[ 9.72409173e-01 2.33048482e-01 1.04309441e-02 1.04178746e+02] [-2.33036444e-01 9.72465110e-01 -2.37190458e-03 -8.63800125e+00] [-1.06964980e-02 -1.24328357e-04 9.99942783e-01 -2.87542476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.994203822 meters 0.017631227321851392 Centerline is valid? [True, True] Translation: X:104.21, Y:-8.64, Z:-2.88 [[ 9.72192198e-01 2.33971786e-01 9.97666400e-03 1.04209697e+02] [-2.33960804e-01 9.72243379e-01 -2.27039859e-03 -8.64416924e+00] [-1.02309547e-02 -1.26884539e-04 9.99947654e-01 -2.87695993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024203822 meters 0.016885773420967448 Centerline is valid? [True, True] Translation: X:104.24, Y:-8.65, Z:-2.88 [[ 9.72463116e-01 2.32876370e-01 9.16975549e-03 1.04241302e+02] [-2.32867040e-01 9.72506342e-01 -2.08724483e-03 -8.65189958e+00] [-9.40371536e-03 -1.05565207e-04 9.99955779e-01 -2.87882554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054203822 meters 0.015188382391437312 Centerline is valid? [True, True] Translation: X:104.27, Y:-8.66, Z:-2.88 [[ 9.72881273e-01 2.31155821e-01 8.30756813e-03 1.04273075e+02] [-2.31148091e-01 9.72916739e-01 -1.89198912e-03 -8.65963177e+00] [-8.51991639e-03 -7.95977346e-05 9.99963702e-01 -2.88052763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084203822 meters 0.015179481863771526 Centerline is valid? [True, True] Translation: X:104.30, Y:-8.67, Z:-2.89 [[ 9.73346044e-01 2.29217585e-01 7.53506922e-03 1.04304367e+02] [-2.29211158e-01 9.73375208e-01 -1.71735468e-03 -8.66659381e+00] [-7.72809746e-03 -5.55415628e-05 9.99970136e-01 -2.88601792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11420382200001 meters 0.014050144740689089 Centerline is valid? [True, True] Translation: X:104.34, Y:-8.68, Z:-2.89 [[ 9.73894264e-01 2.26884340e-01 7.31159023e-03 1.04335609e+02] [-2.26878194e-01 9.73921709e-01 -1.67026911e-03 -8.67639802e+00] [-7.49987435e-03 -3.21748821e-05 9.99971875e-01 -2.88721577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14420382200001 meters 0.013817569856741237 Centerline is valid? [True, True] Translation: X:104.36, Y:-8.69, Z:-2.89 [[ 9.74832204e-01 2.22775432e-01 8.56036739e-03 1.04364771e+02] [-2.22766859e-01 9.74869790e-01 -1.95446445e-03 -8.68941003e+00] [-8.78065021e-03 -1.69126719e-06 9.99961449e-01 -2.88699927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174203822 meters 0.013193777074476998 Centerline is valid? [True, True] Translation: X:104.40, Y:-8.70, Z:-2.88 [[ 9.75112920e-01 2.21470541e-01 1.02758486e-02 1.04395915e+02] [-2.21458088e-01 9.75167062e-01 -2.34858509e-03 -8.69853207e+00] [-1.05408115e-02 1.44658961e-05 9.99944444e-01 -2.88402003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204203822 meters 0.012244402339104137 Centerline is valid? [True, True] Translation: X:104.43, Y:-8.71, Z:-2.88 [[ 9.75576033e-01 2.19280759e-01 1.29365019e-02 1.04426276e+02] [-2.19260786e-01 9.75661799e-01 -2.95999916e-03 -8.70929960e+00] [-1.32707216e-02 5.12366527e-05 9.99911939e-01 -2.87669939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.234203822 meters 0.013789366000912797 Centerline is valid? [True, True] Translation: X:104.46, Y:-8.72, Z:-2.88 [[ 9.75735992e-01 2.18564081e-01 1.30006542e-02 1.04456556e+02] [-2.18543817e-01 9.75822596e-01 -2.97687215e-03 -8.71940165e+00] [-1.33369694e-02 6.34287210e-05 9.99911057e-01 -2.87978975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264203822 meters 0.013515630630080221 Centerline is valid? [True, True] Translation: X:104.49, Y:-8.73, Z:-2.88 [[ 9.75880556e-01 2.17937705e-01 1.26608618e-02 1.04487747e+02] [-2.17918400e-01 9.75962679e-01 -2.90161593e-03 -8.72675389e+00] [-1.29889001e-02 7.25958201e-05 9.99915638e-01 -2.87893814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294203822 meters 0.01542405333742999 Centerline is valid? [True, True] Translation: X:104.52, Y:-8.73, Z:-2.88 [[ 9.76050657e-01 2.17214281e-01 1.19612027e-02 1.04517992e+02] [-2.17196972e-01 9.76123942e-01 -2.74333189e-03 -8.73416268e+00] [-1.22715072e-02 7.96938995e-05 9.99924699e-01 -2.88429702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324203822 meters 0.01708710113847072 Centerline is valid? [True, True] Translation: X:104.55, Y:-8.74, Z:-2.88 [[ 9.76233638e-01 2.16411257e-01 1.15780346e-02 1.04550554e+02] [-2.16394965e-01 9.76302289e-01 -2.65689194e-03 -8.73717845e+00] [-1.18786430e-02 8.83188993e-05 9.99929443e-01 -2.88420107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.354203822 meters 0.015102016816567719 Centerline is valid? [True, True] Translation: X:104.58, Y:-8.75, Z:-2.89 [[ 9.76212923e-01 2.16508208e-01 1.15119270e-02 1.04581214e+02] [-2.16492074e-01 9.76280794e-01 -2.64466046e-03 -8.74549445e+00] [-1.18114639e-02 8.95107761e-05 9.99930238e-01 -2.88726866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384203822 meters 0.014879374470741726 Centerline is valid? [True, True] Translation: X:104.61, Y:-8.75, Z:-2.89 [[ 9.76232767e-01 2.16458445e-01 1.07390482e-02 1.04612043e+02] [-2.16444398e-01 9.76291829e-01 -2.46739170e-03 -8.75332286e+00] [-1.10185328e-02 8.43418001e-05 9.99939291e-01 -2.88743197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414203822 meters 0.015671212522040675 Centerline is valid? [True, True] Translation: X:104.64, Y:-8.76, Z:-2.89 [[ 9.76256817e-01 2.16359994e-01 1.05346676e-02 1.04642734e+02] [-2.16346442e-01 9.76313651e-01 -2.42317894e-03 -8.76157835e+00] [-1.08094188e-02 8.65071025e-05 9.99941573e-01 -2.88992850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444203822 meters 0.016776339149639833 Centerline is valid? [True, True] Translation: X:104.67, Y:-8.77, Z:-2.89 [[ 9.76362835e-01 2.15897173e-01 1.01992856e-02 1.04672267e+02] [-2.15884438e-01 9.76416101e-01 -2.34665003e-03 -8.77056882e+00] [-1.04653818e-02 8.93148366e-05 9.99945232e-01 -2.89212233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474203822 meters 0.018258117858702943 Centerline is valid? [True, True] Translation: X:104.70, Y:-8.78, Z:-2.90 [[ 9.76685678e-01 2.14530720e-01 7.85212409e-03 1.04702054e+02] [-2.14523126e-01 9.76717238e-01 -1.80683937e-03 -8.78235523e+00] [-8.05692750e-03 8.02519300e-05 9.99967539e-01 -2.89538634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50420382200001 meters 0.020003675443096468 Centerline is valid? [True, True] Translation: X:104.73, Y:-8.79, Z:-2.90 [[ 9.76899217e-01 2.13580510e-01 7.16133527e-03 1.04731890e+02] [-2.13574162e-01 9.76925462e-01 -1.64869000e-03 -8.79157161e+00] [-7.34821882e-03 8.11277919e-05 9.99972998e-01 -2.89884694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53420382200001 meters 0.02085944185506414 Centerline is valid? [True, True] Translation: X:104.76, Y:-8.80, Z:-2.90 [[ 9.77109020e-01 2.12608978e-01 7.44217537e-03 1.04762769e+02] [-2.12602085e-01 9.77137357e-01 -1.71453229e-03 -8.79997824e+00] [-7.63655253e-03 9.30629589e-05 9.99970837e-01 -2.90020594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564203822 meters 0.021533685782726585 Centerline is valid? [True, True] Translation: X:104.79, Y:-8.81, Z:-2.90 [[ 9.77336656e-01 2.11542640e-01 7.92291519e-03 1.04794580e+02] [-2.11534783e-01 9.77368763e-01 -1.82643908e-03 -8.80901524e+00] [-8.12997957e-03 1.09073716e-04 9.99966945e-01 -2.90052213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.594203822 meters 0.02378877860950417 Centerline is valid? [True, True] Translation: X:104.82, Y:-8.82, Z:-2.90 [[ 9.77789250e-01 2.09454259e-01 7.55616313e-03 1.04824334e+02] [-2.09447035e-01 9.77818438e-01 -1.74394160e-03 -8.82015205e+00] [-7.75383163e-03 1.22591383e-04 9.99969931e-01 -2.90243899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624203822 meters 0.02475859193091106 Centerline is valid? [True, True] Translation: X:104.85, Y:-8.83, Z:-2.90 [[ 9.77870775e-01 2.09024695e-01 8.79914336e-03 1.04854297e+02] [-2.09014850e-01 9.77910351e-01 -2.03420955e-03 -8.82974923e+00] [-9.02997340e-03 1.50042434e-04 9.99959218e-01 -2.90264978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654203822 meters 0.023479774283780157 Centerline is valid? [True, True] Translation: X:104.89, Y:-8.84, Z:-2.90 [[ 9.77757803e-01 2.09474235e-01 1.04987015e-02 1.04885751e+02] [-2.09460243e-01 9.77814151e-01 -2.42742932e-03 -8.83794743e+00] [-1.07742628e-02 1.74377391e-04 9.99941941e-01 -2.89939627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684203822 meters 0.019101058748043135 Centerline is valid? [True, True] Translation: X:104.92, Y:-8.84, Z:-2.89 [[ 9.77020019e-01 2.12792026e-01 1.23059399e-02 1.04917071e+02] [-2.12773000e-01 9.77097501e-01 -2.85037144e-03 -8.84400706e+00] [-1.26306394e-02 1.66498210e-04 9.99920216e-01 -2.89407920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714203822 meters 0.026877856493528803 Centerline is valid? [True, True] Translation: X:104.95, Y:-8.85, Z:-2.90 [[ 9.76297393e-01 2.16086326e-01 1.22515077e-02 1.04948074e+02] [-2.16067733e-01 9.76374254e-01 -2.83725643e-03 -8.84839729e+00] [-1.25751490e-02 1.22850562e-04 9.99920922e-01 -2.89727396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744203822 meters 0.013672276877975186 Centerline is valid? [True, True] Translation: X:104.98, Y:-8.85, Z:-2.90 [[ 9.75406621e-01 2.20119187e-01 1.13783337e-02 1.04981204e+02] [-2.20103429e-01 9.75472982e-01 -2.63468327e-03 -8.84760226e+00] [-1.16792015e-02 6.54772353e-05 9.99931794e-01 -2.89584019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774203822 meters 0.013229345243971884 Centerline is valid? [True, True] Translation: X:105.01, Y:-8.84, Z:-2.90 [[ 9.73444729e-01 2.28726693e-01 9.45827084e-03 1.05014801e+02] [-2.28716199e-01 9.73490677e-01 -2.19121779e-03 -8.83878414e+00] [-9.70872849e-03 -3.02303421e-05 9.99952869e-01 -2.90392557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804203822 meters 0.014008421894957388 Centerline is valid? [True, True] Translation: X:105.05, Y:-8.84, Z:-2.90 [[ 9.72623490e-01 2.32163753e-01 1.01754399e-02 1.05048614e+02] [-2.32151778e-01 9.72676713e-01 -2.35890895e-03 -8.83998580e+00] [-1.04450666e-02 -6.79162270e-05 9.99945446e-01 -2.90472957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834203822 meters 0.014691802811207308 Centerline is valid? [True, True] Translation: X:105.08, Y:-8.84, Z:-2.90 [[ 9.71974137e-01 2.34808861e-01 1.14487899e-02 1.05081983e+02] [-2.34793852e-01 9.72041556e-01 -2.65701870e-03 -8.84378965e+00] [-1.17525911e-02 -1.05552022e-04 9.99930930e-01 -2.90312771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86420382200001 meters 0.01667892355525957 Centerline is valid? [True, True] Translation: X:105.11, Y:-8.85, Z:-2.90 [[ 9.71178932e-01 2.38041707e-01 1.21501818e-02 1.05114391e+02] [-2.38025015e-01 9.71254922e-01 -2.82296189e-03 -8.84622832e+00] [-1.24729066e-02 -1.50446102e-04 9.99922199e-01 -2.90163596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89420382200001 meters 0.01729378384064029 Centerline is valid? [True, True] Translation: X:105.15, Y:-8.85, Z:-2.90 [[ 9.70924205e-01 2.39112510e-01 1.14627462e-02 1.05146503e+02] [-2.39097708e-01 9.70991856e-01 -2.66496089e-03 -8.85177893e+00] [-1.17674586e-02 -1.53241298e-04 9.99930749e-01 -2.90253803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924203822 meters 0.018417029023469703 Centerline is valid? [True, True] Translation: X:105.18, Y:-8.86, Z:-2.91 [[ 9.71001548e-01 2.38840463e-01 1.05464313e-02 1.05177734e+02] [-2.38827899e-01 9.71058811e-01 -2.45364297e-03 -8.85601303e+00] [-1.08272342e-02 -1.36290902e-04 9.99941374e-01 -2.90815370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954203822 meters 0.016006654813595846 Centerline is valid? [True, True] Translation: X:105.21, Y:-8.87, Z:-2.91 [[ 9.71284363e-01 2.37690816e-01 1.04767716e-02 1.05207846e+02] [-2.37678334e-01 9.71340858e-01 -2.43888711e-03 -8.86700526e+00] [-1.07562174e-02 -1.21248711e-04 9.99942143e-01 -2.90714894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.984203822 meters 0.015592696818431775 Centerline is valid? [True, True] Translation: X:105.24, Y:-8.88, Z:-2.91 [[ 9.71687994e-01 2.36060165e-01 9.90160459e-03 1.05237669e+02] [-2.36048914e-01 9.71738437e-01 -2.30671438e-03 -8.87614460e+00] [-1.01662931e-02 -9.58563377e-05 9.99948317e-01 -2.91072944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.014203822 meters 0.014395645582097834 Centerline is valid? [True, True] Translation: X:105.27, Y:-8.89, Z:-2.91 [[ 9.72155256e-01 2.34155010e-01 9.25150494e-03 1.05268879e+02] [-2.34145096e-01 9.72199273e-01 -2.15581125e-03 -8.88707793e+00] [-9.49910038e-03 -7.04112796e-05 9.99954880e-01 -2.91222986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044203822 meters 0.013420773857571146 Centerline is valid? [True, True] Translation: X:105.30, Y:-8.90, Z:-2.91 [[ 9.72944485e-01 2.30864116e-01 8.98833387e-03 1.05297923e+02] [-2.30854596e-01 9.72986001e-01 -2.09684916e-03 -8.89883603e+00] [-9.22961025e-03 -3.48803588e-05 9.99957406e-01 -2.91374238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.074203822 meters 0.014169228511634456 Centerline is valid? [True, True] Translation: X:105.33, Y:-8.91, Z:-2.92 [[ 9.73135803e-01 2.30064012e-01 8.78967953e-03 1.05328712e+02] [-2.30054867e-01 9.73175498e-01 -2.05140841e-03 -8.90670808e+00] [-9.02585601e-03 -2.58095867e-05 9.99959266e-01 -2.91806383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104203822 meters 0.013291292207348763 Centerline is valid? [True, True] Translation: X:105.36, Y:-8.92, Z:-2.92 [[ 9.73517822e-01 2.28454260e-01 8.46767498e-03 1.05360050e+02] [-2.28445703e-01 9.73554647e-01 -1.97735824e-03 -8.91555655e+00] [-8.69548024e-03 -9.41047214e-06 9.99962194e-01 -2.91694007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.134203822 meters 0.01279126173049734 Centerline is valid? [True, True] Translation: X:105.39, Y:-8.92, Z:-2.92 [[ 9.73586806e-01 2.28121074e-01 9.46076502e-03 1.05390806e+02] [-2.28110347e-01 9.73632772e-01 -2.21225425e-03 -8.92452046e+00] [-9.71597269e-03 -4.27683908e-06 9.99952799e-01 -2.91616910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164203822 meters 0.01334183002200817 Centerline is valid? [True, True] Translation: X:105.42, Y:-8.93, Z:-2.92 [[ 9.73571543e-01 2.28134309e-01 1.06389636e-02 1.05421046e+02] [-2.28120715e-01 9.73629671e-01 -2.49047798e-03 -8.93328851e+00] [-1.09265741e-02 -2.30948220e-06 9.99940303e-01 -2.91813513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194203822 meters 0.012270656410792743 Centerline is valid? [True, True] Translation: X:105.45, Y:-8.94, Z:-2.92 [[ 9.73528232e-01 2.28283486e-01 1.13767652e-02 1.05452746e+02] [-2.28267928e-01 9.73594705e-01 -2.66519450e-03 -8.94100686e+00] [-1.16847782e-02 -2.30851449e-06 9.99931731e-01 -2.91546904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224203822 meters 0.013225631895665642 Centerline is valid? [True, True] Translation: X:105.48, Y:-8.95, Z:-2.92 [[ 9.73523215e-01 2.28306225e-01 1.13497744e-02 1.05484373e+02] [-2.28290721e-01 9.73589373e-01 -2.66063255e-03 -8.94612403e+00] [-1.16574587e-02 -8.60624271e-07 9.99932050e-01 -2.92003542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25420382200001 meters 0.012668777297977555 Centerline is valid? [True, True] Translation: X:105.52, Y:-8.95, Z:-2.92 [[ 9.73536132e-01 2.28253361e-01 1.13050076e-02 1.05516619e+02] [-2.28237953e-01 9.73601768e-01 -2.65208295e-03 -8.95318793e+00] [-1.16119223e-02 1.66676863e-06 9.99932579e-01 -2.91922354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28420382200001 meters 0.012399527925306967 Centerline is valid? [True, True] Translation: X:105.55, Y:-8.96, Z:-2.92 [[ 9.73525114e-01 2.28299148e-01 1.13292589e-02 1.05549359e+02] [-2.28283653e-01 9.73591033e-01 -2.65989388e-03 -8.95960120e+00] [-1.16373163e-02 3.18889569e-06 9.99932284e-01 -2.91902942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314203822 meters 0.012431517648383095 Centerline is valid? [True, True] Translation: X:105.58, Y:-8.96, Z:-2.92 [[ 9.73422541e-01 2.28774679e-01 1.05215717e-02 1.05581940e+02] [-2.28761319e-01 9.73479402e-01 -2.47233256e-03 -8.96234081e+00] [-1.08081404e-02 -3.04384126e-07 9.99941590e-01 -2.92045099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.344203822 meters 0.01297985278128661 Centerline is valid? [True, True] Translation: X:105.61, Y:-8.97, Z:-2.92 [[ 9.73420408e-01 2.28806587e-01 1.00127979e-02 1.05612328e+02] [-2.28794471e-01 9.73471903e-01 -2.35454933e-03 -8.96912558e+00] [-1.02859138e-02 1.09355745e-06 9.99947099e-01 -2.92261460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.374203822 meters 0.012858513257782088 Centerline is valid? [True, True] Translation: X:105.64, Y:-8.98, Z:-2.92 [[ 9.73484916e-01 2.28556149e-01 9.44481205e-03 1.05643183e+02] [-2.28545348e-01 9.73530732e-01 -2.22200809e-03 -8.97664758e+00] [-9.70266841e-03 4.52350125e-06 9.99952928e-01 -2.92183407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404203822 meters 0.012858513257782088 Centerline is valid? [True, True] Translation: X:105.67, Y:-8.98, Z:-2.92 [[ 9.73441038e-01 2.28742969e-01 9.44454242e-03 1.05674735e+02] [-2.28732165e-01 9.73486854e-01 -2.22315316e-03 -8.98426996e+00] [-9.70266854e-03 3.83788164e-06 9.99952928e-01 -2.92275700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.434203822 meters 0.013153633515580486 Centerline is valid? [True, True] Translation: X:105.71, Y:-8.99, Z:-2.92 [[ 9.73568528e-01 2.28191397e-01 9.64410679e-03 1.05705630e+02] [-2.28180081e-01 9.73616293e-01 -2.27244554e-03 -8.99174719e+00] [-9.90821202e-03 1.17883883e-05 9.99950912e-01 -2.92361539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464203822 meters 0.013963576428484118 Centerline is valid? [True, True] Translation: X:105.73, Y:-9.00, Z:-2.92 [[ 9.74435954e-01 2.24348348e-01 1.19327055e-02 1.05734871e+02] [-2.24330677e-01 9.74509012e-01 -2.81659190e-03 -9.00208710e+00] [-1.22604268e-02 6.77165084e-05 9.99924836e-01 -2.92123258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.494203822 meters 0.015818586982838518 Centerline is valid? [True, True] Translation: X:105.76, Y:-9.01, Z:-2.92 [[ 9.75034421e-01 2.21703762e-01 1.24627417e-02 1.05764078e+02] [-2.21684250e-01 9.75114060e-01 -2.94327567e-03 -9.01186803e+00] [-1.28051299e-02 1.07001546e-04 9.99918005e-01 -2.92148699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524203822 meters 0.017795089254660414 Centerline is valid? [True, True] Translation: X:105.79, Y:-9.02, Z:-2.92 [[ 9.75621300e-01 2.19117449e-01 1.22727933e-02 1.05794803e+02] [-2.19098327e-01 9.75698480e-01 -2.89809294e-03 -9.02148532e+00] [-1.26095685e-02 1.38492729e-04 9.99920487e-01 -2.92253489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554203822 meters 0.02064544692385872 Centerline is valid? [True, True] Translation: X:105.82, Y:-9.03, Z:-2.93 [[ 9.76155206e-01 2.16767527e-01 1.15261464e-02 1.05824341e+02] [-2.16750474e-01 9.76223240e-01 -2.72372630e-03 -9.03267375e+00] [-1.18425074e-02 1.60481908e-04 9.99929862e-01 -2.92565617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584203822 meters 0.0245231750341157 Centerline is valid? [True, True] Translation: X:105.85, Y:-9.05, Z:-2.93 [[ 9.77124956e-01 2.12416133e-01 1.03056637e-02 1.05853030e+02] [-2.12402220e-01 9.77179282e-01 -2.43889034e-03 -9.04746888e+00] [-1.05885407e-02 1.94154767e-04 9.99943921e-01 -2.92879609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61420382200001 meters 0.027182485100163516 Centerline is valid? [True, True] Translation: X:105.88, Y:-9.06, Z:-2.93 [[ 9.77518288e-01 2.10618880e-01 9.88352859e-03 1.05881885e+02] [-2.10605989e-01 9.77568231e-01 -2.33921232e-03 -9.05885107e+00] [-1.01545058e-02 2.05092501e-04 9.99948421e-01 -2.93154057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64420382200001 meters 0.029123424986107354 Centerline is valid? [True, True] Translation: X:105.91, Y:-9.07, Z:-2.93 [[ 9.77809598e-01 2.09288688e-01 9.30778012e-03 1.05912173e+02] [-2.09277220e-01 9.77853876e-01 -2.20040214e-03 -9.06888221e+00] [-9.56216815e-03 2.03667990e-04 9.99954261e-01 -2.93365670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674203822 meters 0.033217209615926536 Centerline is valid? [True, True] Translation: X:105.94, Y:-9.07, Z:-2.93 [[ 9.77997654e-01 2.08406138e-01 9.35259495e-03 1.05943635e+02] [-2.08394504e-01 9.78042349e-01 -2.21247489e-03 -9.07440206e+00] [-9.60832727e-03 2.14765864e-04 9.99953816e-01 -2.93166538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704203822 meters 0.030802329819127037 Centerline is valid? [True, True] Translation: X:105.97, Y:-9.09, Z:-2.94 [[ 9.77910058e-01 2.08809016e-01 9.52435248e-03 1.05972639e+02] [-2.08796950e-01 9.77956414e-01 -2.25522110e-03 -9.08555314e+00] [-9.78531210e-03 2.16747649e-04 9.99952099e-01 -2.93527505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.734203822 meters 0.03567053597120302 Centerline is valid? [True, True] Translation: X:106.01, Y:-9.09, Z:-2.94 [[ 9.77736453e-01 2.09652881e-01 8.78055983e-03 1.06005637e+02] [-2.09642655e-01 9.77775860e-01 -2.07964852e-03 -9.09063691e+00] [-9.02142374e-03 1.92568298e-04 9.99959288e-01 -2.93650406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764203822 meters 0.027639832962746767 Centerline is valid? [True, True] Translation: X:106.04, Y:-9.10, Z:-2.94 [[ 9.77373377e-01 2.11407527e-01 6.93825926e-03 1.06037692e+02] [-2.11401184e-01 9.77397994e-01 -1.64348828e-03 -9.09984809e+00] [-7.12888648e-03 1.39545461e-04 9.99974579e-01 -2.93884975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.794203822 meters 0.027439183395626177 Centerline is valid? [True, True] Translation: X:106.07, Y:-9.11, Z:-2.94 [[ 9.77106848e-01 2.12643424e-01 6.70688346e-03 1.06067969e+02] [-2.12637504e-01 9.77129857e-01 -1.59200711e-03 -9.10759404e+00] [-6.89202592e-03 1.29426090e-04 9.99976241e-01 -2.94080435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824203822 meters 0.023089492629492996 Centerline is valid? [True, True] Translation: X:106.10, Y:-9.11, Z:-2.94 [[ 9.76746389e-01 2.14302384e-01 6.40161187e-03 1.06100555e+02] [-2.14297034e-01 9.76767360e-01 -1.51825616e-03 -9.10920899e+00] [-6.57825145e-03 1.11104783e-04 9.99978357e-01 -2.93801836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.854203822 meters 0.02014681400993175 Centerline is valid? [True, True] Translation: X:106.13, Y:-9.11, Z:-2.94 [[ 9.75858797e-01 2.18281840e-01 7.25582536e-03 1.06131871e+02] [-2.18275036e-01 9.75885766e-01 -1.72643246e-03 -9.10769635e+00] [-7.45770554e-03 1.00988757e-04 9.99972186e-01 -2.93883533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884203822 meters 0.018263681120707316 Centerline is valid? [True, True] Translation: X:106.16, Y:-9.11, Z:-2.94 [[ 9.75369127e-01 2.20442212e-01 7.76518355e-03 1.06164790e+02] [-2.20434494e-01 9.75400032e-01 -1.84671850e-03 -9.11080711e+00] [-7.98125500e-03 8.95179043e-05 9.99968145e-01 -2.93891303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914203822 meters 0.018202605248943068 Centerline is valid? [True, True] Translation: X:106.20, Y:-9.12, Z:-2.94 [[ 9.74946468e-01 2.22287824e-01 8.21635841e-03 1.06195777e+02] [-2.22279251e-01 9.74981085e-01 -1.95390961e-03 -9.11617346e+00] [-8.44512435e-03 7.86312784e-05 9.99964336e-01 -2.94210275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944203822 meters 0.016044100593006712 Centerline is valid? [True, True] Translation: X:106.23, Y:-9.12, Z:-2.94 [[ 9.74326626e-01 2.24988417e-01 8.23640214e-03 1.06227790e+02] [-2.24979903e-01 9.74361437e-01 -1.95814836e-03 -9.12080015e+00] [-8.46579332e-03 5.48511299e-05 9.99964163e-01 -2.94075144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974203822 meters 0.014439048392896755 Centerline is valid? [True, True] Translation: X:106.26, Y:-9.13, Z:-2.94 [[ 9.73972147e-01 2.26505491e-01 8.57431143e-03 1.06260142e+02] [-2.26496308e-01 9.74009887e-01 -2.04010891e-03 -9.12523706e+00] [-8.81355998e-03 4.49593712e-05 9.99961159e-01 -2.93890322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00420382200001 meters 0.013801460538835884 Centerline is valid? [True, True] Translation: X:106.29, Y:-9.13, Z:-2.94 [[ 9.73583596e-01 2.28138479e-01 9.37097475e-03 1.06291566e+02] [-2.28127551e-01 9.73628694e-01 -2.23325587e-03 -9.12908079e+00] [-9.63334150e-03 3.64837651e-05 9.99953598e-01 -2.93957154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03420382200001 meters 0.01223739533431898 Centerline is valid? [True, True] Translation: X:106.32, Y:-9.13, Z:-2.94 [[ 9.72544348e-01 2.32440363e-01 1.13564408e-02 1.06323444e+02] [-2.32424586e-01 9.72610650e-01 -2.70823930e-03 -9.12843405e+00] [-1.16748994e-02 -5.63322302e-06 9.99931846e-01 -2.93835198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064203822 meters 0.012359842140277025 Centerline is valid? [True, True] Translation: X:106.36, Y:-9.13, Z:-2.94 [[ 9.71983311e-01 2.34795858e-01 1.09246457e-02 1.06355280e+02] [-2.34781408e-01 9.72044703e-01 -2.60502124e-03 -9.13210935e+00] [-1.12308922e-02 -3.28665424e-05 9.99936931e-01 -2.93910488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.094203822 meters 0.01311568416199294 Centerline is valid? [True, True] Translation: X:106.39, Y:-9.14, Z:-2.94 [[ 9.71480674e-01 2.36890613e-01 1.03988921e-02 1.06387534e+02] [-2.36877624e-01 9.71536327e-01 -2.48124012e-03 -9.13557263e+00] [-1.06906840e-02 -5.27880443e-05 9.99942852e-01 -2.94074451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124203822 meters 0.01622032775559409 Centerline is valid? [True, True] Translation: X:106.42, Y:-9.13, Z:-2.95 [[ 9.70907251e-01 2.39256791e-01 9.76208594e-03 1.06419646e+02] [-2.39245447e-01 9.70956324e-01 -2.33095542e-03 -9.13380928e+00] [-1.00362560e-02 -7.23930906e-05 9.99949633e-01 -2.94901819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.154203822 meters 0.014704432114650293 Centerline is valid? [True, True] Translation: X:106.45, Y:-9.14, Z:-2.95 [[ 9.70811709e-01 2.39683843e-01 8.73389123e-03 1.06450736e+02] [-2.39674774e-01 9.70850993e-01 -2.08614232e-03 -9.14092407e+00] [-8.97932158e-03 -6.80420179e-05 9.99959683e-01 -2.94675436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184203822 meters 0.016339966025505175 Centerline is valid? [True, True] Translation: X:106.48, Y:-9.15, Z:-2.95 [[ 9.71005448e-01 2.38944760e-01 7.33626632e-03 1.06481480e+02] [-2.38938334e-01 9.71033161e-01 -1.75310772e-03 -9.14526356e+00] [-7.54265378e-03 -5.06381027e-05 9.99971553e-01 -2.95443716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.214203822 meters 0.014358761106080826 Centerline is valid? [True, True] Translation: X:106.51, Y:-9.16, Z:-2.95 [[ 9.71285948e-01 2.37815674e-01 6.87845087e-03 1.06513184e+02] [-2.37809996e-01 9.71310303e-01 -1.64372476e-03 -9.15571455e+00] [-7.07201371e-03 -3.92376094e-05 9.99974992e-01 -2.95185981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244203822 meters 0.014517133748194017 Centerline is valid? [True, True] Translation: X:106.54, Y:-9.17, Z:-2.95 [[ 9.71637443e-01 2.36388884e-01 6.40116914e-03 1.06543421e+02] [-2.36383928e-01 9.71658528e-01 -1.53086903e-03 -9.16543120e+00] [-6.58163101e-03 -2.56838385e-05 9.99978341e-01 -2.95437241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274203822 meters 0.014120098007782095 Centerline is valid? [True, True] Translation: X:106.57, Y:-9.18, Z:-2.95 [[ 9.71969654e-01 2.35028895e-01 6.03415376e-03 1.06574416e+02] [-2.35024462e-01 9.71988384e-01 -1.44364575e-03 -9.17570624e+00] [-6.20442583e-03 -1.49938764e-05 9.99980752e-01 -2.95412010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304203822 meters 0.014228636218070596 Centerline is valid? [True, True] Translation: X:106.60, Y:-9.19, Z:-2.95 [[ 9.72340791e-01 2.33462794e-01 6.96484912e-03 1.06603955e+02] [-2.33456816e-01 9.72365736e-01 -1.67074702e-03 -9.18562117e+00] [-7.16243790e-03 -1.45601298e-06 9.99974349e-01 -2.95343397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334203822 meters 0.014172263094840067 Centerline is valid? [True, True] Translation: X:106.64, Y:-9.19, Z:-2.95 [[ 9.72388009e-01 2.33269829e-01 6.83715006e-03 1.06636187e+02] [-2.33264073e-01 9.72412046e-01 -1.63869756e-03 -9.19312074e+00] [-7.03078577e-03 -1.41161699e-06 9.99975284e-01 -2.95385136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36420382200001 meters 0.014579907629080891 Centerline is valid? [True, True] Translation: X:106.67, Y:-9.20, Z:-2.96 [[ 9.72415177e-01 2.33164889e-01 6.54659069e-03 1.06667695e+02] [-2.33159601e-01 9.72437214e-01 -1.57041885e-03 -9.19947154e+00] [-6.73231494e-03 6.98655860e-07 9.99977338e-01 -2.95618359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39420382200001 meters 0.01428354269546091 Centerline is valid? [True, True] Translation: X:106.70, Y:-9.20, Z:-2.96 [[ 9.72343934e-01 2.33430392e-01 7.58464820e-03 1.06698565e+02] [-2.33423279e-01 9.72373515e-01 -1.82223453e-03 -9.20355576e+00] [-7.80047595e-03 1.40524276e-06 9.99969576e-01 -2.95690473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424203822 meters 0.013730116703307116 Centerline is valid? [True, True] Translation: X:106.73, Y:-9.21, Z:-2.96 [[ 9.72323947e-01 2.33482656e-01 8.48474098e-03 1.06729833e+02] [-2.33473743e-01 9.72360967e-01 -2.04013135e-03 -9.21068009e+00] [-8.72656623e-03 2.70433502e-06 9.99961923e-01 -2.95565946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454203822 meters 0.013198148404573678 Centerline is valid? [True, True] Translation: X:106.76, Y:-9.22, Z:-2.95 [[ 9.72442119e-01 2.32940743e-01 9.74343780e-03 1.06761976e+02] [-2.32928923e-01 9.72490931e-01 -2.34663457e-03 -9.21675268e+00] [-1.00220317e-02 1.24378192e-05 9.99949778e-01 -2.95411478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.484203822 meters 0.013340144083255888 Centerline is valid? [True, True] Translation: X:106.79, Y:-9.22, Z:-2.96 [[ 9.72589706e-01 2.32338491e-01 9.38563676e-03 1.06793354e+02] [-2.32327502e-01 9.72634991e-01 -2.25975016e-03 -9.22348674e+00] [-9.65382567e-03 1.72682038e-05 9.99953401e-01 -2.95574878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.514203822 meters 0.013845004897580952 Centerline is valid? [True, True] Translation: X:106.82, Y:-9.23, Z:-2.96 [[ 9.72872793e-01 2.31177063e-01 8.70027727e-03 1.06824321e+02] [-2.31167550e-01 9.72911694e-01 -2.09748093e-03 -9.23218331e+00] [-8.94949098e-03 2.93603546e-05 9.99959952e-01 -2.95778532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544203822 meters 0.014942523311124004 Centerline is valid? [True, True] Translation: X:106.85, Y:-9.24, Z:-2.96 [[ 9.73204310e-01 2.29803967e-01 7.96913231e-03 1.06854911e+02] [-2.29795948e-01 9.73236937e-01 -1.92011630e-03 -9.24288067e+00] [-8.19710427e-03 3.73911485e-05 9.99966402e-01 -2.96022897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.574203822 meters 0.017003215658848027 Centerline is valid? [True, True] Translation: X:106.88, Y:-9.26, Z:-2.96 [[ 9.73912397e-01 2.26778309e-01 8.13891579e-03 1.06883562e+02] [-2.26769823e-01 9.73946402e-01 -1.96285483e-03 -9.25517516e+00] [-8.37200066e-03 6.59881573e-05 9.99964952e-01 -2.96073036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604203822 meters 0.01901088133060261 Centerline is valid? [True, True] Translation: X:106.91, Y:-9.27, Z:-2.96 [[ 9.74264052e-01 2.25228638e-01 9.03422262e-03 1.06913851e+02] [-2.25218092e-01 9.74305934e-01 -2.18150219e-03 -9.26508052e+00] [-9.29343347e-03 9.06887850e-05 9.99956811e-01 -2.96260279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.634203822 meters 0.023271707860709406 Centerline is valid? [True, True] Translation: X:106.94, Y:-9.28, Z:-2.96 [[ 9.75165181e-01 2.21267046e-01 9.68321608e-03 1.06942022e+02] [-2.21254725e-01 9.75213246e-01 -2.33912446e-03 -9.28204213e+00] [-9.96077175e-03 1.38575415e-04 9.99950381e-01 -2.96329374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664203822 meters 0.023457210591429457 Centerline is valid? [True, True] Translation: X:106.97, Y:-9.29, Z:-2.96 [[ 9.75551350e-01 2.19575781e-01 9.27579357e-03 1.06972726e+02] [-2.19564390e-01 9.75595435e-01 -2.24167759e-03 -9.29287233e+00] [-9.54163998e-03 1.50237643e-04 9.99954466e-01 -2.96178202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694203822 meters 0.02438182480022183 Centerline is valid? [True, True] Translation: X:107.00, Y:-9.30, Z:-2.96 [[ 9.75876490e-01 2.18132438e-01 9.12773993e-03 1.07002998e+02] [-2.18121330e-01 9.75919163e-01 -2.20737601e-03 -9.30320134e+00] [-9.38943663e-03 1.63171579e-04 9.99955905e-01 -2.96248224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724203822 meters 0.0290447596443514 Centerline is valid? [True, True] Translation: X:107.03, Y:-9.32, Z:-2.97 [[ 9.76575287e-01 2.14983701e-01 9.09494263e-03 1.07031123e+02] [-2.14972494e-01 9.76617617e-01 -2.20391327e-03 -9.31741207e+00] [-9.35608662e-03 1.97124727e-04 9.99956211e-01 -2.96619727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75420382200001 meters 0.028021880927235898 Centerline is valid? [True, True] Translation: X:107.06, Y:-9.32, Z:-2.96 [[ 9.76776404e-01 2.14071822e-01 9.00618414e-03 1.07062370e+02] [-2.14060820e-01 9.76817902e-01 -2.17972243e-03 -9.32490941e+00] [-9.26401905e-03 2.01230278e-04 9.99957068e-01 -2.96433156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78420382200001 meters 0.030583788087513303 Centerline is valid? [True, True] Translation: X:107.09, Y:-9.34, Z:-2.97 [[ 9.76680582e-01 2.14514569e-01 8.86234947e-03 1.07091948e+02] [-2.14503905e-01 9.76720769e-01 -2.14794643e-03 -9.33517200e+00] [-9.11680659e-03 1.96848998e-04 9.99958422e-01 -2.96815272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814203822 meters 0.02810996805093571 Centerline is valid? [True, True] Translation: X:107.12, Y:-9.34, Z:-2.97 [[ 9.76447209e-01 2.15589508e-01 8.48604130e-03 1.07124066e+02] [-2.15579777e-01 9.76484067e-01 -2.05602018e-03 -9.34077772e+00] [-8.72974050e-03 1.78176267e-04 9.99961879e-01 -2.96821740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.844203822 meters 0.026856744705028336 Centerline is valid? [True, True] Translation: X:107.16, Y:-9.35, Z:-2.97 [[ 9.76199790e-01 2.16694321e-01 8.80572516e-03 1.07155468e+02] [-2.16683873e-01 9.76239489e-01 -2.13523053e-03 -9.34935322e+00] [-9.05918896e-03 1.76352969e-04 9.99958949e-01 -2.96864346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.874203822 meters 0.02633413686762997 Centerline is valid? [True, True] Translation: X:107.19, Y:-9.36, Z:-2.97 [[ 9.75903493e-01 2.17988511e-01 9.66341175e-03 1.07185450e+02] [-2.17975956e-01 9.75951318e-01 -2.34681081e-03 -9.35920014e+00] [-9.94259722e-03 1.83869451e-04 9.99950554e-01 -2.96825516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904203822 meters 0.022703213916047384 Centerline is valid? [True, True] Translation: X:107.22, Y:-9.37, Z:-2.96 [[ 9.75305363e-01 2.20586650e-01 1.09990741e-02 1.07216181e+02] [-2.20570518e-01 9.75367365e-01 -2.67395793e-03 -9.36650034e+00] [-1.13179773e-02 1.81854045e-04 9.99935933e-01 -2.96482021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.934203822 meters 0.021700616912713636 Centerline is valid? [True, True] Translation: X:107.25, Y:-9.37, Z:-2.97 [[ 9.74982131e-01 2.22034761e-01 1.05076081e-02 1.07246901e+02] [-2.22020145e-01 9.75038738e-01 -2.55235535e-03 -9.37289201e+00] [-1.08120365e-02 1.55600180e-04 9.99941536e-01 -2.96649593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964203822 meters 0.019507830710988248 Centerline is valid? [True, True] Translation: X:107.28, Y:-9.38, Z:-2.97 [[ 9.74309035e-01 2.24999756e-01 9.84955563e-03 1.07279145e+02] [-2.24987054e-01 9.74358813e-01 -2.39365832e-03 -9.37651089e+00] [-1.01355739e-02 1.16140428e-04 9.99948627e-01 -2.97018521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.994203822 meters 0.018306210422440145 Centerline is valid? [True, True] Translation: X:107.31, Y:-9.38, Z:-2.97 [[ 9.73936186e-01 2.26591546e-01 1.02262915e-02 1.07309900e+02] [-2.26577920e-01 9.73989866e-01 -2.48718975e-03 -9.38375697e+00] [-1.05238804e-02 1.05312244e-04 9.99944617e-01 -2.97180707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024203822 meters 0.017438179517628483 Centerline is valid? [True, True] Translation: X:107.34, Y:-9.39, Z:-2.97 [[ 9.73570752e-01 2.28165889e-01 1.00158599e-02 1.07340158e+02] [-2.28152882e-01 9.73622267e-01 -2.43788286e-03 -9.39241221e+00] [-1.03079059e-02 8.83041483e-05 9.99946868e-01 -2.97285324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054203822 meters 0.015492546850547413 Centerline is valid? [True, True] Translation: X:107.37, Y:-9.40, Z:-2.97 [[ 9.72685182e-01 2.31953328e-01 9.01053087e-03 1.07371108e+02] [-2.31942956e-01 9.72726915e-01 -2.19397677e-03 -9.40089704e+00] [-9.27368611e-03 4.41195269e-05 9.99956997e-01 -2.97486845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084203822 meters 0.014806190037968146 Centerline is valid? [True, True] Translation: X:107.40, Y:-9.41, Z:-2.98 [[ 9.72112256e-01 2.34363422e-01 8.45858507e-03 1.07402208e+02] [-2.34354365e-01 9.72149055e-01 -2.06054221e-03 -9.40729452e+00] [-8.70592121e-03 2.07720095e-05 9.99962103e-01 -2.97736042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11420382200001 meters 0.014417453683028282 Centerline is valid? [True, True] Translation: X:107.43, Y:-9.41, Z:-2.98 [[ 9.71465393e-01 2.37044764e-01 8.04795990e-03 1.07434969e+02] [-2.37036648e-01 9.71498729e-01 -1.96150288e-03 -9.41312310e+00] [-8.28354679e-03 -2.12927075e-06 9.99965691e-01 -2.97949959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14420382200001 meters 0.013482164543675764 Centerline is valid? [True, True] Translation: X:107.47, Y:-9.42, Z:-2.98 [[ 9.70088786e-01 2.42619245e-01 7.97807742e-03 1.07467168e+02] [-2.42611444e-01 9.70121590e-01 -1.94615848e-03 -9.41577429e+00] [-8.21188065e-03 -4.76263642e-05 9.99966281e-01 -2.97562806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174203822 meters 0.016773313303506895 Centerline is valid? [True, True] Translation: X:107.50, Y:-9.42, Z:-2.98 [[ 9.69330870e-01 2.45615914e-01 8.39563680e-03 1.07498470e+02] [-2.45607369e-01 9.69367225e-01 -2.05012112e-03 -9.41892318e+00] [-8.64199752e-03 -7.47845729e-05 9.99962654e-01 -2.98126922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204203822 meters 0.01891082628157228 Centerline is valid? [True, True] Translation: X:107.53, Y:-9.43, Z:-2.98 [[ 9.68559550e-01 2.48639329e-01 8.41909146e-03 1.07530484e+02] [-2.48630838e-01 9.68596136e-01 -2.05734386e-03 -9.42509685e+00] [-8.66623605e-03 -1.00585717e-04 9.99962442e-01 -2.98204362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.234203822 meters 0.02170496213217599 Centerline is valid? [True, True] Translation: X:107.56, Y:-9.43, Z:-2.98 [[ 9.67037041e-01 2.54518466e-01 7.72740041e-03 1.07560497e+02] [-2.54511471e-01 9.67067904e-01 -1.89187539e-03 -9.43191943e+00] [-7.95443814e-03 -1.37198473e-04 9.99968354e-01 -2.97945277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264203822 meters 0.028123214531684745 Centerline is valid? [True, True] Translation: X:107.59, Y:-9.43, Z:-2.98 [[ 9.66118573e-01 2.57971868e-01 8.08811683e-03 1.07592123e+02] [-2.57964333e-01 9.66152413e-01 -1.97943627e-03 -9.43161281e+00] [-8.32499247e-03 -1.74075514e-04 9.99965332e-01 -2.98394164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.294203822 meters 0.03276368816798239 Centerline is valid? [True, True] Translation: X:107.62, Y:-9.43, Z:-2.98 [[ 9.64278841e-01 2.64776257e-01 7.73629528e-03 1.07623898e+02] [-2.64769563e-01 9.64309849e-01 -1.89559267e-03 -9.43120463e+00] [-7.96209366e-03 -2.20455618e-04 9.99968278e-01 -2.98320464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324203822 meters 0.03276368816798239 Centerline is valid? [True, True] Translation: X:107.66, Y:-9.44, Z:-2.98 [[ 9.64230101e-01 2.64953673e-01 7.73716642e-03 1.07655403e+02] [-2.64947013e-01 9.64261116e-01 -1.89203902e-03 -9.43910679e+00] [-7.96195141e-03 -2.25578161e-04 9.99968278e-01 -2.98412691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.354203822 meters 0.03947783611999294 Centerline is valid? [True, True] Translation: X:107.69, Y:-9.44, Z:-2.99 [[ 9.63353515e-01 2.68138742e-01 7.18473899e-03 1.07687011e+02] [-2.68133053e-01 9.63380279e-01 -1.76169769e-03 -9.43647948e+00] [-7.39401526e-03 -2.29328342e-04 9.99972638e-01 -2.98957638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384203822 meters 0.04377015451804039 Centerline is valid? [True, True] Translation: X:107.72, Y:-9.44, Z:-2.99 [[ 9.62655110e-01 2.70645097e-01 6.80953577e-03 1.07717621e+02] [-2.70640055e-01 9.62679165e-01 -1.66886192e-03 -9.43644741e+00] [-7.00706751e-03 -2.36394676e-04 9.99975422e-01 -2.99274152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414203822 meters 0.0428446118159711 Centerline is valid? [True, True] Translation: X:107.75, Y:-9.44, Z:-2.99 [[ 9.62051654e-01 2.72778679e-01 6.95754425e-03 1.07748409e+02] [-2.72773483e-01 9.62076777e-01 -1.70350419e-03 -9.44414939e+00] [-7.15837137e-03 -2.58974561e-04 9.99974345e-01 -2.99108479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444203822 meters 0.04897641876684853 Centerline is valid? [True, True] Translation: X:107.78, Y:-9.44, Z:-2.99 [[ 9.61625092e-01 2.74241496e-01 8.29367970e-03 1.07779839e+02] [-2.74234127e-01 9.61660804e-01 -2.03528362e-03 -9.44485753e+00] [-8.53386591e-03 -3.17230209e-04 9.99963536e-01 -2.99143199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474203822 meters 0.041069518172063314 Centerline is valid? [True, True] Translation: X:107.81, Y:-9.46, Z:-2.99 [[ 9.61894390e-01 2.73276174e-01 8.90592999e-03 1.07809101e+02] [-2.73267639e-01 9.61935561e-01 -2.18510032e-03 -9.46277723e+00] [-9.16406661e-03 -3.31866727e-04 9.99957954e-01 -2.98612702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50420382200001 meters 0.0346581416987456 Centerline is valid? [True, True] Translation: X:107.84, Y:-9.47, Z:-2.99 [[ 9.63343294e-01 2.68116639e-01 9.11954911e-03 1.07837804e+02] [-2.68107444e-01 9.63386415e-01 -2.23911089e-03 -9.47479912e+00] [-9.38599261e-03 -2.87986546e-04 9.99955909e-01 -2.98690863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53420382200001 meters 0.031145961609704877 Centerline is valid? [True, True] Translation: X:107.87, Y:-9.49, Z:-2.99 [[ 9.64396734e-01 2.64332685e-01 8.19580713e-03 1.07867909e+02] [-2.64325129e-01 9.64431532e-01 -2.01142467e-03 -9.48575203e+00] [-8.43598011e-03 -2.26546396e-04 9.99964391e-01 -2.98993888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564203822 meters 0.024836464611104513 Centerline is valid? [True, True] Translation: X:107.90, Y:-9.50, Z:-2.99 [[ 9.65611541e-01 2.59885195e-01 7.35106479e-03 1.07896593e+02] [-2.59878981e-01 9.65639507e-01 -1.80491431e-03 -9.50106341e+00] [-7.56754908e-03 -1.67541138e-04 9.99971352e-01 -2.99087030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.594203822 meters 0.0206830631908311 Centerline is valid? [True, True] Translation: X:107.92, Y:-9.52, Z:-3.00 [[ 9.68001130e-01 2.50878099e-01 5.83030697e-03 1.07923226e+02] [-2.50874024e-01 9.68018684e-01 -1.43208735e-03 -9.51763650e+00] [-6.00312543e-03 -7.64103988e-05 9.99981978e-01 -2.99970364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624203822 meters 0.016808432846112605 Centerline is valid? [True, True] Translation: X:107.95, Y:-9.53, Z:-3.00 [[ 9.69129455e-01 2.46496136e-01 5.26833287e-03 1.07952347e+02] [-2.46492764e-01 9.69143773e-01 -1.29014090e-03 -9.53325754e+00] [-5.42378675e-03 -4.82923830e-05 9.99985290e-01 -2.99897371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.654203822 meters 0.01583118865443054 Centerline is valid? [True, True] Translation: X:107.98, Y:-9.55, Z:-3.00 [[ 9.70116784e-01 2.42592833e-01 4.70556960e-03 1.07981325e+02] [-2.42590094e-01 9.70128196e-01 -1.15293163e-03 -9.54616323e+00] [-4.84469869e-03 -2.30462442e-05 9.99988264e-01 -3.00141489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684203822 meters 0.015644857652874822 Centerline is valid? [True, True] Translation: X:108.01, Y:-9.56, Z:-3.00 [[ 9.71817828e-01 2.35692720e-01 4.36466299e-03 1.08010719e+02] [-2.35690283e-01 9.71827629e-01 -1.07205705e-03 -9.56249778e+00] [-4.49437613e-03 1.31354979e-05 9.99989900e-01 -3.00098587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.714203822 meters 0.016443780138814 Centerline is valid? [True, True] Translation: X:108.04, Y:-9.57, Z:-3.00 [[ 9.72396215e-01 2.33294304e-01 4.40092671e-03 1.08040821e+02] [-2.33291812e-01 9.72406174e-01 -1.07852172e-03 -9.57429540e+00] [-4.53110128e-03 2.20502694e-05 9.99989734e-01 -3.00131651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744203822 meters 0.019042809028671875 Centerline is valid? [True, True] Translation: X:108.07, Y:-9.59, Z:-3.01 [[ 9.72880270e-01 2.31258088e-01 4.86596646e-03 1.08070624e+02] [-2.31255010e-01 9.72892438e-01 -1.19364416e-03 -9.58732030e+00] [-5.01010184e-03 3.59937262e-05 9.99987449e-01 -3.00505453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774203822 meters 0.020788478188385653 Centerline is valid? [True, True] Translation: X:108.10, Y:-9.60, Z:-3.00 [[ 9.73809492e-01 2.27255222e-01 7.08079141e-03 1.08100785e+02] [-2.27248569e-01 9.73835231e-01 -1.74116590e-03 -9.60117172e+00] [-7.29121318e-03 8.64641623e-05 9.99973415e-01 -3.00065156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804203822 meters 0.020402880054928792 Centerline is valid? [True, True] Translation: X:108.13, Y:-9.61, Z:-3.00 [[ 9.74060951e-01 2.26142871e-01 8.04143855e-03 1.08133069e+02] [-2.26134240e-01 9.74094138e-01 -1.97883285e-03 -9.60983871e+00] [-8.28061709e-03 1.09059223e-04 9.99965709e-01 -2.99816910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834203822 meters 0.02197047472640752 Centerline is valid? [True, True] Translation: X:108.16, Y:-9.62, Z:-3.00 [[ 9.74350387e-01 2.24908738e-01 7.57518560e-03 1.08163625e+02] [-2.24901027e-01 9.74379827e-01 -1.86588754e-03 -9.61947655e+00] [-7.80076245e-03 1.14361224e-04 9.99969567e-01 -3.00062375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86420382200001 meters 0.02252196102980448 Centerline is valid? [True, True] Translation: X:108.19, Y:-9.63, Z:-3.00 [[ 9.74309255e-01 2.25098235e-01 7.22907944e-03 1.08194526e+02] [-2.25091212e-01 9.74336068e-01 -1.78145974e-03 -9.62890935e+00] [-7.44455628e-03 1.08490468e-04 9.99972283e-01 -3.00255059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89420382200001 meters 0.030671810260497413 Centerline is valid? [True, True] Translation: X:108.22, Y:-9.64, Z:-3.00 [[ 9.74123556e-01 2.25894897e-01 7.40230495e-03 1.08224947e+02] [-2.25887540e-01 9.74151674e-01 -1.82626326e-03 -9.63719494e+00] [-7.62351131e-03 1.06917608e-04 9.99970935e-01 -3.00270373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924203822 meters 0.02070746674637036 Centerline is valid? [True, True] Translation: X:108.26, Y:-9.64, Z:-3.00 [[ 9.73710504e-01 2.27657422e-01 7.74297151e-03 1.08256430e+02] [-2.27649418e-01 9.73741284e-01 -1.91157662e-03 -9.64343967e+00] [-7.97483563e-03 9.86392774e-05 9.99968196e-01 -3.00207873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954203822 meters 0.01631380781918951 Centerline is valid? [True, True] Translation: X:108.29, Y:-9.64, Z:-3.00 [[ 9.72374893e-01 2.33275660e-01 8.33870843e-03 1.08288748e+02] [-2.33266539e-01 9.72410645e-01 -2.06370568e-03 -9.63849807e+00] [-8.59006115e-03 6.15539302e-05 9.99963103e-01 -3.00147690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.984203822 meters 0.014480079684804595 Centerline is valid? [True, True] Translation: X:108.32, Y:-9.64, Z:-3.00 [[ 9.71561205e-01 2.36618069e-01 8.98411661e-03 1.08321834e+02] [-2.36607651e-01 9.71602742e-01 -2.22057570e-03 -9.63872715e+00] [-9.25442067e-03 3.17144745e-05 9.99957176e-01 -3.00189806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014203822 meters 0.012610640299236656 Centerline is valid? [True, True] Translation: X:108.36, Y:-9.64, Z:-3.00 [[ 9.70053631e-01 2.42651073e-01 1.07893217e-02 1.08355355e+02] [-2.42636389e-01 9.70113630e-01 -2.66959470e-03 -9.63565297e+00] [-1.11146480e-02 -2.82320162e-05 9.99938230e-01 -3.00036252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044203822 meters 0.01330773714450883 Centerline is valid? [True, True] Translation: X:108.39, Y:-9.64, Z:-3.00 [[ 9.69539245e-01 2.44687127e-01 1.10391162e-02 1.08387609e+02] [-2.44671866e-01 9.69602087e-01 -2.73327711e-03 -9.63998859e+00] [-1.13723479e-02 -5.09417369e-05 9.99935331e-01 -3.00149884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.074203822 meters 0.012976389267494365 Centerline is valid? [True, True] Translation: X:108.42, Y:-9.65, Z:-3.00 [[ 9.69169134e-01 2.46140048e-01 1.12367966e-02 1.08420055e+02] [-2.46124311e-01 9.69234271e-01 -2.78409425e-03 -9.64565764e+00] [-1.15763655e-02 -6.73906089e-05 9.99932989e-01 -2.99989513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104203822 meters 0.014220207327589504 Centerline is valid? [True, True] Translation: X:108.45, Y:-9.65, Z:-3.00 [[ 9.68740682e-01 2.47815075e-01 1.13657311e-02 1.08451844e+02] [-2.47799042e-01 9.68807350e-01 -2.82015830e-03 -9.64839521e+00] [-1.17100815e-02 -8.44151959e-05 9.99931431e-01 -3.00219085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.134203822 meters 0.015052421361043816 Centerline is valid? [True, True] Translation: X:108.48, Y:-9.65, Z:-3.01 [[ 9.68564164e-01 2.48545842e-01 1.04126697e-02 1.08482893e+02] [-2.48532418e-01 9.68620131e-01 -2.58455128e-03 -9.65385373e+00] [-1.07283010e-02 -8.45822233e-05 9.99942447e-01 -3.00530942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164203822 meters 0.017098098524210757 Centerline is valid? [True, True] Translation: X:108.51, Y:-9.66, Z:-3.01 [[ 9.68253082e-01 2.49817529e-01 8.78477003e-03 1.08513728e+02] [-2.49808034e-01 9.68292928e-01 -2.17967046e-03 -9.65842031e+00] [-9.05075058e-03 -8.40334905e-05 9.99959038e-01 -3.01100453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194203822 meters 0.0168722590611711 Centerline is valid? [True, True] Translation: X:108.55, Y:-9.67, Z:-3.01 [[ 9.68089808e-01 2.50455383e-01 8.61541882e-03 1.08545160e+02] [-2.50446271e-01 9.68128139e-01 -2.13821227e-03 -9.66719027e+00] [-8.87635616e-03 -8.77180146e-05 9.99960601e-01 -3.01085532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224203822 meters 0.015244611997304439 Centerline is valid? [True, True] Translation: X:108.58, Y:-9.68, Z:-3.01 [[ 9.67982069e-01 2.50869664e-01 8.66753967e-03 1.08576801e+02] [-2.50860445e-01 9.68020869e-01 -2.15262862e-03 -9.67742609e+00] [-8.93038850e-03 -9.06369567e-05 9.99960119e-01 -3.00806302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25420382200001 meters 0.016808913219660635 Centerline is valid? [True, True] Translation: X:108.61, Y:-9.68, Z:-3.01 [[ 9.67818065e-01 2.51517671e-01 8.18862732e-03 1.08607671e+02] [-2.51509435e-01 9.67852702e-01 -2.03726898e-03 -9.68197248e+00] [-8.43779423e-03 -8.78113074e-05 9.99964397e-01 -3.01185424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28420382200001 meters 0.018096271753964527 Centerline is valid? [True, True] Translation: X:108.64, Y:-9.69, Z:-3.02 [[ 9.67818027e-01 2.51506809e-01 8.52004686e-03 1.08638075e+02] [-2.51497895e-01 9.67855525e-01 -2.11950175e-03 -9.68794705e+00] [-8.77924354e-03 -9.14818434e-05 9.99961458e-01 -3.01578649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314203822 meters 0.01562749140289217 Centerline is valid? [True, True] Translation: X:108.67, Y:-9.70, Z:-3.01 [[ 9.67995750e-01 2.50806004e-01 8.97646072e-03 1.08669033e+02] [-2.50796046e-01 9.68037365e-01 -2.23658629e-03 -9.69928835e+00] [-9.25049865e-03 -8.62548341e-05 9.99957210e-01 -3.01254150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.344203822 meters 0.015583280583941978 Centerline is valid? [True, True] Translation: X:108.70, Y:-9.71, Z:-3.02 [[ 9.68756742e-01 2.47856340e-01 8.80958458e-03 1.08698272e+02] [-2.47846641e-01 9.68796796e-01 -2.19340967e-03 -9.71242062e+00] [-9.07834781e-03 -5.85455372e-05 9.99958789e-01 -3.01725393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.374203822 meters 0.013965831025608956 Centerline is valid? [True, True] Translation: X:108.73, Y:-9.73, Z:-3.02 [[ 9.69247019e-01 2.45934258e-01 8.74966548e-03 1.08728141e+02] [-2.45924598e-01 9.69286510e-01 -2.18008749e-03 -9.72575552e+00] [-9.01709092e-03 -3.87146649e-05 9.99959344e-01 -3.01583848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404203822 meters 0.014020463273065095 Centerline is valid? [True, True] Translation: X:108.76, Y:-9.74, Z:-3.02 [[ 9.69698675e-01 2.44135372e-01 9.07741890e-03 1.08757157e+02] [-2.44124878e-01 9.69741161e-01 -2.26374422e-03 -9.73744808e+00] [-9.35540678e-03 -2.08740080e-05 9.99956237e-01 -3.01815152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.434203822 meters 0.012995820758160536 Centerline is valid? [True, True] Translation: X:108.79, Y:-9.75, Z:-3.02 [[ 9.70423851e-01 2.41237517e-01 9.05593658e-03 1.08787543e+02] [-2.41226941e-01 9.70466105e-01 -2.25898007e-03 -9.75281159e+00] [-9.33343024e-03 7.63226698e-06 9.99956443e-01 -3.01542935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464203822 meters 0.013617359955453632 Centerline is valid? [True, True] Translation: X:108.82, Y:-9.76, Z:-3.02 [[ 9.70585163e-01 2.40591000e-01 8.96727104e-03 1.08818111e+02] [-2.40580583e-01 9.70626586e-01 -2.23891778e-03 -9.76391793e+00] [-9.24253515e-03 1.57090832e-05 9.99957287e-01 -3.01788686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.494203822 meters 0.014135331318010438 Centerline is valid? [True, True] Translation: X:108.85, Y:-9.77, Z:-3.02 [[ 9.70630866e-01 2.40415957e-01 8.71145007e-03 1.08848841e+02] [-2.40406104e-01 9.70669958e-01 -2.17667176e-03 -9.77454746e+00] [-8.97924950e-03 1.84590275e-05 9.99959686e-01 -3.01966353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524203822 meters 0.013826771984433455 Centerline is valid? [True, True] Translation: X:108.88, Y:-9.78, Z:-3.02 [[ 9.70179714e-01 2.42258575e-01 7.88067300e-03 1.08879242e+02] [-2.42250562e-01 9.70211721e-01 -1.97029606e-03 -9.78380883e+00] [-8.12324242e-03 2.44380709e-06 9.99967006e-01 -3.01996540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554203822 meters 0.01418736716460683 Centerline is valid? [True, True] Translation: X:108.91, Y:-9.79, Z:-3.02 [[ 9.69708391e-01 2.44120220e-01 8.42341166e-03 1.08909719e+02] [-2.44111118e-01 9.69744976e-01 -2.10806541e-03 -9.79047955e+00] [-8.68318253e-03 -1.20397221e-05 9.99962300e-01 -3.02180683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584203822 meters 0.013930976868042805 Centerline is valid? [True, True] Translation: X:108.94, Y:-9.79, Z:-3.02 [[ 9.68535385e-01 2.48688856e-01 9.64677828e-03 1.08941383e+02] [-2.48677124e-01 9.68583424e-01 -2.41626944e-03 -9.79497405e+00] [-9.94460882e-03 -5.86906257e-05 9.99950549e-01 -3.01771010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61420382200001 meters 0.01608409894557244 Centerline is valid? [True, True] Translation: X:108.97, Y:-9.80, Z:-3.02 [[ 9.67861691e-01 2.51291007e-01 9.82735829e-03 1.08972065e+02] [-2.51278945e-01 9.67911578e-01 -2.46355767e-03 -9.79924289e+00] [-1.01310838e-02 -8.50251371e-05 9.99948676e-01 -3.01987244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64420382200001 meters 0.016712132781258923 Centerline is valid? [True, True] Translation: X:109.00, Y:-9.81, Z:-3.02 [[ 9.67151412e-01 2.54015104e-01 9.71971172e-03 1.09004181e+02] [-2.54003430e-01 9.67200245e-01 -2.43785602e-03 -9.80511708e+00] [-1.00201598e-02 -1.11064220e-04 9.99949791e-01 -3.01828557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674203822 meters 0.02013369820856317 Centerline is valid? [True, True] Translation: X:109.04, Y:-9.81, Z:-3.02 [[ 9.66368673e-01 2.56961180e-01 1.01261864e-02 1.09035601e+02] [-2.56948647e-01 9.66421715e-01 -2.54202267e-03 -9.80700226e+00] [-1.04393676e-02 -1.45378815e-04 9.99945498e-01 -3.02151260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704203822 meters 0.025110481050541526 Centerline is valid? [True, True] Translation: X:109.07, Y:-9.80, Z:-3.02 [[ 9.64915126e-01 2.62325107e-01 1.11507197e-02 1.09068400e+02] [-2.62310240e-01 9.64979528e-01 -2.80155703e-03 -9.80495648e+00] [-1.14951350e-02 -2.21683207e-04 9.99933904e-01 -3.02188426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.734203822 meters 0.025626914713610335 Centerline is valid? [True, True] Translation: X:109.10, Y:-9.81, Z:-3.02 [[ 9.64316612e-01 2.64524016e-01 1.09779728e-02 1.09099175e+02] [-2.64509731e-01 9.64379068e-01 -2.75971757e-03 -9.81229788e+00] [-1.13169387e-02 -2.42539127e-04 9.99935932e-01 -3.02116291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764203822 meters 0.028538775565751767 Centerline is valid? [True, True] Translation: X:109.13, Y:-9.82, Z:-3.02 [[ 9.63488154e-01 2.67585473e-01 9.41228023e-03 1.09130041e+02] [-2.67575087e-01 9.63534099e-01 -2.36933507e-03 -9.81701860e+00] [-9.70305259e-03 -2.35665428e-04 9.99952897e-01 -3.02322211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.794203822 meters 0.030299507685860375 Centerline is valid? [True, True] Translation: X:109.16, Y:-9.82, Z:-3.03 [[ 9.63053968e-01 2.69159742e-01 8.94914183e-03 1.09161547e+02] [-2.69150442e-01 9.63095517e-01 -2.25038667e-03 -9.82222157e+00] [-9.22459188e-03 -2.41421666e-04 9.99957423e-01 -3.02526507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824203822 meters 0.03490802700202429 Centerline is valid? [True, True] Translation: X:109.19, Y:-9.82, Z:-3.03 [[ 9.62398862e-01 2.71500234e-01 8.72081189e-03 1.09193408e+02] [-2.71491485e-01 9.62438340e-01 -2.19460055e-03 -9.82192196e+00] [-8.98907828e-03 -2.55545092e-04 9.99959565e-01 -3.02761229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.854203822 meters 0.033630410620552026 Centerline is valid? [True, True] Translation: X:109.23, Y:-9.83, Z:-3.02 [[ 9.62178199e-01 2.72247974e-01 9.70331595e-03 1.09225212e+02] [-2.72237166e-01 9.62227081e-01 -2.44325863e-03 -9.82965732e+00] [-1.00019656e-02 -2.90753048e-04 9.99949937e-01 -3.02452840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884203822 meters 0.033649249125764655 Centerline is valid? [True, True] Translation: X:109.26, Y:-9.84, Z:-3.02 [[ 9.62135020e-01 2.72342132e-01 1.12234558e-02 1.09257362e+02] [-2.72327639e-01 9.62200422e-01 -2.82947391e-03 -9.83525061e+00] [-1.15697989e-02 -3.34121286e-04 9.99933012e-01 -3.02340805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914203822 meters 0.03442980259195146 Centerline is valid? [True, True] Translation: X:109.29, Y:-9.84, Z:-3.03 [[ 9.62379937e-01 2.71451648e-01 1.17839022e-02 1.09288390e+02] [-2.71435574e-01 9.62452019e-01 -2.97322123e-03 -9.84067290e+00] [-1.21485263e-02 -3.37201814e-04 9.99926147e-01 -3.02508646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944203822 meters 0.026781232252208586 Centerline is valid? [True, True] Translation: X:109.32, Y:-9.86, Z:-3.03 [[ 9.63655939e-01 2.66947589e-01 1.03061517e-02 1.09316425e+02] [-2.66935000e-01 9.63711018e-01 -2.60373102e-03 -9.85648737e+00] [-1.06272117e-02 -2.41971746e-04 9.99943500e-01 -3.02627276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974203822 meters 0.022452515447856782 Centerline is valid? [True, True] Translation: X:109.35, Y:-9.87, Z:-3.03 [[ 9.64476966e-01 2.63951861e-01 1.06581701e-02 1.09345993e+02] [-2.63938214e-01 9.64535831e-01 -2.69272383e-03 -9.86914383e+00] [-1.09909364e-02 -2.16028279e-04 9.99939575e-01 -3.02612305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00420382200001 meters 0.019334215918586306 Centerline is valid? [True, True] Translation: X:109.38, Y:-9.88, Z:-3.03 [[ 9.65394124e-01 2.60534335e-01 1.16638635e-02 1.09375895e+02] [-2.60517737e-01 9.65464563e-01 -2.94715051e-03 -9.87990444e+00] [-1.20288808e-02 -1.93481541e-04 9.99927632e-01 -3.02608139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03420382200001 meters 0.01578235263339675 Centerline is valid? [True, True] Translation: X:109.40, Y:-9.89, Z:-3.03 [[ 9.67215988e-01 2.53670001e-01 1.20317303e-02 1.09404166e+02] [-2.53651794e-01 9.67290814e-01 -3.04117138e-03 -9.89348178e+00] [-1.24096361e-02 -1.10400388e-04 9.99922991e-01 -3.03023677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064203822 meters 0.013008609957549565 Centerline is valid? [True, True] Translation: X:109.43, Y:-9.91, Z:-3.03 [[ 9.68002061e-01 2.50686026e-01 1.13369371e-02 1.09433359e+02] [-2.50669683e-01 9.68068444e-01 -2.86335235e-03 -9.90834183e+00] [-1.16927334e-02 -7.00954379e-05 9.99931635e-01 -3.02902444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.094203822 meters 0.011557465098735557 Centerline is valid? [True, True] Translation: X:109.46, Y:-9.93, Z:-3.03 [[ 9.69404742e-01 2.45199294e-01 1.14783091e-02 1.09462192e+02] [-2.45182131e-01 9.69472695e-01 -2.90105572e-03 -9.92604441e+00] [-1.18392440e-02 -1.97910849e-06 9.99929914e-01 -3.02689776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124203822 meters 0.01242019778494472 Centerline is valid? [True, True] Translation: X:109.49, Y:-9.94, Z:-3.03 [[ 9.69961612e-01 2.42965137e-01 1.19337201e-02 1.09492448e+02] [-2.42946390e-01 9.70035021e-01 -3.01835696e-03 -9.93734164e+00] [-1.23094819e-02 2.84361767e-05 9.99924235e-01 -3.02883585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.154203822 meters 0.01266857984986186 Centerline is valid? [True, True] Translation: X:109.52, Y:-9.95, Z:-3.03 [[ 9.70374990e-01 2.41306707e-01 1.19771766e-02 1.09524048e+02] [-2.41287669e-01 9.70448901e-01 -3.03153956e-03 -9.94776020e+00] [-1.23547688e-02 5.17851292e-05 9.99923676e-01 -3.02827803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184203822 meters 0.015035961917666384 Centerline is valid? [True, True] Translation: X:109.55, Y:-9.96, Z:-3.03 [[ 9.71109526e-01 2.38334523e-01 1.19559116e-02 1.09552632e+02] [-2.38315289e-01 9.71183117e-01 -3.02927534e-03 -9.96101835e+00] [-1.23333604e-02 9.24816137e-05 9.99923937e-01 -3.03173431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.214203822 meters 0.015035961917666384 Centerline is valid? [True, True] Translation: X:109.58, Y:-9.97, Z:-3.03 [[ 9.71063815e-01 2.38520715e-01 1.19555556e-02 1.09584047e+02] [-2.38501478e-01 9.71137405e-01 -3.03067944e-03 -9.96917885e+00] [-1.23333670e-02 9.15654665e-05 9.99923937e-01 -3.03265715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244203822 meters 0.016106985310784652 Centerline is valid? [True, True] Translation: X:109.61, Y:-9.98, Z:-3.03 [[ 9.71285437e-01 2.37626787e-01 1.17520423e-02 1.09613492e+02] [-2.37608098e-01 9.71356525e-01 -2.98201183e-03 -9.98046516e+00] [-1.21240288e-02 1.04004258e-04 9.99926496e-01 -3.03481421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274203822 meters 0.01635534939624449 Centerline is valid? [True, True] Translation: X:109.64, Y:-9.99, Z:-3.04 [[ 9.71222058e-01 2.37915754e-01 1.11269171e-02 1.09643843e+02] [-2.37899003e-01 9.71285789e-01 -2.82480500e-03 -9.99074467e+00] [-1.14794821e-02 9.64304272e-05 9.99934104e-01 -3.03689051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304203822 meters 0.016431108205305443 Centerline is valid? [True, True] Translation: X:109.67, Y:-10.00, Z:-3.04 [[ 9.70956632e-01 2.39042086e-01 1.01044955e-02 1.09673821e+02] [-2.39028317e-01 9.71009205e-01 -2.56680554e-03 -9.99975161e+00] [-1.04251327e-02 7.69963079e-05 9.99945654e-01 -3.04005188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334203822 meters 0.013684699310061327 Centerline is valid? [True, True] Translation: X:109.71, Y:-10.00, Z:-3.04 [[ 9.69916983e-01 2.43295050e-01 8.28035662e-03 1.09705682e+02] [-2.43285957e-01 9.69952328e-01 -2.10356531e-03 -1.00048700e+01] [-8.54333820e-03 2.57892302e-05 9.99963505e-01 -3.04037345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36420382200001 meters 0.014342338543107928 Centerline is valid? [True, True] Translation: X:109.74, Y:-10.01, Z:-3.05 [[ 9.69192494e-01 2.46165207e-01 8.28253716e-03 1.09735935e+02] [-2.46156198e-01 9.69227884e-01 -2.10590861e-03 -1.00101843e+01] [-8.54606739e-03 2.23295965e-06 9.99963482e-01 -3.04563583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39420382200001 meters 0.014233375649409036 Centerline is valid? [True, True] Translation: X:109.77, Y:-10.01, Z:-3.04 [[ 9.67507044e-01 2.52705586e-01 8.36703967e-03 1.09769126e+02] [-2.52696626e-01 9.67543221e-01 -2.12867160e-03 -1.00100097e+01] [-8.63339972e-03 -5.48179282e-05 9.99962730e-01 -3.04307828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424203822 meters 0.01679422659972281 Centerline is valid? [True, True] Translation: X:109.80, Y:-10.01, Z:-3.04 [[ 9.66395894e-01 2.56909409e-01 8.74827089e-03 1.09800205e+02] [-2.56899755e-01 9.66435485e-01 -2.22913377e-03 -1.00123504e+01] [-9.02732486e-03 -9.32029245e-05 9.99959249e-01 -3.04388560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454203822 meters 0.020319896434262297 Centerline is valid? [True, True] Translation: X:109.83, Y:-10.01, Z:-3.04 [[ 9.65158564e-01 2.61493693e-01 9.48659497e-03 1.09832216e+02] [-2.61482564e-01 9.65205173e-01 -2.41700023e-03 -1.00147200e+01] [-9.78854086e-03 -1.47790709e-04 9.99952080e-01 -3.04383802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.484203822 meters 0.024805596110846526 Centerline is valid? [True, True] Translation: X:109.86, Y:-10.02, Z:-3.04 [[ 9.63925425e-01 2.65987185e-01 9.92938206e-03 1.09863856e+02] [-2.65975212e-01 9.63976544e-01 -2.53163997e-03 -1.00161644e+01] [-1.02450752e-02 -2.00657372e-04 9.99947498e-01 -3.04398066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.514203822 meters 0.030820569070546346 Centerline is valid? [True, True] Translation: X:109.90, Y:-10.02, Z:-3.04 [[ 9.61878584e-01 2.73305402e-01 9.68228157e-03 1.09896053e+02] [-2.73294346e-01 9.61927277e-01 -2.47282953e-03 -1.00150082e+01] [-9.98948841e-03 -2.67551044e-04 9.99950068e-01 -3.04395197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544203822 meters 0.03639315252579581 Centerline is valid? [True, True] Translation: X:109.93, Y:-10.01, Z:-3.04 [[ 9.60483019e-01 2.78161733e-01 9.92073502e-03 1.09927414e+02] [-2.78150390e-01 9.60534197e-01 -2.53316392e-03 -1.00144159e+01] [-1.02338345e-02 -3.26395385e-04 9.99947580e-01 -3.04453738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.574203822 meters 0.03623371727726969 Centerline is valid? [True, True] Translation: X:109.96, Y:-10.02, Z:-3.04 [[ 9.60093224e-01 2.79469900e-01 1.08432134e-02 1.09958654e+02] [-2.79456436e-01 9.60154381e-01 -2.76845883e-03 -1.00204146e+01] [-1.11848597e-02 -3.72227194e-04 9.99937378e-01 -3.04305744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604203822 meters 0.0374225288915066 Centerline is valid? [True, True] Translation: X:109.99, Y:-10.02, Z:-3.04 [[ 9.59872426e-01 2.80214452e-01 1.11707606e-02 1.09989862e+02] [-2.80200211e-01 9.59937345e-01 -2.85211400e-03 -1.00247953e+01] [-1.15224338e-02 -3.92383884e-04 9.99933538e-01 -3.04363497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.634203822 meters 0.03638287823619309 Centerline is valid? [True, True] Translation: X:110.02, Y:-10.03, Z:-3.05 [[ 9.60136450e-01 2.79341767e-01 1.03040951e-02 1.10020737e+02] [-2.79329589e-01 9.60191676e-01 -2.63194172e-03 -1.00324150e+01] [-1.06291176e-02 -3.51215477e-04 9.99943448e-01 -3.04690846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664203822 meters 0.036230980198483365 Centerline is valid? [True, True] Translation: X:110.05, Y:-10.04, Z:-3.05 [[ 9.60548447e-01 2.77921742e-01 1.03046509e-02 1.10051187e+02] [-2.77909462e-01 9.60603661e-01 -2.63389166e-03 -1.00409645e+01] [-1.06307012e-02 -3.33779446e-04 9.99943437e-01 -3.04897057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694203822 meters 0.03165136308516888 Centerline is valid? [True, True] Translation: X:110.08, Y:-10.05, Z:-3.05 [[ 9.61220061e-01 2.75568784e-01 1.08553975e-02 1.10080238e+02] [-2.75554954e-01 9.61281303e-01 -2.77925681e-03 -1.00547559e+01] [-1.12009671e-02 -3.19781162e-04 9.99937216e-01 -3.04730788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724203822 meters 0.028713820317660076 Centerline is valid? [True, True] Translation: X:110.11, Y:-10.07, Z:-3.05 [[ 9.62813364e-01 2.69919440e-01 1.15724587e-02 1.10108187e+02] [-2.69903304e-01 9.62882871e-01 -2.96363745e-03 -1.00667886e+01] [-1.19428656e-02 -2.70015101e-04 9.99928645e-01 -3.04996817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75420382200001 meters 0.02612454641440725 Centerline is valid? [True, True] Translation: X:110.14, Y:-10.08, Z:-3.05 [[ 9.63528733e-01 2.67378355e-01 1.10089193e-02 1.10138560e+02] [-2.67363620e-01 9.63591595e-01 -2.81646981e-03 -1.00779184e+01] [-1.13611652e-02 -2.29634916e-04 9.99935434e-01 -3.05189432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78420382200001 meters 0.021516612490127585 Centerline is valid? [True, True] Translation: X:110.17, Y:-10.09, Z:-3.05 [[ 9.64763167e-01 2.62866289e-01 1.15475626e-02 1.10167189e+02] [-2.62849699e-01 9.64832256e-01 -2.95871110e-03 -1.00915261e+01] [-1.19192063e-02 -1.80817859e-04 9.99928947e-01 -3.05286504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814203822 meters 0.017992939700807377 Centerline is valid? [True, True] Translation: X:110.20, Y:-10.11, Z:-3.05 [[ 9.65268882e-01 2.60994805e-01 1.17344550e-02 1.10196708e+02] [-2.60977562e-01 9.65340191e-01 -3.00450458e-03 -1.01059198e+01] [-1.21119011e-02 -1.62274663e-04 9.99926635e-01 -3.05072267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.844203822 meters 0.016298277285494663 Centerline is valid? [True, True] Translation: X:110.23, Y:-10.12, Z:-3.05 [[ 9.65789686e-01 2.59077139e-01 1.13718034e-02 1.10226312e+02] [-2.59060790e-01 9.65856624e-01 -2.91348231e-03 -1.01185651e+01] [-1.17383483e-02 -1.32177209e-04 9.99931094e-01 -3.05203503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.874203822 meters 0.014470396641283379 Centerline is valid? [True, True] Translation: X:110.25, Y:-10.13, Z:-3.06 [[ 9.66733913e-01 2.55579667e-01 1.02261544e-02 1.10254611e+02] [-2.55566235e-01 9.66787995e-01 -2.62149932e-03 -1.01329870e+01] [-1.05565253e-02 -7.91674873e-05 9.99944275e-01 -3.05527728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904203822 meters 0.013807807913147167 Centerline is valid? [True, True] Translation: X:110.28, Y:-10.14, Z:-3.06 [[ 9.67037324e-01 2.54432370e-01 1.01480703e-02 1.10284889e+02] [-2.54419064e-01 9.67090567e-01 -2.60288505e-03 -1.01426103e+01] [-1.04763612e-02 -6.47755482e-05 9.99945119e-01 -3.05669494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.934203822 meters 0.013190247132074841 Centerline is valid? [True, True] Translation: X:110.32, Y:-10.15, Z:-3.06 [[ 9.67285330e-01 2.53478678e-01 1.03754880e-02 1.10315404e+02] [-2.53464694e-01 9.67340972e-01 -2.66312769e-03 -1.01519686e+01] [-1.07116808e-02 -5.38155535e-05 9.99942627e-01 -3.05687409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964203822 meters 0.013203002419005943 Centerline is valid? [True, True] Translation: X:110.34, Y:-10.16, Z:-3.06 [[ 9.67592918e-01 2.52289598e-01 1.06725570e-02 1.10344196e+02] [-2.52274704e-01 9.67651775e-01 -2.74163216e-03 -1.01632766e+01] [-1.10190040e-02 -3.96322984e-05 9.99939288e-01 -3.05867099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.994203822 meters 0.012878310141083454 Centerline is valid? [True, True] Translation: X:110.38, Y:-10.17, Z:-3.06 [[ 9.67546499e-01 2.52473711e-01 1.05260489e-02 1.10375890e+02] [-2.52459223e-01 9.67603753e-01 -2.70503865e-03 -1.01742768e+01] [-1.08679956e-02 -4.01474513e-05 9.99940941e-01 -3.05838684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024203822 meters 0.012603249154034964 Centerline is valid? [True, True] Translation: X:110.41, Y:-10.19, Z:-3.06 [[ 9.67463183e-01 2.52840349e-01 9.31387858e-03 1.10406301e+02] [-2.52829007e-01 9.67508014e-01 -2.39504849e-03 -1.01858605e+01] [-9.61681706e-03 -3.76974397e-05 9.99953757e-01 -3.05748743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054203822 meters 0.013721458543573668 Centerline is valid? [True, True] Translation: X:110.44, Y:-10.19, Z:-3.06 [[ 9.67330540e-01 2.53363164e-01 8.87317412e-03 1.10436142e+02] [-2.53352878e-01 9.67371235e-01 -2.28337403e-03 -1.01929185e+01] [-9.16217627e-03 -3.92667668e-05 9.99958026e-01 -3.06231272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084203822 meters 0.013733991183212767 Centerline is valid? [True, True] Translation: X:110.47, Y:-10.20, Z:-3.06 [[ 9.67078473e-01 2.54315747e-01 9.09545618e-03 1.10468598e+02] [-2.54304971e-01 9.67121243e-01 -2.34165060e-03 -1.01998363e+01] [-9.39192750e-03 -4.84598314e-05 9.99955894e-01 -3.06335202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11420382200001 meters 0.013735293633454205 Centerline is valid? [True, True] Translation: X:110.50, Y:-10.20, Z:-3.06 [[ 9.66371947e-01 2.56975651e-01 9.42205516e-03 1.10500218e+02] [-2.56964190e-01 9.66417875e-01 -2.42814309e-03 -1.02044178e+01] [-9.72961618e-03 -7.46414075e-05 9.99952663e-01 -3.06238152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14420382200001 meters 0.016643913118345104 Centerline is valid? [True, True] Translation: X:110.53, Y:-10.21, Z:-3.07 [[ 9.65894378e-01 2.58771441e-01 9.24074995e-03 1.10531361e+02] [-2.58760481e-01 9.65938576e-01 -2.38328425e-03 -1.02093231e+01] [-9.54272275e-03 -8.91400423e-05 9.99954463e-01 -3.06797247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17420382200001 meters 0.018136011155727754 Centerline is valid? [True, True] Translation: X:110.56, Y:-10.22, Z:-3.07 [[ 9.64916701e-01 2.62415596e-01 8.59159419e-03 1.10562822e+02] [-2.62406236e-01 9.64954943e-01 -2.21924368e-03 -1.02170170e+01] [-8.87286544e-03 -1.13102607e-04 9.99960629e-01 -3.06591688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204203822 meters 0.02235294046878365 Centerline is valid? [True, True] Translation: X:110.59, Y:-10.22, Z:-3.07 [[ 9.64293996e-01 2.64672453e-01 9.25104693e-03 1.10593869e+02] [-2.64661719e-01 9.64338360e-01 -2.38809958e-03 -1.02223009e+01] [-9.55320360e-03 -1.45567899e-04 9.99954357e-01 -3.06520453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.234203822 meters 0.022163303978818435 Centerline is valid? [True, True] Translation: X:110.63, Y:-10.23, Z:-3.06 [[ 9.63618306e-01 2.67099122e-01 9.89034458e-03 1.10625019e+02] [-2.67086948e-01 9.63669045e-01 -2.55630654e-03 -1.02265957e+01] [-1.02138061e-02 -1.78278168e-04 9.99947822e-01 -3.06426172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264203822 meters 0.026100035889796737 Centerline is valid? [True, True] Translation: X:110.66, Y:-10.23, Z:-3.07 [[ 9.62421628e-01 2.71401595e-01 9.26199811e-03 1.10657107e+02] [-2.71391097e-01 9.62466172e-01 -2.39607899e-03 -1.02258211e+01] [-9.56465952e-03 -2.07585591e-04 9.99954236e-01 -3.06625091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.294203822 meters 0.029026154005593087 Centerline is valid? [True, True] Translation: X:110.69, Y:-10.23, Z:-3.07 [[ 9.61951602e-01 2.73082308e-01 8.66994282e-03 1.10688394e+02] [-2.73073189e-01 9.61990649e-01 -2.24157903e-03 -1.02281150e+01] [-8.95253950e-03 -2.11238397e-04 9.99959903e-01 -3.07071457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324203822 meters 0.027260014493085825 Centerline is valid? [True, True] Translation: X:110.72, Y:-10.24, Z:-3.07 [[ 9.61647162e-01 2.74168805e-01 8.13645572e-03 1.10719495e+02] [-2.74160823e-01 9.61681560e-01 -2.10246363e-03 -1.02370201e+01] [-8.40110937e-03 -2.08869213e-04 9.99964688e-01 -3.07058768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.354203822 meters 0.02773315493779411 Centerline is valid? [True, True] Translation: X:110.75, Y:-10.24, Z:-3.07 [[ 9.61551181e-01 2.74483208e-01 8.84842927e-03 1.10749575e+02] [-2.74473750e-01 9.61591866e-01 -2.28989319e-03 -1.02442337e+01] [-9.13711484e-03 -2.26812061e-04 9.99958230e-01 -3.07119351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384203822 meters 0.028951376483081742 Centerline is valid? [True, True] Translation: X:110.78, Y:-10.25, Z:-3.07 [[ 9.62133323e-01 2.72329125e-01 1.16754875e-02 1.10779925e+02] [-2.72312459e-01 9.62204124e-01 -3.02477769e-03 -1.02505284e+01] [-1.20579373e-02 -2.69141306e-04 9.99927264e-01 -3.07054503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414203822 meters 0.024399132123658705 Centerline is valid? [True, True] Translation: X:110.81, Y:-10.26, Z:-3.07 [[ 9.62726757e-01 2.70223356e-01 1.16846105e-02 1.10809981e+02] [-2.70206512e-01 9.62797631e-01 -3.02685794e-03 -1.02647551e+01] [-1.20678431e-02 -2.43220734e-04 9.99927151e-01 -3.06825224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444203822 meters 0.01923601115109253 Centerline is valid? [True, True] Translation: X:110.84, Y:-10.28, Z:-3.07 [[ 9.64189267e-01 2.64988923e-01 1.09511399e-02 1.10838119e+02] [-2.64973777e-01 9.64251442e-01 -2.83803287e-03 -1.02815179e+01] [-1.13116997e-02 -1.65364078e-04 9.99936007e-01 -3.06924911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474203822 meters 0.017739073202440732 Centerline is valid? [True, True] Translation: X:110.87, Y:-10.29, Z:-3.07 [[ 9.64842439e-01 2.62631226e-01 1.01935119e-02 1.10867923e+02] [-2.62617996e-01 9.64896275e-01 -2.63930947e-03 -1.02924493e+01] [-1.05288467e-02 -1.30481872e-04 9.99944562e-01 -3.07250855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50420382200001 meters 0.015067844844704678 Centerline is valid? [True, True] Translation: X:110.90, Y:-10.31, Z:-3.08 [[ 9.66211396e-01 2.57632067e-01 7.82657439e-03 1.10897647e+02] [-2.57624106e-01 9.66243093e-01 -2.02621318e-03 -1.03074305e+01] [-8.08439093e-03 -5.85639618e-05 9.99967319e-01 -3.07924904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53420382200001 meters 0.013587413043110402 Centerline is valid? [True, True] Translation: X:110.93, Y:-10.32, Z:-3.08 [[ 9.66772078e-01 2.55524025e-01 7.69553410e-03 1.10927081e+02] [-2.55516247e-01 9.66802705e-01 -1.99411809e-03 -1.03203970e+01] [-7.94960827e-03 -3.84763030e-05 9.99968401e-01 -3.07874680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564203822 meters 0.013710199805400006 Centerline is valid? [True, True] Translation: X:110.96, Y:-10.33, Z:-3.08 [[ 9.67140850e-01 2.54107915e-01 8.23060804e-03 1.10955844e+02] [-2.54098948e-01 9.67175872e-01 -2.13487312e-03 -1.03319273e+01] [-8.50293367e-03 -2.66658414e-05 9.99963849e-01 -3.08048638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.594203822 meters 0.013307956024706828 Centerline is valid? [True, True] Translation: X:110.99, Y:-10.34, Z:-3.08 [[ 9.67346345e-01 2.53323972e-01 8.24704340e-03 1.10986696e+02] [-2.53314935e-01 9.67381499e-01 -2.13984682e-03 -1.03438812e+01] [-8.52011170e-03 -1.91262608e-05 9.99963703e-01 -3.07980789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624203822 meters 0.01329383161960723 Centerline is valid? [True, True] Translation: X:111.02, Y:-10.36, Z:-3.08 [[ 9.67602106e-01 2.52388718e-01 6.78968304e-03 1.11016585e+02] [-2.52382564e-01 9.67625927e-01 -1.76251063e-03 -1.03561495e+01] [-7.01471115e-03 -8.18861888e-06 9.99975397e-01 -3.08083906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.654203822 meters 0.01441465211503684 Centerline is valid? [True, True] Translation: X:111.05, Y:-10.37, Z:-3.08 [[ 9.67553238e-01 2.52554343e-01 7.55222183e-03 1.11045960e+02] [-2.52546716e-01 9.67582712e-01 -1.96268143e-03 -1.03652247e+01] [-7.80308300e-03 -8.29004814e-06 9.99969555e-01 -3.08493601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684203822 meters 0.013515508225762977 Centerline is valid? [True, True] Translation: X:111.08, Y:-10.37, Z:-3.08 [[ 9.67206891e-01 2.53804452e-01 9.70208914e-03 1.11076356e+02] [-2.53791886e-01 9.67255550e-01 -2.52565897e-03 -1.03730379e+01] [-1.00254231e-02 -1.94767389e-05 9.99949744e-01 -3.08262940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714203822 meters 0.012454566963155514 Centerline is valid? [True, True] Translation: X:111.11, Y:-10.38, Z:-3.08 [[ 9.66898158e-01 2.54964537e-01 1.00517102e-02 1.11108579e+02] [-2.54951120e-01 9.66950404e-01 -2.61585962e-03 -1.03815831e+01] [-1.03864567e-02 -3.34249191e-05 9.99946059e-01 -3.07929322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744203822 meters 0.013420599498908807 Centerline is valid? [True, True] Translation: X:111.14, Y:-10.39, Z:-3.08 [[ 9.66578366e-01 2.56146207e-01 1.07416512e-02 1.11139219e+02] [-2.56130909e-01 9.66638049e-01 -2.79975354e-03 -1.03886927e+01] [-1.11004350e-02 -4.50876763e-05 9.99938387e-01 -3.08247779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774203822 meters 0.013491034559209851 Centerline is valid? [True, True] Translation: X:111.17, Y:-10.40, Z:-3.08 [[ 9.65944422e-01 2.58511621e-01 1.10957525e-02 1.11171253e+02] [-2.58495459e-01 9.66008145e-01 -2.89162980e-03 -1.03977443e+01] [-1.14661072e-02 -7.50479656e-05 9.99934259e-01 -3.08015878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804203822 meters 0.014797962466997277 Centerline is valid? [True, True] Translation: X:111.20, Y:-10.40, Z:-3.08 [[ 9.65496687e-01 2.60184087e-01 1.09721370e-02 1.11201744e+02] [-2.60168347e-01 9.65559026e-01 -2.86330045e-03 -1.04041735e+01] [-1.13392311e-02 -9.00956552e-05 9.99935705e-01 -3.08231096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834203822 meters 0.017466123626933863 Centerline is valid? [True, True] Translation: X:111.23, Y:-10.41, Z:-3.09 [[ 9.64891673e-01 2.62436270e-01 1.05481907e-02 1.11232580e+02] [-2.62421859e-01 9.64949321e-01 -2.75251819e-03 -1.04090315e+01] [-1.09008301e-02 -1.12193927e-04 9.99940578e-01 -3.08615557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86420382200001 meters 0.019748902253009248 Centerline is valid? [True, True] Translation: X:111.26, Y:-10.42, Z:-3.09 [[ 9.63760888e-01 2.66617692e-01 8.94189817e-03 1.11263223e+02] [-2.66607509e-01 9.63802359e-01 -2.33407912e-03 -1.04164452e+01] [-9.24052935e-03 -1.34483034e-04 9.99957296e-01 -3.08579132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89420382200001 meters 0.021088816690097312 Centerline is valid? [True, True] Translation: X:111.29, Y:-10.42, Z:-3.09 [[ 9.63155402e-01 2.68817700e-01 8.28946000e-03 1.11294989e+02] [-2.68809024e-01 9.63191063e-01 -2.16450058e-03 -1.04229016e+01] [-8.56618986e-03 -1.43531219e-04 9.99963299e-01 -3.08660548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92420382200001 meters 0.024588413124196382 Centerline is valid? [True, True] Translation: X:111.33, Y:-10.42, Z:-3.09 [[ 9.61961446e-01 2.73070285e-01 7.92442020e-03 1.11326813e+02] [-2.73062466e-01 9.61994070e-01 -2.07331102e-03 -1.04240983e+01] [-8.18940487e-03 -1.69416461e-04 9.99966452e-01 -3.08885966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954203822 meters 0.026475211235840856 Centerline is valid? [True, True] Translation: X:111.36, Y:-10.43, Z:-3.09 [[ 9.61497655e-01 2.74702122e-01 7.81054220e-03 1.11357437e+02] [-2.74694601e-01 9.61529360e-01 -2.04098186e-03 -1.04291496e+01] [-8.07072769e-03 -1.83114497e-04 9.99967414e-01 -3.09097944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.984203822 meters 0.027913550417043475 Centerline is valid? [True, True] Translation: X:111.39, Y:-10.44, Z:-3.09 [[ 9.61121961e-01 2.75997105e-01 8.37695634e-03 1.11387966e+02] [-2.75988476e-01 9.61158445e-01 -2.19200106e-03 -1.04357240e+01] [-8.65656827e-03 -2.05163056e-04 9.99962510e-01 -3.09185541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014203822 meters 0.02892347081025298 Centerline is valid? [True, True] Translation: X:111.42, Y:-10.44, Z:-3.09 [[ 9.60819660e-01 2.77046431e-01 8.41762770e-03 1.11418791e+02] [-2.77037764e-01 9.60856508e-01 -2.20197442e-03 -1.04435202e+01] [-8.69818151e-03 -2.16300445e-04 9.99962147e-01 -3.09284125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044203822 meters 0.030994182267272546 Centerline is valid? [True, True] Translation: X:111.45, Y:-10.45, Z:-3.10 [[ 9.60784974e-01 2.77186284e-01 7.74583217e-03 1.11449380e+02] [-2.77178940e-01 9.60816176e-01 -2.02746083e-03 -1.04492325e+01] [-8.00430518e-03 -1.99027648e-04 9.99967945e-01 -3.09692868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074203822 meters 0.02842002206823477 Centerline is valid? [True, True] Translation: X:111.48, Y:-10.46, Z:-3.10 [[ 9.60740098e-01 2.77350336e-01 7.43342577e-03 1.11480761e+02] [-2.77343576e-01 9.60768835e-01 -1.94589301e-03 -1.04609566e+01] [-7.68149789e-03 -1.92115446e-04 9.99970478e-01 -3.09560389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104203822 meters 0.028583473289919538 Centerline is valid? [True, True] Translation: X:111.51, Y:-10.47, Z:-3.10 [[ 9.60415548e-01 2.78494416e-01 6.54484780e-03 1.11512404e+02] [-2.78489195e-01 9.60437832e-01 -1.71440046e-03 -1.04677450e+01] [-6.76337039e-03 -1.76132536e-04 9.99977113e-01 -3.09554542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.134203822 meters 0.030267813534243945 Centerline is valid? [True, True] Translation: X:111.54, Y:-10.47, Z:-3.10 [[ 9.60209057e-01 2.79218093e-01 5.98527507e-03 1.11542798e+02] [-2.79213725e-01 9.60227697e-01 -1.57040094e-03 -1.04721557e+01] [-6.18571125e-03 -1.63257744e-04 9.99980855e-01 -3.09865763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164203822 meters 0.030267813534243945 Centerline is valid? [True, True] Translation: X:111.57, Y:-10.48, Z:-3.10 [[ 9.60156997e-01 2.79397050e-01 5.98572752e-03 1.11574163e+02] [-2.79392696e-01 9.60175641e-01 -1.56868069e-03 -1.04805731e+01] [-6.18563452e-03 -1.66188805e-04 9.99980855e-01 -3.09958032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194203822 meters 0.03140814056863746 Centerline is valid? [True, True] Translation: X:111.61, Y:-10.48, Z:-3.10 [[ 9.59854830e-01 2.80423481e-01 6.43238860e-03 1.11606601e+02] [-2.80418461e-01 9.59876366e-01 -1.68796082e-03 -1.04842170e+01] [-6.64764164e-03 -1.83563167e-04 9.99977887e-01 -3.10141725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224203822 meters 0.031970617645255946 Centerline is valid? [True, True] Translation: X:111.64, Y:-10.49, Z:-3.10 [[ 9.59840825e-01 2.80468678e-01 6.55067193e-03 1.11636918e+02] [-2.80463463e-01 9.59863160e-01 -1.72049213e-03 -1.04900494e+01] [-6.77029282e-03 -1.85825545e-04 9.99977064e-01 -3.10320262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25420382200001 meters 0.029909286679302007 Centerline is valid? [True, True] Translation: X:111.67, Y:-10.50, Z:-3.10 [[ 9.59982065e-01 2.79991514e-01 6.25990035e-03 1.11667383e+02] [-2.79986738e-01 9.60002459e-01 -1.64459964e-03 -1.05000583e+01] [-6.46999367e-03 -1.73902914e-04 9.99979054e-01 -3.10316366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28420382200001 meters 0.026654578400646518 Centerline is valid? [True, True] Translation: X:111.70, Y:-10.51, Z:-3.10 [[ 9.60887122e-01 2.76840209e-01 7.44559043e-03 1.11697438e+02] [-2.76833317e-01 9.60915952e-01 -1.96139338e-03 -1.05084946e+01] [-7.69757918e-03 -1.76509851e-04 9.99970358e-01 -3.10236660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314203822 meters 0.02788456590034933 Centerline is valid? [True, True] Translation: X:111.73, Y:-10.51, Z:-3.11 [[ 9.61468707e-01 2.74811913e-01 7.50585978e-03 1.11728502e+02] [-2.74804867e-01 9.61497990e-01 -1.97467885e-03 -1.05131924e+01] [-7.75953437e-03 -1.64054878e-04 9.99969881e-01 -3.10792050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.344203822 meters 0.022194638832519657 Centerline is valid? [True, True] Translation: X:111.76, Y:-10.53, Z:-3.11 [[ 9.62742976e-01 2.70376867e-01 4.72354493e-03 1.11758045e+02] [-2.70374019e-01 9.62754560e-01 -1.24338295e-03 -1.05257278e+01] [-4.88379641e-03 -8.00656244e-05 9.99988071e-01 -3.10976054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.374203822 meters 0.020063691230242982 Centerline is valid? [True, True] Translation: X:111.79, Y:-10.54, Z:-3.11 [[ 9.63216125e-01 2.68676132e-01 5.27568481e-03 1.11788339e+02] [-2.68672560e-01 9.63230569e-01 -1.38765909e-03 -1.05355278e+01] [-5.45453176e-03 -8.08161389e-05 9.99985121e-01 -3.10863668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404203822 meters 0.017871720837595077 Centerline is valid? [True, True] Translation: X:111.82, Y:-10.55, Z:-3.11 [[ 9.63727031e-01 2.66803277e-01 6.79858660e-03 1.11818510e+02] [-2.66797259e-01 9.63751007e-01 -1.79401360e-03 -1.05452393e+01] [-7.03079340e-03 -8.49048683e-05 9.99975280e-01 -3.10574482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.434203822 meters 0.015780584368636972 Centerline is valid? [True, True] Translation: X:111.85, Y:-10.55, Z:-3.10 [[ 9.64727359e-01 2.63125613e-01 8.12614572e-03 1.11848421e+02] [-2.63116880e-01 9.64761580e-01 -2.14493383e-03 -1.05520062e+01] [-8.40418021e-03 -6.88497577e-05 9.99964682e-01 -3.10478647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464203822 meters 0.014521244839920407 Centerline is valid? [True, True] Translation: X:111.88, Y:-10.56, Z:-3.10 [[ 9.65195846e-01 2.61396434e-01 8.29957217e-03 1.11879513e+02] [-2.61387286e-01 9.65231527e-01 -2.18767473e-03 -1.05598373e+01] [-8.58285909e-03 -5.78680816e-05 9.99963165e-01 -3.10477421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.494203822 meters 0.013615395861120632 Centerline is valid? [True, True] Translation: X:111.91, Y:-10.57, Z:-3.11 [[ 9.65703467e-01 2.59502349e-01 8.68016136e-03 1.11910530e+02] [-2.59492250e-01 9.65742476e-01 -2.28976406e-03 -1.05678422e+01] [-8.97699967e-03 -4.12015090e-05 9.99959705e-01 -3.10530746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524203822 meters 0.013209040543577515 Centerline is valid? [True, True] Translation: X:111.94, Y:-10.58, Z:-3.11 [[ 9.66948838e-01 2.54792153e-01 9.53436393e-03 1.11940756e+02] [-2.54779716e-01 9.66995842e-01 -2.51749590e-03 -1.05762867e+01] [-9.86112848e-03 5.12720164e-06 9.99951378e-01 -3.10685442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554203822 meters 0.013238676797078274 Centerline is valid? [True, True] Translation: X:111.97, Y:-10.58, Z:-3.11 [[ 9.67563714e-01 2.52443280e-01 9.63586991e-03 1.11972290e+02] [-2.52430452e-01 9.67611693e-01 -2.54513896e-03 -1.05846513e+01] [-9.96628363e-03 3.01971104e-05 9.99950335e-01 -3.10598954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584203822 meters 0.016685680807322766 Centerline is valid? [True, True] Translation: X:112.00, Y:-10.60, Z:-3.11 [[ 9.68850597e-01 2.47416912e-01 1.06486080e-02 1.12001502e+02] [-2.47400903e-01 9.68909110e-01 -2.81613503e-03 -1.05974125e+01] [-1.10142927e-02 9.39388795e-05 9.99939336e-01 -3.10696537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61420382200001 meters 0.01825320621987855 Centerline is valid? [True, True] Translation: X:112.03, Y:-10.61, Z:-3.11 [[ 9.69457456e-01 2.44988082e-01 1.15360271e-02 1.12031306e+02] [-2.44969094e-01 9.69526081e-01 -3.05300635e-03 -1.06096171e+01] [-1.19324293e-02 1.33789668e-04 9.99928797e-01 -3.10516974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64420382200001 meters 0.02084805575096705 Centerline is valid? [True, True] Translation: X:112.06, Y:-10.62, Z:-3.11 [[ 9.70056968e-01 2.42602791e-01 1.15483395e-02 1.12059930e+02] [-2.42583554e-01 9.70125692e-01 -3.05965629e-03 -1.06219738e+01] [-1.19456220e-02 1.66603673e-04 9.99928635e-01 -3.10523622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67420382200001 meters 0.025742365161798602 Centerline is valid? [True, True] Translation: X:112.09, Y:-10.63, Z:-3.10 [[ 9.70543559e-01 2.40666612e-01 1.11706053e-02 1.12090870e+02] [-2.40648491e-01 9.70607824e-01 -2.95898709e-03 -1.06298264e+01] [-1.15544063e-02 1.83636554e-04 9.99933229e-01 -3.10405804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704203822 meters 0.025993234255557666 Centerline is valid? [True, True] Translation: X:112.12, Y:-10.64, Z:-3.11 [[ 9.71281255e-01 2.37728637e-01 9.89036172e-03 1.12119899e+02] [-2.37714264e-01 9.71331590e-01 -2.62137166e-03 -1.06419456e+01] [-1.02299959e-02 1.95009099e-04 9.99947653e-01 -3.11084214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.734203822 meters 0.02643332080582811 Centerline is valid? [True, True] Translation: X:112.15, Y:-10.65, Z:-3.11 [[ 9.71375815e-01 2.37384463e-01 8.81149449e-03 1.12150785e+02] [-2.37373032e-01 9.71415763e-01 -2.33628298e-03 -1.06502467e+01] [-9.11422193e-03 1.77797616e-04 9.99958449e-01 -3.11382895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764203822 meters 0.025548397167452646 Centerline is valid? [True, True] Translation: X:112.18, Y:-10.66, Z:-3.12 [[ 9.70962961e-01 2.39115335e-01 7.40164683e-03 1.12183640e+02] [-2.39107320e-01 9.70991163e-01 -1.96251987e-03 -1.06558750e+01] [-7.65620226e-03 1.35746169e-04 9.99970682e-01 -3.11762181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.794203822 meters 0.024747077193673493 Centerline is valid? [True, True] Translation: X:112.21, Y:-10.66, Z:-3.12 [[ 9.70482210e-01 2.41081484e-01 6.63306592e-03 1.12213953e+02] [-2.41075082e-01 9.70504872e-01 -1.76034177e-03 -1.06614961e+01] [-6.86180859e-03 1.09313468e-04 9.99976452e-01 -3.12037936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824203822 meters 0.0228898154096824 Centerline is valid? [True, True] Translation: X:112.25, Y:-10.67, Z:-3.12 [[ 9.69882637e-01 2.43514264e-01 5.33615983e-03 1.12246299e+02] [-2.43510162e-01 9.69897313e-01 -1.41531315e-03 -1.06666663e+01] [-5.52017602e-03 7.32785035e-05 9.99984761e-01 -3.12250303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.854203822 meters 0.01971320202508316 Centerline is valid? [True, True] Translation: X:112.28, Y:-10.67, Z:-3.13 [[ 9.68563981e-01 2.48741582e-01 3.38219733e-03 1.12278246e+02] [-2.48739962e-01 9.68569886e-01 -8.98182561e-04 -1.06679197e+01] [-3.49930984e-03 2.86596418e-05 9.99993877e-01 -3.12616649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884203822 meters 0.017355981282611933 Centerline is valid? [True, True] Translation: X:112.31, Y:-10.67, Z:-3.13 [[ 9.67782157e-01 2.51764642e-01 3.50160385e-03 1.12311082e+02] [-2.51762931e-01 9.67788492e-01 -9.28470998e-04 -1.06712195e+01] [-3.62256808e-03 1.69836184e-05 9.99993438e-01 -3.12521180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914203822 meters 0.015667549612605143 Centerline is valid? [True, True] Translation: X:112.34, Y:-10.67, Z:-3.12 [[ 9.66986730e-01 2.54789281e-01 4.36885876e-03 1.12343618e+02] [-2.54786639e-01 9.66996599e-01 -1.16042610e-03 -1.06739376e+01] [-4.52033569e-03 8.98980245e-06 9.99989783e-01 -3.12477045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944203822 meters 0.014516975712262221 Centerline is valid? [True, True] Translation: X:112.38, Y:-10.67, Z:-3.12 [[ 9.65445212e-01 2.60524755e-01 6.51105807e-03 1.12377064e+02] [-2.60518992e-01 9.65467168e-01 -1.73304298e-03 -1.06712137e+01] [-6.73771339e-03 -2.30962365e-05 9.99977301e-01 -3.12238021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974203822 meters 0.014853987830897343 Centerline is valid? [True, True] Translation: X:112.41, Y:-10.67, Z:-3.12 [[ 9.64660127e-01 2.63405115e-01 6.97033378e-03 1.12410416e+02] [-2.63398578e-01 9.64685308e-01 -1.85637839e-03 -1.06748158e+01] [-7.21315815e-03 -4.52017921e-05 9.99973984e-01 -3.12176164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00420382200001 meters 0.016097914899680946 Centerline is valid? [True, True] Translation: X:112.44, Y:-10.68, Z:-3.12 [[ 9.63925614e-01 2.66058469e-01 7.76535654e-03 1.12443214e+02] [-2.66050421e-01 9.63956890e-01 -2.07061480e-03 -1.06776589e+01] [-8.03637354e-03 -7.00577329e-05 9.99967705e-01 -3.12219658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03420382200001 meters 0.019108022417169437 Centerline is valid? [True, True] Translation: X:112.48, Y:-10.68, Z:-3.12 [[ 9.62625877e-01 2.70687847e-01 8.91686143e-03 1.12475846e+02] [-2.70677406e-01 9.62667167e-01 -2.38064175e-03 -1.06759527e+01] [-9.22838053e-03 -1.21925566e-04 9.99957410e-01 -3.12164836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064203822 meters 0.019640730602653922 Centerline is valid? [True, True] Translation: X:112.51, Y:-10.68, Z:-3.12 [[ 9.62082029e-01 2.72610450e-01 9.03946049e-03 1.12507244e+02] [-2.72599791e-01 9.62124484e-01 -2.41484667e-03 -1.06812292e+01] [-9.35539870e-03 -1.40874456e-04 9.99956227e-01 -3.12080787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.094203822 meters 0.02451920756192665 Centerline is valid? [True, True] Translation: X:112.54, Y:-10.68, Z:-3.12 [[ 9.61209559e-01 2.75669544e-01 9.08217219e-03 1.12540211e+02] [-2.75658905e-01 9.61252451e-01 -2.42780423e-03 -1.06787371e+01] [-9.39953196e-03 -1.69953003e-04 9.99955809e-01 -3.12413556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124203822 meters 0.0239577361958153 Centerline is valid? [True, True] Translation: X:112.57, Y:-10.69, Z:-3.12 [[ 9.60914767e-01 2.76695910e-01 9.06553649e-03 1.12571806e+02] [-2.76685344e-01 9.60957513e-01 -2.42465743e-03 -1.06859304e+01] [-9.38248819e-03 -1.78411947e-04 9.99955968e-01 -3.12307995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.154203822 meters 0.023313201054961253 Centerline is valid? [True, True] Translation: X:112.60, Y:-10.69, Z:-3.12 [[ 9.60778867e-01 2.77170140e-01 8.98227370e-03 1.12604410e+02] [-2.77159779e-01 9.60820837e-01 -2.40338551e-03 -1.06936252e+01] [-9.29650244e-03 -1.80402980e-04 9.99956770e-01 -3.12205266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184203822 meters 0.02244415703017908 Centerline is valid? [True, True] Translation: X:112.64, Y:-10.70, Z:-3.12 [[ 9.61009006e-01 2.76328236e-01 1.02174929e-02 1.12635505e+02] [-2.76314743e-01 9.61063301e-01 -2.73743504e-03 -1.06982580e+01] [-1.05760880e-02 -1.92544205e-04 9.99944053e-01 -3.12215888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.214203822 meters 0.020980246990896897 Centerline is valid? [True, True] Translation: X:112.67, Y:-10.71, Z:-3.12 [[ 9.61372365e-01 2.75062683e-01 1.01831671e-02 1.12666878e+02] [-2.75049195e-01 9.61426279e-01 -2.72967592e-03 -1.07065847e+01] [-1.05411964e-02 -1.76636917e-04 9.99944424e-01 -3.12303517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244203822 meters 0.02016398497777951 Centerline is valid? [True, True] Translation: X:112.70, Y:-10.72, Z:-3.13 [[ 9.61794192e-01 2.73602877e-01 9.66422573e-03 1.12696318e+02] [-2.73590638e-01 9.61842733e-01 -2.59227880e-03 -1.07156066e+01] [-1.00047202e-02 -1.50802987e-04 9.99949940e-01 -3.12545694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274203822 meters 0.031231303118980393 Centerline is valid? [True, True] Translation: X:112.73, Y:-10.73, Z:-3.13 [[ 9.62730926e-01 2.70338201e-01 8.14998649e-03 1.12725335e+02] [-2.70329364e-01 9.62765417e-01 -2.18798986e-03 -1.07263750e+01] [-8.43802238e-03 -9.67351575e-05 9.99964395e-01 -3.13055038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304203822 meters 0.017982148770998626 Centerline is valid? [True, True] Translation: X:112.76, Y:-10.74, Z:-3.13 [[ 9.63073243e-01 2.69098639e-01 8.70926723e-03 1.12755296e+02] [-2.69088496e-01 9.63112618e-01 -2.33813199e-03 -1.07357141e+01] [-9.01719329e-03 -9.17712646e-05 9.99959340e-01 -3.13137067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334203822 meters 0.01445998296885151 Centerline is valid? [True, True] Translation: X:112.79, Y:-10.74, Z:-3.13 [[ 9.63508404e-01 2.67538524e-01 8.64253128e-03 1.12786326e+02] [-2.67528467e-01 9.63547162e-01 -2.32098527e-03 -1.07445463e+01] [-8.94843946e-03 -7.58343274e-05 9.99959959e-01 -3.12731005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36420382200001 meters 0.015369906519800226 Centerline is valid? [True, True] Translation: X:112.82, Y:-10.75, Z:-3.13 [[ 9.63681979e-01 2.66938108e-01 7.81595739e-03 1.12816567e+02] [-2.66929841e-01 9.63713673e-01 -2.10162170e-03 -1.07514570e+01] [-8.09334792e-03 -6.10173048e-05 9.99967246e-01 -3.13198746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39420382200001 meters 0.014878187254638811 Centerline is valid? [True, True] Translation: X:112.85, Y:-10.76, Z:-3.13 [[ 9.63844633e-01 2.66380046e-01 6.72273931e-03 1.12847407e+02] [-2.66373926e-01 9.63868076e-01 -1.80627936e-03 -1.07612965e+01] [-6.96099059e-03 -4.97897994e-05 9.99975771e-01 -3.13268075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42420382200001 meters 0.015408491632591947 Centerline is valid? [True, True] Translation: X:112.88, Y:-10.77, Z:-3.14 [[ 9.64016808e-01 2.65777859e-01 5.80717752e-03 1.12877219e+02] [-2.65773279e-01 9.64034298e-01 -1.56069616e-03 -1.07688964e+01] [-6.01311679e-03 -3.88552834e-05 9.99981920e-01 -3.13636297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454203822 meters 0.017654045072398008 Centerline is valid? [True, True] Translation: X:112.91, Y:-10.77, Z:-3.14 [[ 9.63923089e-01 2.66125588e-01 5.42684214e-03 1.12907935e+02] [-2.66121589e-01 9.63938364e-01 -1.45945284e-03 -1.07742185e+01] [-5.61953908e-03 -3.73995637e-05 9.99984210e-01 -3.14292662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.484203822 meters 0.01776741565442203 Centerline is valid? [True, True] Translation: X:112.94, Y:-10.78, Z:-3.14 [[ 9.63327611e-01 2.68261015e-01 5.99517661e-03 1.12941427e+02] [-2.68256170e-01 9.63346264e-01 -1.61317446e-03 -1.07758972e+01] [-6.20818281e-03 -5.42276170e-05 9.99980728e-01 -3.14018799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.514203822 meters 0.01786266567907428 Centerline is valid? [True, True] Translation: X:112.97, Y:-10.78, Z:-3.14 [[ 9.62761402e-01 2.70276027e-01 6.43056180e-03 1.12974802e+02] [-2.70270488e-01 9.62782875e-01 -1.73183991e-03 -1.07795269e+01] [-6.65930958e-03 -7.06424578e-05 9.99977824e-01 -3.13795315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544203822 meters 0.01979966658823502 Centerline is valid? [True, True] Translation: X:113.01, Y:-10.78, Z:-3.14 [[ 9.62014074e-01 2.72918805e-01 6.65178882e-03 1.13007190e+02] [-2.72912925e-01 9.62037067e-01 -1.79374857e-03 -1.07809964e+01] [-6.88881512e-03 -8.97477761e-05 9.99976268e-01 -3.13829116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.574203822 meters 0.02125293725098531 Centerline is valid? [True, True] Translation: X:113.04, Y:-10.78, Z:-3.14 [[ 9.61274701e-01 2.75499242e-01 7.14966201e-03 1.13039882e+02] [-2.75492511e-01 9.61301282e-01 -1.92923156e-03 -1.07839058e+01] [-7.40448109e-03 -1.15156849e-04 9.99972580e-01 -3.13761098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604203822 meters 0.023871503398008757 Centerline is valid? [True, True] Translation: X:113.07, Y:-10.78, Z:-3.14 [[ 9.60337671e-01 2.78702323e-01 8.75059165e-03 1.13072440e+02] [-2.78692323e-01 9.60377524e-01 -2.36668562e-03 -1.07831714e+01] [-9.06347232e-03 -1.65905361e-04 9.99958912e-01 -3.13506040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.634203822 meters 0.023291784843023775 Centerline is valid? [True, True] Translation: X:113.10, Y:-10.79, Z:-3.13 [[ 9.60114491e-01 2.79425086e-01 1.00888826e-02 1.13104333e+02] [-2.79411858e-01 9.60167475e-01 -2.72633123e-03 -1.07892081e+01] [-1.04488223e-02 -2.01363309e-04 9.99945389e-01 -3.13255853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664203822 meters 0.021007781777419215 Centerline is valid? [True, True] Translation: X:113.14, Y:-10.79, Z:-3.13 [[ 9.60386638e-01 2.78424290e-01 1.17226405e-02 1.13136946e+02] [-2.78406299e-01 9.60458155e-01 -3.17249170e-03 -1.07938866e+01] [-1.21424044e-02 -2.16838314e-04 9.99926255e-01 -3.12978284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694203822 meters 0.020612928445593207 Centerline is valid? [True, True] Translation: X:113.17, Y:-10.80, Z:-3.13 [[ 9.60705470e-01 2.77348685e-01 1.10772868e-02 1.13167679e+02] [-2.77332562e-01 9.60769311e-01 -2.99675349e-03 -1.08003245e+01] [-1.14738628e-02 -1.93094846e-04 9.99934154e-01 -3.13244860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724203822 meters 0.018236153271059777 Centerline is valid? [True, True] Translation: X:113.20, Y:-10.81, Z:-3.13 [[ 9.61628440e-01 2.74141007e-01 1.08375098e-02 1.13197811e+02] [-2.74125350e-01 9.61689495e-01 -2.93371207e-03 -1.08090600e+01] [-1.12265701e-02 -1.49695209e-04 9.99936969e-01 -3.13487669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75420382200001 meters 0.016866774489826927 Centerline is valid? [True, True] Translation: X:113.23, Y:-10.82, Z:-3.14 [[ 9.62117520e-01 2.72402151e-01 1.12669732e-02 1.13227691e+02] [-2.72385085e-01 9.62183481e-01 -3.05205560e-03 -1.08191726e+01] [-1.16722820e-02 -1.32519295e-04 9.99931868e-01 -3.13513664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78420382200001 meters 0.01572795130647745 Centerline is valid? [True, True] Translation: X:113.26, Y:-10.83, Z:-3.14 [[ 9.62510009e-01 2.71005704e-01 1.14188805e-02 1.13257937e+02] [-2.70988056e-01 9.62577734e-01 -3.09496472e-03 -1.08300618e+01] [-1.18303133e-02 -1.15445717e-04 9.99930013e-01 -3.13574259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814203822 meters 0.01482962596463057 Centerline is valid? [True, True] Translation: X:113.29, Y:-10.84, Z:-3.14 [[ 9.62892516e-01 2.69661483e-01 1.09858059e-02 1.13288562e+02] [-2.69645040e-01 9.62955179e-01 -2.97936473e-03 -1.08396160e+01] [-1.13822586e-02 -9.34600681e-05 9.99935216e-01 -3.13685218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.844203822 meters 0.014661238807731245 Centerline is valid? [True, True] Translation: X:113.32, Y:-10.84, Z:-3.14 [[ 9.63264768e-01 2.68362252e-01 1.01335584e-02 1.13320652e+02] [-2.68348176e-01 9.63318066e-01 -2.74945522e-03 -1.08443503e+01] [-1.04996899e-02 -7.08685776e-05 9.99944874e-01 -3.13977983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.874203822 meters 0.014539643617789252 Centerline is valid? [True, True] Translation: X:113.35, Y:-10.85, Z:-3.14 [[ 9.63238022e-01 2.68477808e-01 9.60100785e-03 1.13352116e+02] [-2.68465161e-01 9.63285867e-01 -2.60671340e-03 -1.08500328e+01] [-9.94835987e-03 -6.66506631e-05 9.99950512e-01 -3.14100715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904203822 meters 0.014007475931060418 Centerline is valid? [True, True] Translation: X:113.38, Y:-10.86, Z:-3.14 [[ 9.63239061e-01 2.68477493e-01 9.50507976e-03 1.13384494e+02] [-2.68465087e-01 9.63285955e-01 -2.58175419e-03 -1.08576158e+01] [-9.84925273e-03 -6.49355917e-05 9.99951493e-01 -3.14121547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.934203822 meters 0.014242534167551247 Centerline is valid? [True, True] Translation: X:113.42, Y:-10.87, Z:-3.14 [[ 9.63319112e-01 2.68191804e-01 9.45749668e-03 1.13415029e+02] [-2.68179486e-01 9.63365534e-01 -2.57104682e-03 -1.08676246e+01] [-9.80056002e-03 -5.95680637e-05 9.99951972e-01 -3.14295356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964203822 meters 0.014037288374500736 Centerline is valid? [True, True] Translation: X:113.45, Y:-10.88, Z:-3.14 [[ 9.63460102e-01 2.67713637e-01 8.60463769e-03 1.13445635e+02] [-2.67703409e-01 9.63498524e-01 -2.34064166e-03 -1.08782005e+01] [-8.91717740e-03 -4.83759893e-05 9.99960240e-01 -3.14381479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.994203822 meters 0.013499643698464722 Centerline is valid? [True, True] Translation: X:113.48, Y:-10.88, Z:-3.14 [[ 9.63501575e-01 2.67549818e-01 9.04483485e-03 1.13477586e+02] [-2.67538492e-01 9.63544027e-01 -2.46223770e-03 -1.08848039e+01] [-9.37386785e-03 -4.74715711e-05 9.99956063e-01 -3.14344895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024203822 meters 0.013776849594371296 Centerline is valid? [True, True] Translation: X:113.51, Y:-10.89, Z:-3.14 [[ 9.63330652e-01 2.68147942e-01 9.52552918e-03 1.13508336e+02] [-2.68135387e-01 9.63377744e-01 -2.59536394e-03 -1.08897529e+01] [-9.87262432e-03 -5.39378133e-05 9.99951263e-01 -3.14459111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054203822 meters 0.013776849594371296 Centerline is valid? [True, True] Translation: X:113.54, Y:-10.90, Z:-3.15 [[ 9.63285562e-01 2.68309889e-01 9.52516672e-03 1.13538831e+02] [-2.68297329e-01 9.63332653e-01 -2.59669286e-03 -1.08982226e+01] [-9.87262250e-03 -5.42200502e-05 9.99951263e-01 -3.14549045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084203822 meters 0.015014795369825473 Centerline is valid? [True, True] Translation: X:113.57, Y:-10.90, Z:-3.15 [[ 9.63033481e-01 2.69239580e-01 8.75005100e-03 1.13569597e+02] [-2.69228987e-01 9.63073230e-01 -2.38889553e-03 -1.09013150e+01] [-9.07012511e-03 -5.51809944e-05 9.99958864e-01 -3.14993116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11420382200001 meters 0.015302728663383183 Centerline is valid? [True, True] Translation: X:113.60, Y:-10.91, Z:-3.15 [[ 9.62895316e-01 2.69757682e-01 7.96267284e-03 1.13599503e+02] [-2.69748917e-01 9.62928237e-01 -2.17531122e-03 -1.09082879e+01] [-8.25428944e-03 -5.33253926e-05 9.99965931e-01 -3.15194298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14420382200001 meters 0.015604930507716311 Centerline is valid? [True, True] Translation: X:113.63, Y:-10.92, Z:-3.15 [[ 9.62780769e-01 2.70184250e-01 7.32537273e-03 1.13628809e+02] [-2.70176844e-01 9.62808635e-01 -2.00120811e-03 -1.09156047e+01] [-7.59362703e-03 -5.24213990e-05 9.99971167e-01 -3.15328672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17420382200001 meters 0.016770339788935044 Centerline is valid? [True, True] Translation: X:113.66, Y:-10.92, Z:-3.16 [[ 9.62377048e-01 2.71648472e-01 6.12572639e-03 1.13659298e+02] [-2.71643322e-01 9.62396542e-01 -1.67347844e-03 -1.09203398e+01] [-6.34997576e-03 -5.34954256e-05 9.99979837e-01 -3.15525170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.204203822 meters 0.01819123522643264 Centerline is valid? [True, True] Translation: X:113.69, Y:-10.92, Z:-3.16 [[ 9.61955683e-01 2.73135447e-01 6.18806217e-03 1.13687859e+02] [-2.73130216e-01 9.61975584e-01 -1.69160677e-03 -1.09226159e+01] [-6.41480249e-03 -6.28960156e-05 9.99979423e-01 -3.15675561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.234203822 meters 0.018344864625558722 Centerline is valid? [True, True] Translation: X:113.72, Y:-10.93, Z:-3.16 [[ 9.61492263e-01 2.74754797e-01 6.51375731e-03 1.13717458e+02] [-2.74749044e-01 9.61514324e-01 -1.77969471e-03 -1.09256807e+01] [-6.75205061e-03 -7.84859011e-05 9.99977202e-01 -3.15505756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264203822 meters 0.020355937231953787 Centerline is valid? [True, True] Translation: X:113.75, Y:-10.93, Z:-3.16 [[ 9.61101740e-01 2.76120461e-01 6.39808251e-03 1.13745971e+02] [-2.76114937e-01 9.61123032e-01 -1.74875601e-03 -1.09263831e+01] [-6.63221178e-03 -8.58737035e-05 9.99978003e-01 -3.15718063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.294203822 meters 0.020437289179772052 Centerline is valid? [True, True] Translation: X:113.77, Y:-10.93, Z:-3.16 [[ 9.61188679e-01 2.75798114e-01 7.19188477e-03 1.13773620e+02] [-2.75791132e-01 9.61215580e-01 -1.96472852e-03 -1.09324132e+01] [-7.45482012e-03 -9.49832251e-05 9.99972208e-01 -3.15786468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324203822 meters 0.0174891464017869 Centerline is valid? [True, True] Translation: X:113.80, Y:-10.94, Z:-3.16 [[ 9.61929124e-01 2.73175332e-01 8.22182915e-03 1.13801268e+02] [-2.73166116e-01 9.61964257e-01 -2.24549404e-03 -1.09406579e+01] [-8.52251934e-03 -8.59190169e-05 9.99963679e-01 -3.15607513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.354203822 meters 0.016344510484074887 Centerline is valid? [True, True] Translation: X:113.83, Y:-10.95, Z:-3.16 [[ 9.62517209e-01 2.71088893e-01 8.45189506e-03 1.13827786e+02] [-2.71079076e-01 9.62554314e-01 -2.30809108e-03 -1.09494186e+01] [-8.76110591e-03 -6.95545252e-05 9.99961618e-01 -3.15744213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384203822 meters 0.014058409480951379 Centerline is valid? [True, True] Translation: X:113.86, Y:-10.96, Z:-3.15 [[ 9.63134524e-01 2.68849048e-01 9.59573186e-03 1.13855214e+02] [-2.68836297e-01 9.63182322e-01 -2.61894239e-03 -1.09608205e+01] [-9.94653947e-03 -5.72871927e-05 9.99950530e-01 -3.15437300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414203822 meters 0.02163283733373167 Centerline is valid? [True, True] Translation: X:113.88, Y:-10.98, Z:-3.15 [[ 9.64378963e-01 2.64288984e-01 1.11601444e-02 1.13882415e+02] [-2.64271444e-01 9.64443535e-01 -3.04487345e-03 -1.09753984e+01] [-1.15680556e-02 -1.28955744e-05 9.99933088e-01 -3.15356038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444203822 meters 0.012973299509075392 Centerline is valid? [True, True] Translation: X:113.91, Y:-10.99, Z:-3.16 [[ 9.65111145e-01 2.61618554e-01 1.07800575e-02 1.13911151e+02] [-2.61602022e-01 9.65171348e-01 -2.94109432e-03 -1.09888471e+01] [-1.11740475e-02 1.83980564e-05 9.99937568e-01 -3.15523632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474203822 meters 0.013693555640223839 Centerline is valid? [True, True] Translation: X:113.94, Y:-11.00, Z:-3.16 [[ 9.65672462e-01 2.59559505e-01 1.02741661e-02 1.13941173e+02] [-2.59544398e-01 9.65727116e-01 -2.80065634e-03 -1.10019121e+01] [-1.06489778e-02 3.79144427e-05 9.99943297e-01 -3.15605032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50420382200001 meters 0.015468377100448436 Centerline is valid? [True, True] Translation: X:113.97, Y:-11.02, Z:-3.16 [[ 9.66386309e-01 2.56905052e-01 9.86387959e-03 1.13970308e+02] [-2.56890971e-01 9.66436646e-01 -2.69061720e-03 -1.10150684e+01] [-1.02240479e-02 6.62340260e-05 9.99947731e-01 -3.15786677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53420382200001 meters 0.016589723815090763 Centerline is valid? [True, True] Translation: X:114.00, Y:-11.03, Z:-3.16 [[ 9.66631761e-01 2.56005155e-01 9.18687909e-03 1.13999809e+02] [-2.55992888e-01 9.66675414e-01 -2.50718385e-03 -1.10253507e+01] [-9.52258213e-03 7.17478317e-05 9.99954657e-01 -3.16052842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564203822 meters 0.017209981026062568 Centerline is valid? [True, True] Translation: X:114.03, Y:-11.04, Z:-3.16 [[ 9.66871296e-01 2.55146857e-01 7.74455667e-03 1.14029946e+02] [-2.55138110e-01 9.66902310e-01 -2.11379598e-03 -1.10372974e+01] [-8.02755814e-03 6.78371013e-05 9.99967776e-01 -3.16203791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.594203822 meters 0.016998416675623476 Centerline is valid? [True, True] Translation: X:114.06, Y:-11.05, Z:-3.16 [[ 9.66860621e-01 2.55191692e-01 7.59863515e-03 1.14061271e+02] [-2.55183268e-01 9.66890478e-01 -2.07468009e-03 -1.10476613e+01] [-7.87648909e-03 6.68819317e-05 9.99968978e-01 -3.16283493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624203822 meters 0.017728938485881224 Centerline is valid? [True, True] Translation: X:114.09, Y:-11.06, Z:-3.16 [[ 9.66822952e-01 2.55323492e-01 7.95574694e-03 1.14090468e+02] [-2.55314228e-01 9.66855682e-01 -2.17626582e-03 -1.10587797e+01] [-8.24771092e-03 7.28483600e-05 9.99965984e-01 -3.16491353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.654203822 meters 0.01720249324179919 Centerline is valid? [True, True] Translation: X:114.12, Y:-11.07, Z:-3.17 [[ 9.66635411e-01 2.56032930e-01 7.94486613e-03 1.14121641e+02] [-2.56023724e-01 9.66668058e-01 -2.17213538e-03 -1.10694332e+01] [-8.23618650e-03 6.55887666e-05 9.99966080e-01 -3.16538129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684203822 meters 0.01617494114301184 Centerline is valid? [True, True] Translation: X:114.15, Y:-11.08, Z:-3.17 [[ 9.66041402e-01 2.58293176e-01 6.97455801e-03 1.14153170e+02] [-2.58286136e-01 9.66066578e-01 -1.90758502e-03 -1.10795799e+01] [-7.23060359e-03 4.13744750e-05 9.99973858e-01 -3.16690286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.714203822 meters 0.015110952583953835 Centerline is valid? [True, True] Translation: X:114.18, Y:-11.09, Z:-3.17 [[ 9.65472032e-01 2.60411714e-01 7.03524101e-03 1.14184796e+02] [-2.60404591e-01 9.65497664e-01 -1.92623553e-03 -1.10851588e+01] [-7.29412305e-03 2.77174749e-05 9.99973397e-01 -3.16761340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744203822 meters 0.014705708558440406 Centerline is valid? [True, True] Translation: X:114.22, Y:-11.08, Z:-3.17 [[ 9.63827327e-01 2.66447122e-01 6.54328685e-03 1.14216240e+02] [-2.66441066e-01 9.63849538e-01 -1.79644056e-03 -1.10830048e+01] [-6.78540042e-03 -1.19418168e-05 9.99976979e-01 -3.17011051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774203822 meters 0.015885859159772846 Centerline is valid? [True, True] Translation: X:114.25, Y:-11.09, Z:-3.17 [[ 9.62875738e-01 2.69881000e-01 5.87874653e-03 1.14245909e+02] [-2.69876175e-01 9.62893683e-01 -1.61422155e-03 -1.10862521e+01] [-6.09625562e-03 -3.22388639e-05 9.99981417e-01 -3.17189240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804203822 meters 0.01731880494630948 Centerline is valid? [True, True] Translation: X:114.28, Y:-11.09, Z:-3.17 [[ 9.61888762e-01 2.73386388e-01 5.46741671e-03 1.14276054e+02] [-2.73382271e-01 9.61904299e-01 -1.50119886e-03 -1.10899872e+01] [-5.66953897e-03 -5.07084846e-05 9.99983927e-01 -3.17155129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834203822 meters 0.023473377635737477 Centerline is valid? [True, True] Translation: X:114.31, Y:-11.09, Z:-3.17 [[ 9.59949152e-01 2.80101407e-01 6.38963961e-03 1.14306494e+02] [-2.80095931e-01 9.59970411e-01 -1.75467201e-03 -1.10855888e+01] [-6.62535107e-03 -1.05316145e-04 9.99978047e-01 -3.17256259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86420382200001 meters 0.026981372702704624 Centerline is valid? [True, True] Translation: X:114.33, Y:-11.09, Z:-3.17 [[ 9.59113763e-01 2.82931840e-01 7.09673286e-03 1.14334865e+02] [-2.82925162e-01 9.59140008e-01 -1.94878601e-03 -1.10857631e+01] [-7.35813403e-03 -1.38736814e-04 9.99972919e-01 -3.17320762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89420382200001 meters 0.030012213548137368 Centerline is valid? [True, True] Translation: X:114.36, Y:-11.09, Z:-3.17 [[ 9.58331122e-01 2.85539371e-01 8.29022169e-03 1.14363064e+02] [-2.85530365e-01 9.58366961e-01 -2.27553019e-03 -1.10866861e+01] [-8.59482802e-03 -1.86398625e-04 9.99963046e-01 -3.17283004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92420382200001 meters 0.03126821149628598 Centerline is valid? [True, True] Translation: X:114.39, Y:-11.09, Z:-3.17 [[ 9.57154220e-01 2.89455711e-01 8.43748260e-03 1.14393245e+02] [-2.89446548e-01 9.57191381e-01 -2.31439067e-03 -1.10898161e+01] [-8.74619922e-03 -2.26971412e-04 9.99961726e-01 -3.17052612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.954203822 meters 0.03198938492351674 Centerline is valid? [True, True] Translation: X:114.42, Y:-11.09, Z:-3.17 [[ 9.56814657e-01 2.90579093e-01 8.33686507e-03 1.14421594e+02] [-2.90570186e-01 9.56850948e-01 -2.28707963e-03 -1.10949320e+01] [-8.64171476e-03 -2.34133120e-04 9.99962632e-01 -3.17094080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.984203822 meters 0.03323072096338479 Centerline is valid? [True, True] Translation: X:114.45, Y:-11.10, Z:-3.17 [[ 9.56644834e-01 2.91108492e-01 9.30089835e-03 1.14448820e+02] [-2.91097431e-01 9.56690010e-01 -2.55159397e-03 -1.10989232e+01] [-9.64086721e-03 -2.66498430e-04 9.99953490e-01 -3.17078576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014203822 meters 0.030653720788708195 Centerline is valid? [True, True] Translation: X:114.48, Y:-11.11, Z:-3.17 [[ 9.57342343e-01 2.88736718e-01 1.12581678e-02 1.14477254e+02] [-2.88720378e-01 9.57408492e-01 -3.08599671e-03 -1.11076372e+01] [-1.16697060e-02 -2.96107158e-04 9.99931863e-01 -3.16901099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044203822 meters 0.02982355684888095 Centerline is valid? [True, True] Translation: X:114.50, Y:-11.12, Z:-3.17 [[ 9.58143233e-01 2.86079081e-01 1.09683848e-02 1.14503616e+02] [-2.86063393e-01 9.58205977e-01 -3.00691828e-03 -1.11163518e+01] [-1.13701883e-02 -2.56594981e-04 9.99935324e-01 -3.17216668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074203822 meters 0.024296449329033097 Centerline is valid? [True, True] Translation: X:114.53, Y:-11.13, Z:-3.17 [[ 9.59084595e-01 2.82929627e-01 1.03714173e-02 1.14529619e+02] [-2.82915424e-01 9.59140648e-01 -2.84251692e-03 -1.11316712e+01] [-1.07518801e-02 -2.08019724e-04 9.99942175e-01 -3.17149800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104203822 meters 0.019524066184215226 Centerline is valid? [True, True] Translation: X:114.56, Y:-11.15, Z:-3.17 [[ 9.60782482e-01 2.77131035e-01 9.76790385e-03 1.14555717e+02] [-2.77118146e-01 9.60832124e-01 -2.67623836e-03 -1.11473148e+01] [-1.01269845e-02 -1.35580466e-04 9.99948712e-01 -3.17416583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134203822 meters 0.02903284468188091 Centerline is valid? [True, True] Translation: X:114.58, Y:-11.16, Z:-3.18 [[ 9.61566075e-01 2.74408260e-01 9.52835993e-03 1.14582571e+02] [-2.74395862e-01 9.61613278e-01 -2.61060211e-03 -1.11588593e+01] [-9.87896821e-03 -1.04276111e-04 9.99951196e-01 -3.17733314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164203822 meters 0.014072238239827681 Centerline is valid? [True, True] Translation: X:114.61, Y:-11.18, Z:-3.18 [[ 9.63102494e-01 2.68977836e-01 9.19296681e-03 1.14609548e+02] [-2.68966063e-01 9.63146366e-01 -2.51700605e-03 -1.11808275e+01] [-9.53119141e-03 -4.84612920e-05 9.99954576e-01 -3.17667882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194203822 meters 0.013539150702624831 Centerline is valid? [True, True] Translation: X:114.64, Y:-11.19, Z:-3.18 [[ 9.63690112e-01 2.66866772e-01 9.13752894e-03 1.14638097e+02] [-2.66855043e-01 9.63733430e-01 -2.50217331e-03 -1.11938705e+01] [-9.47388902e-03 -2.70760071e-05 9.99955121e-01 -3.17748764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224203822 meters 0.01326614423929604 Centerline is valid? [True, True] Translation: X:114.67, Y:-11.21, Z:-3.18 [[ 9.64048166e-01 2.65560434e-01 9.42281862e-03 1.14667495e+02] [-2.65547918e-01 9.64094215e-01 -2.57838461e-03 -1.12050533e+01] [-9.76920186e-03 -1.65229053e-05 9.99952280e-01 -3.17773396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25420382200001 meters 0.013241963061056825 Centerline is valid? [True, True] Translation: X:114.70, Y:-11.21, Z:-3.18 [[ 9.64229892e-01 2.64903991e-01 9.30546844e-03 1.14698319e+02] [-2.64891741e-01 9.64274792e-01 -2.54755706e-03 -1.12147117e+01] [-9.64788668e-03 -8.51107018e-06 9.99953458e-01 -3.17807486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28420382200001 meters 0.013943580812172663 Centerline is valid? [True, True] Translation: X:114.73, Y:-11.22, Z:-3.18 [[ 9.64089254e-01 2.65474777e-01 7.41979326e-03 1.14729401e+02] [-2.65466980e-01 9.64117805e-01 -2.03470676e-03 -1.12209279e+01] [-7.69371812e-03 -8.07118234e-06 9.99970403e-01 -3.18199513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314203822 meters 0.014550601862084093 Centerline is valid? [True, True] Translation: X:114.76, Y:-11.23, Z:-3.19 [[ 9.63811248e-01 2.66493881e-01 6.99216119e-03 1.14758445e+02] [-2.66486981e-01 9.63836610e-01 -1.91784193e-03 -1.12278816e+01] [-7.25039408e-03 -1.48823008e-05 9.99973715e-01 -3.18526714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.344203822 meters 0.014973972338239815 Centerline is valid? [True, True] Translation: X:114.79, Y:-11.24, Z:-3.19 [[ 9.63283758e-01 2.68400993e-01 6.73111516e-03 1.14786988e+02] [-2.68394643e-01 9.63307275e-01 -1.84640344e-03 -1.12372961e+01] [-6.97970872e-03 -2.79847996e-05 9.99975641e-01 -3.18542621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.374203822 meters 0.015439687249732055 Centerline is valid? [True, True] Translation: X:114.82, Y:-11.25, Z:-3.19 [[ 9.62977748e-01 2.69499637e-01 6.61838389e-03 1.14816690e+02] [-2.69493523e-01 9.63000490e-01 -1.81570825e-03 -1.12455333e+01] [-6.86283964e-03 -3.51249498e-05 9.99976450e-01 -3.18608248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404203822 meters 0.016531548942329798 Centerline is valid? [True, True] Translation: X:114.85, Y:-11.25, Z:-3.19 [[ 9.62357618e-01 2.71701069e-01 6.80767237e-03 1.14845110e+02] [-2.71694650e-01 9.62381695e-01 -1.86842262e-03 -1.12488936e+01] [-7.05923169e-03 -5.15174154e-05 9.99975082e-01 -3.18760473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.434203822 meters 0.01662720894316299 Centerline is valid? [True, True] Translation: X:114.87, Y:-11.25, Z:-3.19 [[ 9.62054452e-01 2.72776006e-01 6.66951370e-03 1.14874183e+02] [-2.72769873e-01 9.62077568e-01 -1.83001811e-03 -1.12541975e+01] [-6.91577455e-03 -5.86653398e-05 9.99976084e-01 -3.18777356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464203822 meters 0.017077790590433635 Centerline is valid? [True, True] Translation: X:114.90, Y:-11.26, Z:-3.19 [[ 9.61812109e-01 2.73640213e-01 6.20492719e-03 1.14903080e+02] [-2.73634924e-01 9.61832122e-01 -1.70243612e-03 -1.12604529e+01] [-6.43395326e-03 -6.04611024e-05 9.99979300e-01 -3.18895424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.494203822 meters 0.018323607952633367 Centerline is valid? [True, True] Translation: X:114.93, Y:-11.27, Z:-3.19 [[ 9.61633271e-01 2.74271695e-01 6.04068636e-03 1.14930140e+02] [-2.74266694e-01 9.61652241e-01 -1.65750991e-03 -1.12691248e+01] [-6.26364763e-03 -6.28423972e-05 9.99980381e-01 -3.19136317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524203822 meters 0.018395573694434304 Centerline is valid? [True, True] Translation: X:114.96, Y:-11.28, Z:-3.19 [[ 9.61735261e-01 2.73915858e-01 5.94903199e-03 1.14957272e+02] [-2.73911004e-01 9.61753658e-01 -1.63188077e-03 -1.12784213e+01] [-6.16850130e-03 -6.00680469e-05 9.99980973e-01 -3.19243037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554203822 meters 0.01860118980703075 Centerline is valid? [True, True] Translation: X:114.98, Y:-11.29, Z:-3.19 [[ 9.62033766e-01 2.72859736e-01 6.21274863e-03 1.14984481e+02] [-2.72854421e-01 9.62053825e-01 -1.70398625e-03 -1.12891750e+01] [-6.44194782e-03 -5.58836174e-05 9.99979249e-01 -3.19471986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584203822 meters 0.01631337847988777 Centerline is valid? [True, True] Translation: X:115.01, Y:-11.30, Z:-3.19 [[ 9.62255385e-01 2.72065798e-01 6.69150018e-03 1.15013669e+02] [-2.72059622e-01 9.62278649e-01 -1.83401647e-03 -1.13012514e+01] [-6.93806091e-03 -5.56947839e-05 9.99975930e-01 -3.19115386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61420382200001 meters 0.015293248346753099 Centerline is valid? [True, True] Translation: X:115.04, Y:-11.31, Z:-3.19 [[ 9.62453069e-01 2.71345686e-01 7.45711524e-03 1.15043449e+02] [-2.71338016e-01 9.62481956e-01 -2.04100066e-03 -1.13129070e+01] [-7.73115559e-03 -5.90315044e-05 9.99970112e-01 -3.19047592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64420382200001 meters 0.015556799631704902 Centerline is valid? [True, True] Translation: X:115.07, Y:-11.32, Z:-3.19 [[ 9.62570465e-01 2.70912528e-01 8.03129433e-03 1.15073417e+02] [-2.70903601e-01 9.62603968e-01 -2.20002264e-03 -1.13232795e+01] [-8.32696949e-03 -5.80297402e-05 9.99965329e-01 -3.19202957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67420382200001 meters 0.01505944492614488 Centerline is valid? [True, True] Translation: X:115.10, Y:-11.33, Z:-3.19 [[ 9.62466141e-01 2.71299683e-01 7.44375520e-03 1.15103451e+02] [-2.71292019e-01 9.62494924e-01 -2.04004544e-03 -1.13340244e+01] [-7.71804028e-03 -5.59567147e-05 9.99970214e-01 -3.19073083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.704203822 meters 0.0158607047741259 Centerline is valid? [True, True] Translation: X:115.13, Y:-11.34, Z:-3.19 [[ 9.62182777e-01 2.72304081e-01 7.40206492e-03 1.15134236e+02] [-2.72296524e-01 9.62211247e-01 -2.02971372e-03 -1.13425700e+01] [-7.67504944e-03 -6.26009600e-05 9.99970544e-01 -3.19254515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.734203822 meters 0.018074174641042336 Centerline is valid? [True, True] Translation: X:115.16, Y:-11.35, Z:-3.19 [[ 9.61526866e-01 2.74592846e-01 8.05322601e-03 1.15163989e+02] [-2.74583934e-01 9.61560587e-01 -2.21385061e-03 -1.13493332e+01] [-8.35157227e-03 -8.26096393e-05 9.99965122e-01 -3.19386440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764203822 meters 0.01887567835184781 Centerline is valid? [True, True] Translation: X:115.19, Y:-11.36, Z:-3.19 [[ 9.61072161e-01 2.76183580e-01 7.93292900e-03 1.15193382e+02] [-2.76174981e-01 9.61104896e-01 -2.18137222e-03 -1.13558186e+01] [-8.22683610e-03 -9.44204051e-05 9.99966155e-01 -3.19354336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.794203822 meters 0.023219375026078834 Centerline is valid? [True, True] Translation: X:115.22, Y:-11.36, Z:-3.20 [[ 9.60442073e-01 2.78363827e-01 8.03764389e-03 1.15222113e+02] [-2.78355072e-01 9.60475698e-01 -2.21078817e-03 -1.13570701e+01] [-8.33536508e-03 -1.13984964e-04 9.99965254e-01 -3.19796021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824203822 meters 0.025439066547287052 Centerline is valid? [True, True] Translation: X:115.25, Y:-11.36, Z:-3.19 [[ 9.58846557e-01 2.83756076e-01 9.78614681e-03 1.15253109e+02] [-2.83743389e-01 9.58896475e-01 -2.69048931e-03 -1.13569004e+01] [-1.01473444e-02 -1.96988044e-04 9.99948495e-01 -3.19177794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.854203822 meters 0.03188119324097207 Centerline is valid? [True, True] Translation: X:115.28, Y:-11.36, Z:-3.19 [[ 9.58046160e-01 2.86388529e-01 1.13651536e-02 1.15282424e+02] [-2.86371600e-01 9.58113533e-01 -3.12479868e-03 -1.13552236e+01] [-1.17840139e-02 -2.60955830e-04 9.99930532e-01 -3.19387986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884203822 meters 0.028644512168290014 Centerline is valid? [True, True] Translation: X:115.31, Y:-11.37, Z:-3.19 [[ 9.57308868e-01 2.88817027e-01 1.20189837e-02 1.15309977e+02] [-2.88798303e-01 9.57384264e-01 -3.30316306e-03 -1.13663523e+01] [-1.24607956e-02 -3.08914806e-04 9.99922314e-01 -3.18766946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914203822 meters 0.03178849844542226 Centerline is valid? [True, True] Translation: X:115.34, Y:-11.37, Z:-3.19 [[ 9.56207243e-01 2.92447700e-01 1.19185366e-02 1.15340068e+02] [-2.92429571e-01 9.56281453e-01 -3.27543705e-03 -1.13676180e+01] [-1.23553695e-02 -3.53335915e-04 9.99923607e-01 -3.18786800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944203822 meters 0.03774090466999437 Centerline is valid? [True, True] Translation: X:115.37, Y:-11.37, Z:-3.19 [[ 9.55995110e-01 2.93140121e-01 1.19255243e-02 1.15369411e+02] [-2.93122024e-01 9.56069421e-01 -3.27733008e-03 -1.13660902e+01] [-1.23623460e-02 -3.62522296e-04 9.99923518e-01 -3.19309579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974203822 meters 0.03774090466999437 Centerline is valid? [True, True] Translation: X:115.40, Y:-11.37, Z:-3.19 [[ 9.56014723e-01 2.93076146e-01 1.19256916e-02 1.15395972e+02] [-2.93058051e-01 9.56089034e-01 -3.27672119e-03 -1.13732455e+01] [-1.23623518e-02 -3.62326234e-04 9.99923518e-01 -3.19387660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00420382200001 meters 0.03642695155127763 Centerline is valid? [True, True] Translation: X:115.42, Y:-11.38, Z:-3.20 [[ 9.56408076e-01 2.91836276e-01 1.07321875e-02 1.15424068e+02] [-2.91821556e-01 9.56468238e-01 -2.94781832e-03 -1.13796453e+01] [-1.11252768e-02 -3.12566399e-04 9.99938063e-01 -3.19791083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03420382200001 meters 0.03227184491441341 Centerline is valid? [True, True] Translation: X:115.45, Y:-11.39, Z:-3.20 [[ 9.57073664e-01 2.89685166e-01 9.61799560e-03 1.15450380e+02] [-2.89673237e-01 9.57121956e-01 -2.64148624e-03 -1.13912986e+01] [-9.97079414e-03 -2.57979002e-04 9.99950257e-01 -3.19927062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064203822 meters 0.028419053292920667 Centerline is valid? [True, True] Translation: X:115.48, Y:-11.40, Z:-3.20 [[ 9.57953681e-01 2.86774010e-01 9.24182302e-03 1.15477169e+02] [-2.86762865e-01 9.57998235e-01 -2.53778469e-03 -1.14033689e+01] [-9.58142083e-03 -2.19131463e-04 9.99954073e-01 -3.19996770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.094203822 meters 0.021036855422348115 Centerline is valid? [True, True] Translation: X:115.50, Y:-11.42, Z:-3.20 [[ 9.60144468e-01 2.79326355e-01 9.96932894e-03 1.15503634e+02] [-2.79313001e-01 9.60196210e-01 -2.73589494e-03 -1.14233987e+01] [-1.03367194e-02 -1.57708788e-04 9.99946562e-01 -3.20000102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124203822 meters 0.01782702383444668 Centerline is valid? [True, True] Translation: X:115.53, Y:-11.44, Z:-3.20 [[ 9.61358912e-01 2.75126130e-01 9.72906598e-03 1.15530916e+02] [-2.75113194e-01 9.61408134e-01 -2.67021920e-03 -1.14375003e+01] [-1.00882502e-02 -1.09555391e-04 9.99949106e-01 -3.20106409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.154203822 meters 0.014856898583333994 Centerline is valid? [True, True] Translation: X:115.56, Y:-11.45, Z:-3.20 [[ 9.62522322e-01 2.71037410e-01 9.46052935e-03 1.15560366e+02] [-2.71025011e-01 9.62568812e-01 -2.59334133e-03 -1.14520011e+01] [-9.80930302e-03 -6.78911501e-05 9.99951885e-01 -3.20177807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184203822 meters 0.01437943888203057 Centerline is valid? [True, True] Translation: X:115.59, Y:-11.47, Z:-3.21 [[ 9.64531336e-01 2.63816416e-01 8.95550787e-03 1.15587165e+02] [-2.63804979e-01 9.64572910e-01 -2.45646931e-03 -1.14706553e+01] [-9.28629722e-03 6.83406033e-06 9.99956881e-01 -3.20560689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.214203822 meters 0.014717030008600819 Centerline is valid? [True, True] Translation: X:115.62, Y:-11.49, Z:-3.20 [[ 9.65355368e-01 2.60782585e-01 9.02539050e-03 1.15616595e+02] [-2.60770824e-01 9.65397557e-01 -2.47690509e-03 -1.14853306e+01] [-9.35902364e-03 3.75351009e-05 9.99956203e-01 -3.20452348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244203822 meters 0.01716238162556787 Centerline is valid? [True, True] Translation: X:115.65, Y:-11.50, Z:-3.20 [[ 9.66530138e-01 2.56341855e-01 1.04088855e-02 1.15645688e+02] [-2.56325932e-01 9.66586180e-01 -2.85875846e-03 -1.15041609e+01] [-1.07939044e-02 9.50089247e-05 9.99941740e-01 -3.20232697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274203822 meters 0.01784457817627176 Centerline is valid? [True, True] Translation: X:115.68, Y:-11.52, Z:-3.20 [[ 9.66878069e-01 2.55025084e-01 1.04406243e-02 1.15676328e+02] [-2.55008959e-01 9.66934431e-01 -2.87000152e-03 -1.15158120e+01] [-1.08273215e-02 1.12488780e-04 9.99941377e-01 -3.20182303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304203822 meters 0.019545131695303197 Centerline is valid? [True, True] Translation: X:115.71, Y:-11.53, Z:-3.20 [[ 9.67129025e-01 2.54084239e-01 1.01315440e-02 1.15705275e+02] [-2.54068983e-01 9.67182085e-01 -2.78697180e-03 -1.15276471e+01] [-1.05071734e-02 1.21250245e-04 9.99944791e-01 -3.20448808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334203822 meters 0.019599068994666912 Centerline is valid? [True, True] Translation: X:115.74, Y:-11.54, Z:-3.21 [[ 9.67214683e-01 2.53754651e-01 1.02144585e-02 1.15736928e+02] [-2.53739114e-01 9.67268609e-01 -2.81086007e-03 -1.15381505e+01] [-1.05933939e-02 1.26897487e-04 9.99943880e-01 -3.20514940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36420382200001 meters 0.01982297902286017 Centerline is valid? [True, True] Translation: X:115.77, Y:-11.55, Z:-3.21 [[ 9.66883628e-01 2.54978307e-01 1.10504567e-02 1.15767094e+02] [-2.54960152e-01 9.66946765e-01 -3.04535808e-03 -1.15466416e+01] [-1.14617036e-02 1.27080742e-04 9.99934304e-01 -3.20652805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39420382200001 meters 0.01709746909289433 Centerline is valid? [True, True] Translation: X:115.80, Y:-11.55, Z:-3.20 [[ 9.66460607e-01 2.56558106e-01 1.14819112e-02 1.15798863e+02] [-2.56538615e-01 9.66528802e-01 -3.16433909e-03 -1.15515943e+01] [-1.19094348e-02 1.12655464e-04 9.99929074e-01 -3.20431392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42420382200001 meters 0.013816279242591841 Centerline is valid? [True, True] Translation: X:115.83, Y:-11.55, Z:-3.20 [[ 9.65321973e-01 2.60782468e-01 1.20827759e-02 1.15831514e+02] [-2.60761185e-01 9.65397586e-01 -3.33234007e-03 -1.15542582e+01] [-1.25336985e-02 6.60621402e-05 9.99921448e-01 -3.20399278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.454203822 meters 0.012929785270147962 Centerline is valid? [True, True] Translation: X:115.86, Y:-11.56, Z:-3.21 [[ 9.64562939e-01 2.63587476e-01 1.18312690e-02 1.15862588e+02] [-2.63567240e-01 9.64635497e-01 -3.26622465e-03 -1.15600187e+01] [-1.22737979e-02 3.21443337e-05 9.99924674e-01 -3.20588538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.484203822 meters 0.013369871204748744 Centerline is valid? [True, True] Translation: X:115.89, Y:-11.56, Z:-3.21 [[ 9.63062508e-01 2.69061181e-01 1.08021223e-02 1.15894747e+02] [-2.69044659e-01 9.63123086e-01 -2.98193798e-03 -1.15619919e+01] [-1.12060971e-02 -3.44606322e-05 9.99937209e-01 -3.20806623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.514203822 meters 0.013859384120914276 Centerline is valid? [True, True] Translation: X:115.93, Y:-11.57, Z:-3.21 [[ 9.62167938e-01 2.72231190e-01 1.10922957e-02 1.15927057e+02] [-2.72213959e-01 9.62231871e-01 -3.06371053e-03 -1.15655261e+01] [-1.15073980e-02 -7.16736873e-05 9.99933785e-01 -3.20740279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544203822 meters 0.01567565278638315 Centerline is valid? [True, True] Translation: X:115.96, Y:-11.57, Z:-3.21 [[ 9.61364594e-01 2.75065221e-01 1.08277920e-02 1.15959161e+02] [-2.75048934e-01 9.61425564e-01 -2.99499306e-03 -1.15680167e+01] [-1.12339345e-02 -9.88923533e-05 9.99936892e-01 -3.20878677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.574203822 meters 0.01906305998950819 Centerline is valid? [True, True] Translation: X:115.99, Y:-11.57, Z:-3.21 [[ 9.60659854e-01 2.77537679e-01 1.02704401e-02 1.15988796e+02] [-2.77523155e-01 9.60714745e-01 -2.84192379e-03 -1.15690851e+01] [-1.06557042e-02 -1.20162857e-04 9.99943219e-01 -3.21270271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604203822 meters 0.021829843477004205 Centerline is valid? [True, True] Translation: X:116.02, Y:-11.57, Z:-3.21 [[ 9.59529305e-01 2.81465122e-01 8.99435714e-03 1.16018516e+02] [-2.81454156e-01 9.59571448e-01 -2.48867449e-03 -1.15722379e+01] [-9.33120338e-03 -1.43543103e-04 9.99956453e-01 -3.21294551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.634203822 meters 0.0228704834107873 Centerline is valid? [True, True] Translation: X:116.05, Y:-11.58, Z:-3.21 [[ 9.59068059e-01 2.83041670e-01 8.71037741e-03 1.16048064e+02] [-2.83031453e-01 9.59107600e-01 -2.40990745e-03 -1.15774164e+01] [-9.03629341e-03 -1.54045512e-04 9.99959160e-01 -3.21299815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664203822 meters 0.025641318664035243 Centerline is valid? [True, True] Translation: X:116.08, Y:-11.58, Z:-3.22 [[ 9.58598033e-01 2.84629271e-01 8.71714442e-03 1.16076229e+02] [-2.84619099e-01 9.58637653e-01 -2.41226337e-03 -1.15789498e+01] [-9.04318363e-03 -1.68674866e-04 9.99959095e-01 -3.21582756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694203822 meters 0.027382454488632375 Centerline is valid? [True, True] Translation: X:116.11, Y:-11.58, Z:-3.22 [[ 9.57740996e-01 2.87517957e-01 8.09998039e-03 1.16106821e+02] [-2.87509287e-01 9.57775230e-01 -2.24035992e-03 -1.15791871e+01] [-8.40210428e-03 -1.83135047e-04 9.99964685e-01 -3.21657428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724203822 meters 0.03030180759981885 Centerline is valid? [True, True] Translation: X:116.14, Y:-11.58, Z:-3.22 [[ 9.57397097e-01 2.88658309e-01 8.19625932e-03 1.16135912e+02] [-2.88649469e-01 9.57432161e-01 -2.26750282e-03 -1.15797732e+01] [-8.50189580e-03 -1.94945278e-04 9.99963839e-01 -3.21966295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75420382200001 meters 0.029419344888934 Centerline is valid? [True, True] Translation: X:116.17, Y:-11.58, Z:-3.22 [[ 9.57180766e-01 2.89343692e-01 9.23089621e-03 1.16165345e+02] [-2.89332520e-01 9.57225249e-01 -2.55269209e-03 -1.15825362e+01] [-9.57465227e-03 -2.27410701e-04 9.99954136e-01 -3.21802181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78420382200001 meters 0.02728686800091836 Centerline is valid? [True, True] Translation: X:116.19, Y:-11.59, Z:-3.22 [[ 9.57351641e-01 2.88784888e-01 9.00687808e-03 1.16192458e+02] [-2.88774231e-01 9.57393984e-01 -2.49034729e-03 -1.15913118e+01] [-9.34230556e-03 -2.16816232e-04 9.99956336e-01 -3.21786798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814203822 meters 0.030485738049944068 Centerline is valid? [True, True] Translation: X:116.22, Y:-11.59, Z:-3.22 [[ 9.57596678e-01 2.87975650e-01 8.86719139e-03 1.16220736e+02] [-2.87965289e-01 9.57637709e-01 -2.45152358e-03 -1.15937794e+01] [-9.19753594e-03 -2.05872492e-04 9.99957681e-01 -3.22272917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.844203822 meters 0.027997887927448083 Centerline is valid? [True, True] Translation: X:116.25, Y:-11.60, Z:-3.22 [[ 9.58020604e-01 2.86518882e-01 1.01711344e-02 1.16249023e+02] [-2.86505182e-01 9.58074570e-01 -2.81060842e-03 -1.16015086e+01] [-1.05499976e-02 -2.21461948e-04 9.99944323e-01 -3.21899065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.874203822 meters 0.024745504491630432 Centerline is valid? [True, True] Translation: X:116.28, Y:-11.61, Z:-3.21 [[ 9.58311548e-01 2.85503883e-01 1.12476681e-02 1.16276908e+02] [-2.85487063e-01 9.58377524e-01 -3.10780289e-03 -1.16103443e+01] [-1.16668021e-02 -2.32820341e-04 9.99931913e-01 -3.21461067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904203822 meters 0.024962244525143264 Centerline is valid? [True, True] Translation: X:116.30, Y:-11.61, Z:-3.21 [[ 9.58591623e-01 2.84522906e-01 1.21990537e-02 1.16304958e+02] [-2.84503047e-01 9.58669212e-01 -3.37012140e-03 -1.16137996e+01] [-1.26537339e-02 -2.40097813e-04 9.99919909e-01 -3.21467926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.934203822 meters 0.022190340545819275 Centerline is valid? [True, True] Translation: X:116.33, Y:-11.62, Z:-3.22 [[ 9.59469248e-01 2.81560107e-01 1.19443640e-02 1.16333859e+02] [-2.81540851e-01 9.59543572e-01 -3.29880654e-03 -1.16173244e+01] [-1.23899500e-02 -1.97722975e-04 9.99923222e-01 -3.21596235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964203822 meters 0.019095079451919253 Centerline is valid? [True, True] Translation: X:116.36, Y:-11.63, Z:-3.22 [[ 9.60022431e-01 2.79708026e-01 1.09704866e-02 1.16360681e+02] [-2.79691665e-01 9.60085098e-01 -3.02945377e-03 -1.16267722e+01] [-1.13799632e-02 -1.60010088e-04 9.99935233e-01 -3.21642808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.994203822 meters 0.018552442766795504 Centerline is valid? [True, True] Translation: X:116.39, Y:-11.63, Z:-3.23 [[ 9.61490854e-01 2.74666504e-01 9.67728650e-03 1.16387365e+02] [-2.74653519e-01 9.61539549e-01 -2.67223352e-03 -1.16348429e+01] [-1.00390667e-02 -8.85727004e-05 9.99949603e-01 -3.22649366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024203822 meters 0.014255704737289569 Centerline is valid? [True, True] Translation: X:116.41, Y:-11.65, Z:-3.22 [[ 9.62384402e-01 2.71532875e-01 9.28230149e-03 1.16413914e+02] [-2.71520790e-01 9.62429163e-01 -2.56239167e-03 -1.16470141e+01] [-9.62933123e-03 -5.43320636e-05 9.99953635e-01 -3.22234554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054203822 meters 0.013990512578340638 Centerline is valid? [True, True] Translation: X:116.44, Y:-11.66, Z:-3.23 [[ 9.63225412e-01 2.68546377e-01 8.92464662e-03 1.16440646e+02] [-2.68535078e-01 9.63266756e-01 -2.46348550e-03 -1.16555532e+01] [-9.25837550e-03 -2.36888466e-05 9.99957140e-01 -3.22577854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084203822 meters 0.014647045081276148 Centerline is valid? [True, True] Translation: X:116.47, Y:-11.67, Z:-3.23 [[ 9.64641329e-01 2.63437872e-01 8.22156433e-03 1.16467220e+02] [-2.63428103e-01 9.64676364e-01 -2.26873539e-03 -1.16650801e+01] [-8.52881961e-03 2.27248225e-05 9.99963629e-01 -3.22916146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11420382200001 meters 0.014460170717515201 Centerline is valid? [True, True] Translation: X:116.50, Y:-11.67, Z:-3.23 [[ 9.65209589e-01 2.61355805e-01 7.97445455e-03 1.16496104e+02] [-2.61346551e-01 9.65242530e-01 -2.19972558e-03 -1.16735029e+01] [-8.27219373e-03 3.91000377e-05 9.99965784e-01 -3.22734884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14420382200001 meters 0.015916922951792544 Centerline is valid? [True, True] Translation: X:116.52, Y:-11.68, Z:-3.23 [[ 9.66006832e-01 2.58395599e-01 7.90661473e-03 1.16524439e+02] [-2.58386404e-01 9.66039187e-01 -2.18080971e-03 -1.16823102e+01] [-8.20161130e-03 6.37153365e-05 9.99966364e-01 -3.22820301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17420382200001 meters 0.018098048456429414 Centerline is valid? [True, True] Translation: X:116.55, Y:-11.69, Z:-3.23 [[ 9.66467103e-01 2.56661070e-01 8.15076097e-03 1.16551149e+02] [-2.56651236e-01 9.66501469e-01 -2.24816179e-03 -1.16913230e+01] [-8.45473806e-03 8.08715264e-05 9.99964255e-01 -3.23112209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.204203822 meters 0.017780675405628905 Centerline is valid? [True, True] Translation: X:116.58, Y:-11.70, Z:-3.23 [[ 9.66912390e-01 2.54974692e-01 8.26654220e-03 1.16580212e+02] [-2.54964520e-01 9.66947722e-01 -2.27950653e-03 -1.16984083e+01] [-8.57453062e-03 9.64081366e-05 9.99963233e-01 -3.22885911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.234203822 meters 0.03220526325174318 Centerline is valid? [True, True] Translation: X:116.61, Y:-11.71, Z:-3.23 [[ 9.67661037e-01 2.52133424e-01 7.80090358e-03 1.16608522e+02] [-2.52124282e-01 9.67692474e-01 -2.15014351e-03 -1.17104510e+01] [-8.09099872e-03 1.13812881e-04 9.99967261e-01 -3.23491719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264203822 meters 0.022157431318487318 Centerline is valid? [True, True] Translation: X:116.64, Y:-11.72, Z:-3.23 [[ 9.67833361e-01 2.51450875e-01 8.42868280e-03 1.16636728e+02] [-2.51440164e-01 9.67870053e-01 -2.32454708e-03 -1.17153152e+01] [-8.74237907e-03 1.30464826e-04 9.99961776e-01 -3.23275558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.294203822 meters 0.021577410074250947 Centerline is valid? [True, True] Translation: X:116.67, Y:-11.72, Z:-3.23 [[ 9.67741908e-01 2.51791160e-01 8.76421743e-03 1.16665814e+02] [-2.51779598e-01 9.67781584e-01 -2.41657781e-03 -1.17192224e+01] [-9.09032115e-03 1.31972480e-04 9.99958673e-01 -3.23256858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324203822 meters 0.02027071652493206 Centerline is valid? [True, True] Translation: X:116.70, Y:-11.72, Z:-3.24 [[ 9.66820935e-01 2.55324238e-01 8.17397068e-03 1.16695159e+02] [-2.55314307e-01 9.66855483e-01 -2.25374262e-03 -1.17183922e+01] [-8.47848349e-03 9.20338852e-05 9.99964053e-01 -3.23767342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.354203822 meters 0.01873456967636213 Centerline is valid? [True, True] Translation: X:116.72, Y:-11.72, Z:-3.24 [[ 9.66182886e-01 2.57733088e-01 8.01781215e-03 1.16723129e+02] [-2.57723621e-01 9.66216151e-01 -2.21013974e-03 -1.17210828e+01] [-8.31656574e-03 6.90196100e-05 9.99965414e-01 -3.23918194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384203822 meters 0.01478508482103763 Centerline is valid? [True, True] Translation: X:116.75, Y:-11.72, Z:-3.24 [[ 9.64967700e-01 2.62236776e-01 8.31934689e-03 1.16754866e+02] [-2.62226757e-01 9.65003561e-01 -2.29250434e-03 -1.17156938e+01] [-8.62937833e-03 3.06372920e-05 9.99962766e-01 -3.23537060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414203822 meters 0.014348727671474035 Centerline is valid? [True, True] Translation: X:116.78, Y:-11.72, Z:-3.24 [[ 9.64563797e-01 2.63731189e-01 7.90829350e-03 1.16784567e+02] [-2.63722188e-01 9.64596216e-01 -2.17891000e-03 -1.17175550e+01] [-8.20295651e-03 1.61052331e-05 9.99966355e-01 -3.23625046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444203822 meters 0.014171900103248652 Centerline is valid? [True, True] Translation: X:116.81, Y:-11.72, Z:-3.24 [[ 9.64353997e-01 2.64500460e-01 7.80226150e-03 1.16813161e+02] [-2.64491723e-01 9.64385559e-01 -2.14982084e-03 -1.17206997e+01] [-8.09301692e-03 9.55472777e-06 9.99967251e-01 -3.23720613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474203822 meters 0.013986654202901343 Centerline is valid? [True, True] Translation: X:116.84, Y:-11.72, Z:-3.24 [[ 9.64354369e-01 2.64468451e-01 8.78007407e-03 1.16840961e+02] [-2.64457397e-01 9.64394338e-01 -2.41805889e-03 -1.17247724e+01] [-9.10695400e-03 9.91011922e-06 9.99958531e-01 -3.23740531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50420382200001 meters 0.013888298092606709 Centerline is valid? [True, True] Translation: X:116.87, Y:-11.73, Z:-3.24 [[ 9.65024346e-01 2.61955584e-01 1.03577699e-02 1.16868373e+02] [-2.61940066e-01 9.65079930e-01 -2.85156980e-03 -1.17310455e+01] [-1.07430605e-02 3.87193583e-05 9.99942291e-01 -3.23595324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53420382200001 meters 0.015169685276561654 Centerline is valid? [True, True] Translation: X:116.90, Y:-11.74, Z:-3.24 [[ 9.65688050e-01 2.59507894e-01 1.01115498e-02 1.16895204e+02] [-2.59492979e-01 9.65740984e-01 -2.78297186e-03 -1.17407772e+01] [-1.04873412e-02 6.36064871e-05 9.99945004e-01 -3.23742026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564203822 meters 0.016684971089129225 Centerline is valid? [True, True] Translation: X:116.92, Y:-11.75, Z:-3.24 [[ 9.66493365e-01 2.56495986e-01 1.00192089e-02 1.16921856e+02] [-2.56481185e-01 9.66545291e-01 -2.75708696e-03 -1.17521624e+01] [-1.03912009e-02 9.49676956e-05 9.99946006e-01 -3.23730459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.594203822 meters 0.027149730071989238 Centerline is valid? [True, True] Translation: X:116.95, Y:-11.77, Z:-3.24 [[ 9.67989754e-01 2.50735264e-01 1.12988183e-02 1.16947454e+02] [-2.50716057e-01 9.68055678e-01 -3.10845403e-03 -1.17676181e+01] [-1.17172843e-02 1.76156476e-04 9.99931335e-01 -3.23530062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624203822 meters 0.02190141874342484 Centerline is valid? [True, True] Translation: X:116.97, Y:-11.78, Z:-3.23 [[ 9.68559658e-01 2.48509500e-01 1.16283003e-02 1.16974572e+02] [-2.48489004e-01 9.68629436e-01 -3.19845507e-03 -1.17773261e+01] [-1.20583605e-02 2.08389789e-04 9.99927274e-01 -3.23469823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.654203822 meters 0.02531974760686087 Centerline is valid? [True, True] Translation: X:117.00, Y:-11.79, Z:-3.24 [[ 9.69212299e-01 2.45946826e-01 1.17336120e-02 1.17001108e+02] [-2.45925779e-01 9.69283292e-01 -3.22657399e-03 -1.17881983e+01] [-1.21667597e-02 2.41637534e-04 9.99925953e-01 -3.23606550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684203822 meters 0.02497810049561485 Centerline is valid? [True, True] Translation: X:117.03, Y:-11.79, Z:-3.24 [[ 9.69357267e-01 2.45370112e-01 1.18320439e-02 1.17029222e+02] [-2.45348671e-01 9.69429443e-01 -3.25336433e-03 -1.17949736e+01] [-1.22686101e-02 2.50696126e-04 9.99924706e-01 -3.23583141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.714203822 meters 0.02557549823729804 Centerline is valid? [True, True] Translation: X:117.06, Y:-11.80, Z:-3.24 [[ 9.69362550e-01 2.45341693e-01 1.19875082e-02 1.17056713e+02] [-2.45319694e-01 9.69436635e-01 -3.29525792e-03 -1.18032287e+01] [-1.24295938e-02 2.53527776e-04 9.99922717e-01 -3.23674870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744203822 meters 0.02420405914984219 Centerline is valid? [True, True] Translation: X:117.09, Y:-11.81, Z:-3.24 [[ 9.69227789e-01 2.45925171e-01 1.08767627e-02 1.17085878e+02] [-2.45907102e-01 9.69288791e-01 -2.98938715e-03 -1.18089475e+01] [-1.12778897e-02 2.22723895e-04 9.99936378e-01 -3.23904922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774203822 meters 0.02389255788198258 Centerline is valid? [True, True] Translation: X:117.11, Y:-11.82, Z:-3.24 [[ 9.69021201e-01 2.46775004e-01 1.00004380e-02 1.17113939e+02] [-2.46759772e-01 9.69072783e-01 -2.74878543e-03 -1.18163017e+01] [-1.03694838e-02 1.95925565e-04 9.99946216e-01 -3.24194717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804203822 meters 0.024097962230898367 Centerline is valid? [True, True] Translation: X:117.14, Y:-11.82, Z:-3.25 [[ 9.68725933e-01 2.47941610e-01 9.74804694e-03 1.17141057e+02] [-2.47927199e-01 9.68774962e-01 -2.67916469e-03 -1.18236637e+01] [-1.01079402e-02 1.78570347e-04 9.99948898e-01 -3.24536873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834203822 meters 0.020365866220196874 Centerline is valid? [True, True] Translation: X:117.17, Y:-11.82, Z:-3.25 [[ 9.67817286e-01 2.51439482e-01 1.03869284e-02 1.17170888e+02] [-2.51423333e-01 9.67873010e-01 -2.85370990e-03 -1.18248133e+01] [-1.07707630e-02 1.50353626e-04 9.99941982e-01 -3.24522344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86420382200001 meters 0.020365866220196874 Centerline is valid? [True, True] Translation: X:117.20, Y:-11.83, Z:-3.25 [[ 9.67829383e-01 2.51392907e-01 1.03870638e-02 1.17198230e+02] [-2.51376760e-01 9.67885109e-01 -2.85321682e-03 -1.18322283e+01] [-1.07707628e-02 1.50360635e-04 9.99941982e-01 -3.24602770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89420382200001 meters 0.01799905585712494 Centerline is valid? [True, True] Translation: X:117.23, Y:-11.84, Z:-3.25 [[ 9.67288782e-01 2.53466717e-01 1.03457834e-02 1.17226880e+02] [-2.53450822e-01 9.67344100e-01 -2.84136207e-03 -1.18351574e+01] [-1.07281233e-02 1.26270338e-04 9.99942444e-01 -3.24632009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92420382200001 meters 0.016662422641878755 Centerline is valid? [True, True] Translation: X:117.26, Y:-11.84, Z:-3.25 [[ 9.66768375e-01 2.55467014e-01 9.77311028e-03 1.17256235e+02] [-2.55452936e-01 9.66817767e-01 -2.68364756e-03 -1.18386855e+01] [-1.01344001e-02 9.78958727e-05 9.99948641e-01 -3.24841679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.954203822 meters 0.01549642423870181 Centerline is valid? [True, True] Translation: X:117.29, Y:-11.84, Z:-3.25 [[ 9.65742116e-01 2.59352725e-01 8.85044983e-03 1.17285231e+02] [-2.59341344e-01 9.65782668e-01 -2.43019942e-03 -1.18380418e+01] [-9.17788989e-03 5.16583788e-05 9.99957881e-01 -3.25317954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.984203822 meters 0.013907211148498454 Centerline is valid? [True, True] Translation: X:117.31, Y:-11.84, Z:-3.25 [[ 9.65350127e-01 2.60790337e-01 9.35589469e-03 1.17314188e+02] [-2.60777696e-01 9.65395462e-01 -2.56803890e-03 -1.18415458e+01] [-9.70185801e-03 3.92480236e-05 9.99952935e-01 -3.25169792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.014203822 meters 0.012920829360348435 Centerline is valid? [True, True] Translation: X:117.34, Y:-11.85, Z:-3.25 [[ 9.64867673e-01 2.62549550e-01 9.90488219e-03 1.17342624e+02] [-2.62535481e-01 9.64918511e-01 -2.71813572e-03 -1.18455009e+01] [-1.02710495e-02 2.22582777e-05 9.99947251e-01 -3.25121473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044203822 meters 0.013523991160206047 Centerline is valid? [True, True] Translation: X:117.37, Y:-11.85, Z:-3.25 [[ 9.64842750e-01 2.62637398e-01 1.00032618e-02 1.17368430e+02] [-2.62623050e-01 9.64894604e-01 -2.74527225e-03 -1.18514275e+01] [-1.03731045e-02 2.16688902e-05 9.99946198e-01 -3.25361310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.074203822 meters 0.027839688116545733 Centerline is valid? [True, True] Translation: X:117.40, Y:-11.86, Z:-3.25 [[ 9.64957286e-01 2.62207974e-01 1.02183351e-02 1.17396324e+02] [-2.62192996e-01 9.65011387e-01 -2.80263785e-03 -1.18573876e+01] [-1.05956838e-02 2.52499037e-05 9.99943864e-01 -3.25081263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104203822 meters 0.01278788076890423 Centerline is valid? [True, True] Translation: X:117.42, Y:-11.87, Z:-3.25 [[ 9.65289817e-01 2.60935753e-01 1.13181810e-02 1.17422860e+02] [-2.60917292e-01 9.65356168e-01 -3.10416558e-03 -1.18655027e+01] [-1.17360636e-02 4.33102880e-05 9.99931129e-01 -3.25151092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.134203822 meters 0.01423801420415747 Centerline is valid? [True, True] Translation: X:117.45, Y:-11.88, Z:-3.25 [[ 9.66362427e-01 2.56877870e-01 1.25466873e-02 1.17449237e+02] [-2.56854868e-01 9.66443868e-01 -3.43904273e-03 -1.18802294e+01] [-1.30090830e-02 1.00683965e-04 9.99915373e-01 -3.25031092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164203822 meters 0.016969177934892984 Centerline is valid? [True, True] Translation: X:117.47, Y:-11.89, Z:-3.25 [[ 9.66985848e-01 2.54487847e-01 1.32025186e-02 1.17474549e+02] [-2.54462162e-01 9.67075962e-01 -3.61820625e-03 -1.18928681e+01] [-1.36886279e-02 1.39212801e-04 9.99906297e-01 -3.25238014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194203822 meters 0.017095057206128802 Centerline is valid? [True, True] Translation: X:117.50, Y:-11.90, Z:-3.25 [[ 9.67622682e-01 2.52031592e-01 1.36536507e-02 1.17501523e+02] [-2.52003891e-01 9.67718991e-01 -3.74088826e-03 -1.19018961e+01] [-1.41557191e-02 1.78995246e-04 9.99899787e-01 -3.24994679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224203822 meters 0.022494682624376757 Centerline is valid? [True, True] Translation: X:117.53, Y:-11.92, Z:-3.25 [[ 9.69009883e-01 2.46625374e-01 1.39918144e-02 1.17525918e+02] [-2.46595738e-01 9.69110858e-01 -3.83223204e-03 -1.19211246e+01] [-1.45047450e-02 2.63148910e-04 9.99894766e-01 -3.25176484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25420382200001 meters 0.024765633220358158 Centerline is valid? [True, True] Translation: X:117.55, Y:-11.94, Z:-3.25 [[ 9.69635403e-01 2.44163457e-01 1.38344046e-02 1.17553193e+02] [-2.44134246e-01 9.69734045e-01 -3.78829093e-03 -1.19351987e+01] [-1.43406554e-02 2.95809062e-04 9.99897124e-01 -3.25226417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28420382200001 meters 0.028263013345385415 Centerline is valid? [True, True] Translation: X:117.58, Y:-11.95, Z:-3.25 [[ 9.70412016e-01 2.41051167e-01 1.39590270e-02 1.17579213e+02] [-2.41021114e-01 9.70512347e-01 -3.82186375e-03 -1.19520836e+01] [-1.44686728e-02 3.44362277e-04 9.99895264e-01 -3.25315403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31420382200001 meters 0.028505294778783937 Centerline is valid? [True, True] Translation: X:117.61, Y:-11.96, Z:-3.25 [[ 9.70482905e-01 2.40762612e-01 1.40105523e-02 1.17607582e+02] [-2.40732311e-01 9.70583970e-01 -3.83560924e-03 -1.19626487e+01] [-1.45218888e-02 3.49600556e-04 9.99894491e-01 -3.25357816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.344203822 meters 0.029797017220755805 Centerline is valid? [True, True] Translation: X:117.64, Y:-11.97, Z:-3.26 [[ 9.70316849e-01 2.41464511e-01 1.34202269e-02 1.17635699e+02] [-2.41436779e-01 9.70409596e-01 -3.67381722e-03 -1.19731798e+01] [-1.39102134e-02 3.24630397e-04 9.99903196e-01 -3.25684625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.374203822 meters 0.025891518365003693 Centerline is valid? [True, True] Translation: X:117.67, Y:-11.97, Z:-3.26 [[ 9.69493617e-01 2.44847816e-01 1.14749174e-02 1.17665644e+02] [-2.44827772e-01 9.69561494e-01 -3.14179215e-03 -1.19743366e+01] [-1.18948990e-02 2.36568977e-04 9.99929225e-01 -3.26059917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404203822 meters 0.022964975858306036 Centerline is valid? [True, True] Translation: X:117.70, Y:-11.98, Z:-3.26 [[ 9.68898627e-01 2.47178926e-01 1.17486234e-02 1.17695111e+02] [-2.47158082e-01 9.68969831e-01 -3.21698542e-03 -1.19781475e+01] [-1.21792326e-02 2.13165533e-04 9.99925808e-01 -3.26162517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.434203822 meters 0.019964765015031593 Centerline is valid? [True, True] Translation: X:117.72, Y:-11.98, Z:-3.26 [[ 9.68142437e-01 2.50113236e-01 1.19829479e-02 1.17723692e+02] [-2.50091781e-01 9.68216575e-01 -3.28086016e-03 -1.19830602e+01] [-1.24226753e-02 1.79503166e-04 9.99922819e-01 -3.26213636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464203822 meters 0.018434950211152698 Centerline is valid? [True, True] Translation: X:117.75, Y:-11.99, Z:-3.27 [[ 9.67333002e-01 2.53244850e-01 1.15718973e-02 1.17751169e+02] [-2.53225072e-01 9.67402206e-01 -3.16775187e-03 -1.19896731e+01] [-1.19968958e-02 1.33976399e-04 9.99928026e-01 -3.26529309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.494203822 meters 0.014507338875754418 Centerline is valid? [True, True] Translation: X:117.78, Y:-11.99, Z:-3.27 [[ 9.65914008e-01 2.58636540e-01 1.08291438e-02 1.17780907e+02] [-2.58619563e-01 9.65974708e-01 -2.96394065e-03 -1.19911314e+01] [-1.12272623e-02 6.22833558e-05 9.99936970e-01 -3.26743194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524203822 meters 0.014028557169927805 Centerline is valid? [True, True] Translation: X:117.81, Y:-12.00, Z:-3.27 [[ 9.65395836e-01 2.60579232e-01 1.04567144e-02 1.17808853e+02] [-2.60563521e-01 9.65452465e-01 -2.86173016e-03 -1.19957423e+01] [-1.08411681e-02 3.80640754e-05 9.99941232e-01 -3.26969634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554203822 meters 0.013850647974538437 Centerline is valid? [True, True] Translation: X:117.84, Y:-12.00, Z:-3.27 [[ 9.64581368e-01 2.63610277e-01 9.61283173e-03 1.17837125e+02] [-2.63597154e-01 9.64629267e-01 -2.63029290e-03 -1.19968802e+01] [-9.96619106e-03 3.21644359e-06 9.99950336e-01 -3.27258127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584203822 meters 0.01312110508156491 Centerline is valid? [True, True] Translation: X:117.87, Y:-12.00, Z:-3.27 [[ 9.64323875e-01 2.64536011e-01 1.00081171e-02 1.17865951e+02] [-2.64521845e-01 9.64375808e-01 -2.73756573e-03 -1.20027209e+01] [-1.03757708e-02 -7.46561749e-06 9.99946170e-01 -3.27115688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61420382200001 meters 0.012182785829322713 Centerline is valid? [True, True] Translation: X:117.89, Y:-12.01, Z:-3.27 [[ 9.64245707e-01 2.64762464e-01 1.14479206e-02 1.17893320e+02] [-2.64743955e-01 9.64313661e-01 -3.13061932e-03 -1.20106980e+01] [-1.18682567e-02 -1.20815353e-05 9.99929570e-01 -3.26866544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64420382200001 meters 0.011722700281733145 Centerline is valid? [True, True] Translation: X:117.92, Y:-12.02, Z:-3.27 [[ 9.64509597e-01 2.63666360e-01 1.41876152e-02 1.17918796e+02] [-2.63637826e-01 9.64613939e-01 -3.87890055e-03 -1.20230136e+01] [-1.47083070e-02 8.44774603e-07 9.99891827e-01 -3.26701799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67420382200001 meters 0.011571028449326587 Centerline is valid? [True, True] Translation: X:117.95, Y:-12.03, Z:-3.27 [[ 9.64911327e-01 2.62173424e-01 1.45336707e-02 1.17945817e+02] [-2.62143330e-01 9.65020774e-01 -3.97232166e-03 -1.20336201e+01] [-1.50667314e-02 2.30333179e-05 9.99886490e-01 -3.26622872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.704203822 meters 0.011932077676027083 Centerline is valid? [True, True] Translation: X:117.97, Y:-12.04, Z:-3.27 [[ 9.65438780e-01 2.60208839e-01 1.48095477e-02 1.17972647e+02] [-2.60177373e-01 9.65552358e-01 -4.04695111e-03 -1.20443146e+01] [-1.53524461e-02 5.39743409e-05 9.99882143e-01 -3.26651427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.734203822 meters 0.012455065355535496 Centerline is valid? [True, True] Translation: X:118.00, Y:-12.05, Z:-3.27 [[ 9.66018503e-01 2.58040514e-01 1.49447352e-02 1.17999600e+02] [-2.58008222e-01 9.66134093e-01 -4.08313303e-03 -1.20545180e+01] [-1.54922319e-02 8.85175021e-05 9.99879984e-01 -3.26582653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764203822 meters 0.015068158687765029 Centerline is valid? [True, True] Translation: X:118.03, Y:-12.07, Z:-3.27 [[ 9.66886491e-01 2.54767607e-01 1.49659254e-02 1.18025568e+02] [-2.54734846e-01 9.67002299e-01 -4.08795783e-03 -1.20684624e+01] [-1.55135635e-02 1.40248495e-04 9.99879648e-01 -3.26878008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.794203822 meters 0.01640096444539132 Centerline is valid? [True, True] Translation: X:118.05, Y:-12.08, Z:-3.27 [[ 9.67168791e-01 2.53697177e-01 1.49087590e-02 1.18051199e+02] [-2.53664543e-01 9.67283680e-01 -4.07206800e-03 -1.20796867e+01] [-1.54540714e-02 1.56553556e-04 9.99880566e-01 -3.27083639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824203822 meters 0.01616560839665682 Centerline is valid? [True, True] Translation: X:118.08, Y:-12.09, Z:-3.27 [[ 9.67263144e-01 2.53338410e-01 1.48882820e-02 1.18078338e+02] [-2.53305845e-01 9.67377705e-01 -4.06503342e-03 -1.20921305e+01] [-1.54324211e-02 1.60668156e-04 9.99880900e-01 -3.27060762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.854203822 meters 0.015599491300178328 Centerline is valid? [True, True] Translation: X:118.11, Y:-12.10, Z:-3.27 [[ 9.67146376e-01 2.53811198e-01 1.44139773e-02 1.18107229e+02] [-2.53780733e-01 9.67253769e-01 -3.93518239e-03 -1.20986678e+01] [-1.49407673e-02 1.47907662e-04 9.99888370e-01 -3.27170991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884203822 meters 0.014653155110319668 Centerline is valid? [True, True] Translation: X:118.13, Y:-12.10, Z:-3.28 [[ 9.66534925e-01 2.56174404e-01 1.35982641e-02 1.18134909e+02] [-2.56147521e-01 9.66630572e-01 -3.71270495e-03 -1.21008074e+01] [-1.40955978e-02 1.05297358e-04 9.99900647e-01 -3.27524256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914203822 meters 0.013237765176809035 Centerline is valid? [True, True] Translation: X:118.16, Y:-12.11, Z:-3.28 [[ 9.66111315e-01 2.57788782e-01 1.31860092e-02 1.18163547e+02] [-2.57763667e-01 9.66201293e-01 -3.59915202e-03 -1.21051093e+01] [-1.36681602e-02 7.83074023e-05 9.99906583e-01 -3.27555775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944203822 meters 0.01256241882453394 Centerline is valid? [True, True] Translation: X:118.19, Y:-12.11, Z:-3.28 [[ 9.65555721e-01 2.59876873e-01 1.28903098e-02 1.18191287e+02] [-2.59853065e-01 9.65641760e-01 -3.51797969e-03 -1.21090310e+01] [-1.33616630e-02 4.72189162e-05 9.99910728e-01 -3.27731748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974203822 meters 0.012053920903095917 Centerline is valid? [True, True] Translation: X:118.22, Y:-12.11, Z:-3.28 [[ 9.64437083e-01 2.64015462e-01 1.25279483e-02 1.18220441e+02] [-2.63993330e-01 9.64518448e-01 -3.41849718e-03 -1.21095773e+01] [-1.29859733e-02 -1.03693344e-05 9.99915679e-01 -3.27893095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00420382200001 meters 0.012555555916158414 Centerline is valid? [True, True] Translation: X:118.25, Y:-12.11, Z:-3.28 [[ 9.64041124e-01 2.65489369e-01 1.18366434e-02 1.18249124e+02] [-2.65469738e-01 9.64113787e-01 -3.22865276e-03 -1.21149026e+01] [-1.22690441e-02 -2.97165918e-05 9.99924732e-01 -3.28070663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03420382200001 meters 0.013907306687500539 Centerline is valid? [True, True] Translation: X:118.28, Y:-12.12, Z:-3.29 [[ 9.63856454e-01 2.66168747e-01 1.16160788e-02 1.18276800e+02] [-2.66149895e-01 9.63926448e-01 -3.16811257e-03 -1.21201563e+01] [-1.20402981e-02 -3.80124083e-05 9.99927512e-01 -3.28523265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06420382200001 meters 0.01240988942914294 Centerline is valid? [True, True] Translation: X:118.30, Y:-12.13, Z:-3.28 [[ 9.63972835e-01 2.65711658e-01 1.23970613e-02 1.18304756e+02] [-2.65690162e-01 9.64052547e-01 -3.38000056e-03 -1.21273860e+01] [-1.28495241e-02 -3.55485084e-05 9.99917441e-01 -3.28156589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.094203822 meters 0.011332037987716379 Centerline is valid? [True, True] Translation: X:118.33, Y:-12.14, Z:-3.28 [[ 9.64972127e-01 2.61926636e-01 1.49409128e-02 1.18331323e+02] [-2.61894972e-01 9.65087787e-01 -4.07265687e-03 -1.21353584e+01] [-1.54860298e-02 1.70504352e-05 9.99880084e-01 -3.27939221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124203822 meters 0.01271133071485444 Centerline is valid? [True, True] Translation: X:118.36, Y:-12.15, Z:-3.28 [[ 9.66021799e-01 2.58003210e-01 1.53696991e-02 1.18356283e+02] [-2.57969223e-01 9.66144056e-01 -4.18846717e-03 -1.21479182e+01] [-1.59299814e-02 8.12412621e-05 9.99873106e-01 -3.28002192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.154203822 meters 0.020182982718931167 Centerline is valid? [True, True] Translation: X:118.38, Y:-12.17, Z:-3.28 [[ 9.68656775e-01 2.47915076e-01 1.55617393e-02 1.18381492e+02] [-2.47878964e-01 9.68781737e-01 -4.23861124e-03 -1.21730488e+01] [-1.61267444e-02 2.48331693e-04 9.99869925e-01 -3.27985672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184203822 meters 0.03012141756214473 Centerline is valid? [True, True] Translation: X:118.41, Y:-12.20, Z:-3.28 [[ 9.70047782e-01 2.42417701e-01 1.55228797e-02 1.18406495e+02] [-2.42381054e-01 9.70171914e-01 -4.22862139e-03 -1.21967701e+01] [-1.60849546e-02 3.39512847e-04 9.99870571e-01 -3.28464764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.214203822 meters 0.0364945483944027 Centerline is valid? [True, True] Translation: X:118.43, Y:-12.22, Z:-3.28 [[ 9.72602643e-01 2.31921685e-01 1.60134644e-02 1.18432588e+02] [-2.31881249e-01 9.72734317e-01 -4.36294372e-03 -1.22199139e+01] [-1.65887076e-02 5.30188467e-04 9.99862257e-01 -3.28230126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244203822 meters 0.04089089844384386 Centerline is valid? [True, True] Translation: X:118.46, Y:-12.24, Z:-3.28 [[ 9.73438548e-01 2.28373837e-01 1.62106032e-02 1.18458596e+02] [-2.28331897e-01 9.73573332e-01 -4.41731204e-03 -1.22370992e+01] [-1.67910095e-02 5.98584023e-04 9.99858842e-01 -3.28358827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274203822 meters 0.04621254598266636 Centerline is valid? [True, True] Translation: X:118.48, Y:-12.25, Z:-3.29 [[ 9.74023428e-01 2.25932741e-01 1.52563945e-02 1.18484903e+02] [-2.25895295e-01 9.74142717e-01 -4.15729471e-03 -1.22548617e+01] [-1.58011746e-02 6.02954716e-04 9.99874972e-01 -3.28690417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304203822 meters 0.04157305378860277 Centerline is valid? [True, True] Translation: X:118.52, Y:-12.26, Z:-3.29 [[ 9.74181513e-01 2.25326544e-01 1.40829092e-02 1.18516651e+02] [-2.25294610e-01 9.74283137e-01 -3.83505267e-03 -1.22606191e+01] [-1.45848801e-02 5.63233892e-04 9.99893476e-01 -3.28782538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334203822 meters 0.0399384710163515 Centerline is valid? [True, True] Translation: X:118.55, Y:-12.27, Z:-3.29 [[ 9.73383642e-01 2.28841304e-01 1.24877242e-02 1.18545113e+02] [-2.28816429e-01 9.73463635e-01 -3.40477495e-03 -1.22706963e+01] [-1.29354985e-02 4.56755785e-04 9.99916229e-01 -3.29133828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36420382200001 meters 0.038464304767404325 Centerline is valid? [True, True] Translation: X:118.57, Y:-12.28, Z:-3.29 [[ 9.72495850e-01 2.32594634e-01 1.23108934e-02 1.18573481e+02] [-2.32570748e-01 9.72573686e-01 -3.35747032e-03 -1.22781920e+01] [-1.27541805e-02 4.01972273e-04 9.99918581e-01 -3.29385096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39420382200001 meters 0.03351349377980973 Centerline is valid? [True, True] Translation: X:118.60, Y:-12.28, Z:-3.29 [[ 9.71293256e-01 2.37584533e-01 1.19582861e-02 1.18603767e+02] [-2.37562377e-01 9.71366812e-01 -3.26095834e-03 -1.22816074e+01] [-1.23906355e-02 3.26507968e-04 9.99923180e-01 -3.29474277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42420382200001 meters 0.020738274349784962 Centerline is valid? [True, True] Translation: X:118.64, Y:-12.28, Z:-3.30 [[ 9.68306977e-01 2.49510360e-01 1.12329074e-02 1.18637331e+02] [-2.49491607e-01 9.68372115e-01 -3.06343269e-03 -1.22755682e+01] [-1.16419925e-02 1.63827124e-04 9.99932216e-01 -3.29613230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.454203822 meters 0.015367212135916462 Centerline is valid? [True, True] Translation: X:118.67, Y:-12.28, Z:-3.30 [[ 9.66605440e-01 2.56002294e-01 1.16939856e-02 1.18667268e+02] [-2.55982447e-01 9.66676170e-01 -3.18892263e-03 -1.22755613e+01] [-1.21206688e-02 8.89748931e-05 9.99926538e-01 -3.29650219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.484203822 meters 0.01392897342974485 Centerline is valid? [True, True] Translation: X:118.70, Y:-12.26, Z:-3.29 [[ 9.62988905e-01 2.69224232e-01 1.30645118e-02 1.18700229e+02] [-2.69200669e-01 9.63077518e-01 -3.56292633e-03 -1.22646454e+01] [-1.35413637e-02 -8.59167933e-05 9.99908308e-01 -3.29492138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.514203822 meters 0.018992508314444063 Centerline is valid? [True, True] Translation: X:118.73, Y:-12.26, Z:-3.30 [[ 9.61205601e-01 2.75513667e-01 1.32669269e-02 1.18730436e+02] [-2.75489976e-01 9.61297138e-01 -3.61734069e-03 -1.22612039e+01] [-1.37500856e-02 -1.77897224e-04 9.99905447e-01 -3.29555735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544203822 meters 0.024048647886948427 Centerline is valid? [True, True] Translation: X:118.76, Y:-12.26, Z:-3.30 [[ 9.59571184e-01 2.81158805e-01 1.31479528e-02 1.18761152e+02] [-2.81136076e-01 9.59661222e-01 -3.58421687e-03 -1.22588267e+01] [-1.36253146e-02 -2.57052637e-04 9.99907138e-01 -3.29636340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.574203822 meters 0.029851050808332544 Centerline is valid? [True, True] Translation: X:118.79, Y:-12.26, Z:-3.30 [[ 9.58113885e-01 2.86080777e-01 1.32504020e-02 1.18792056e+02] [-2.86058175e-01 9.58205448e-01 -3.61115898e-03 -1.22566058e+01] [-1.37296905e-02 -3.30484256e-04 9.99905689e-01 -3.29820252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604203822 meters 0.0380513887690859 Centerline is valid? [True, True] Translation: X:118.82, Y:-12.25, Z:-3.30 [[ 9.56049867e-01 2.92947266e-01 1.22699310e-02 1.18824040e+02] [-2.92928448e-01 9.56128517e-01 -3.34401489e-03 -1.22511173e+01] [-1.27112510e-02 -3.97166858e-04 9.99919130e-01 -3.30213797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.634203822 meters 0.040239231657951124 Centerline is valid? [True, True] Translation: X:118.85, Y:-12.26, Z:-3.30 [[ 9.55530078e-01 2.94660656e-01 1.17203918e-02 1.18853139e+02] [-2.94643612e-01 9.55601872e-01 -3.19449582e-03 -1.22550772e+01] [-1.21413205e-02 -4.00901725e-04 9.99926211e-01 -3.30411284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664203822 meters 0.03801916864193306 Centerline is valid? [True, True] Translation: X:118.88, Y:-12.26, Z:-3.30 [[ 9.55373943e-01 2.95183762e-01 1.12772017e-02 1.18880655e+02] [-2.95168021e-01 9.55440418e-01 -3.07355441e-03 -1.22642976e+01] [-1.16819577e-02 -3.92275506e-04 9.99931687e-01 -3.30424997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694203822 meters 0.03616008204722526 Centerline is valid? [True, True] Translation: X:118.91, Y:-12.27, Z:-3.31 [[ 9.56281667e-01 2.92265947e-01 1.02951849e-02 1.18908247e+02] [-2.92252663e-01 9.56337028e-01 -2.80548892e-03 -1.22708624e+01] [-1.06656154e-02 -3.25957593e-04 9.99943068e-01 -3.30789911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724203822 meters 0.033121241378454194 Centerline is valid? [True, True] Translation: X:118.94, Y:-12.28, Z:-3.31 [[ 9.57326098e-01 2.88833218e-01 1.01051281e-02 1.18935484e+02] [-2.88820236e-01 9.57379388e-01 -2.75299417e-03 -1.22803811e+01] [-1.04695975e-02 -2.83052313e-04 9.99945152e-01 -3.30977756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75420382200001 meters 0.024741117752236995 Centerline is valid? [True, True] Translation: X:118.96, Y:-12.30, Z:-3.31 [[ 9.59921194e-01 2.80078237e-01 1.03673822e-02 1.18961556e+02] [-2.80064073e-01 9.59977158e-01 -2.82342054e-03 -1.22981135e+01] [-1.07432287e-02 -1.93270065e-04 9.99942271e-01 -3.31154675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78420382200001 meters 0.024741117752236995 Centerline is valid? [True, True] Translation: X:118.99, Y:-12.31, Z:-3.31 [[ 9.59940687e-01 2.80011432e-01 1.03670770e-02 1.18988123e+02] [-2.79997251e-01 9.59996647e-01 -2.82454141e-03 -1.23052075e+01] [-1.07432630e-02 -1.91360838e-04 9.99942271e-01 -3.31232750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81420382200001 meters 0.020550391144297728 Centerline is valid? [True, True] Translation: X:119.01, Y:-12.32, Z:-3.31 [[ 9.61272036e-01 2.75419276e-01 1.00147727e-02 1.19014456e+02] [-2.75405799e-01 9.61324193e-01 -2.72800126e-03 -1.23193353e+01] [-1.03787874e-02 -1.35775146e-04 9.99946130e-01 -3.31423917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.844203822 meters 0.016680436453658173 Centerline is valid? [True, True] Translation: X:119.04, Y:-12.33, Z:-3.31 [[ 9.62558723e-01 2.70892574e-01 9.89532738e-03 1.19040466e+02] [-2.70879191e-01 9.62609581e-01 -2.69412125e-03 -1.23324269e+01] [-1.02551544e-02 -8.71883586e-05 9.99947411e-01 -3.31441340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.874203822 meters 0.01299760151872619 Centerline is valid? [True, True] Translation: X:119.07, Y:-12.35, Z:-3.31 [[ 9.64654077e-01 2.63309979e-01 1.05055474e-02 1.19066218e+02] [-2.63294450e-01 9.64711281e-01 -2.85967031e-03 -1.23467711e+01] [-1.08877998e-02 -7.45971002e-06 9.99940726e-01 -3.31374149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904203822 meters 0.01308439141127035 Centerline is valid? [True, True] Translation: X:119.09, Y:-12.36, Z:-3.31 [[ 9.65484637e-01 2.60274067e-01 9.84001745e-03 1.19093730e+02] [-2.60260292e-01 9.65534779e-01 -2.67789726e-03 -1.23567488e+01] [-1.01978663e-02 2.45028551e-05 9.99948000e-01 -3.31390625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.934203822 meters 0.014747399429265009 Centerline is valid? [True, True] Translation: X:119.12, Y:-12.37, Z:-3.32 [[ 9.66164524e-01 2.57757669e-01 9.33258552e-03 1.19119826e+02] [-2.57745159e-01 9.66209595e-01 -2.53996867e-03 -1.23666430e+01] [-9.67193008e-03 4.85988820e-05 9.99953225e-01 -3.31718071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964203822 meters 0.016043174120276307 Centerline is valid? [True, True] Translation: X:119.15, Y:-12.38, Z:-3.32 [[ 9.66909644e-01 2.54902185e-01 1.05174750e-02 1.19147402e+02] [-2.54886140e-01 9.66966839e-01 -2.86125287e-03 -1.23769688e+01] [-1.08993891e-02 8.58143917e-05 9.99940596e-01 -3.31623039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.994203822 meters 0.016840645112139705 Centerline is valid? [True, True] Translation: X:119.17, Y:-12.38, Z:-3.32 [[ 9.67127245e-01 2.54062416e-01 1.08250340e-02 1.19173785e+02] [-2.54045371e-01 9.67187820e-01 -2.94453116e-03 -1.23848828e+01] [-1.12179357e-02 9.76865320e-05 9.99937072e-01 -3.31691326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024203822 meters 0.017865082214604026 Centerline is valid? [True, True] Translation: X:119.20, Y:-12.39, Z:-3.32 [[ 9.67537646e-01 2.52486255e-01 1.10269620e-02 1.19201075e+02] [-2.52468477e-01 9.67600474e-01 -2.99850277e-03 -1.23930918e+01] [-1.14267744e-02 1.17204018e-04 9.99934705e-01 -3.31769880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054203822 meters 0.018706492133512047 Centerline is valid? [True, True] Translation: X:119.23, Y:-12.40, Z:-3.32 [[ 9.67816982e-01 2.51394139e-01 1.14576190e-02 1.19228583e+02] [-2.51374876e-01 9.67884791e-01 -3.11496535e-03 -1.24008955e+01] [-1.18727392e-02 1.34558815e-04 9.99929507e-01 -3.31825959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084203822 meters 0.01965674696973522 Centerline is valid? [True, True] Translation: X:119.26, Y:-12.41, Z:-3.32 [[ 9.68116292e-01 2.50214516e-01 1.19808711e-02 1.19255571e+02] [-2.50193369e-01 9.68190411e-01 -3.25674286e-03 -1.24084943e+01] [-1.24146489e-02 1.55371311e-04 9.99922923e-01 -3.31914724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11420382200001 meters 0.020742355420684748 Centerline is valid? [True, True] Translation: X:119.28, Y:-12.42, Z:-3.32 [[ 9.68346692e-01 2.49329962e-01 1.18005627e-02 1.19283612e+02] [-2.49309392e-01 9.68418579e-01 -3.20680900e-03 -1.24168084e+01] [-1.22274377e-02 1.63311771e-04 9.99925229e-01 -3.32120238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14420382200001 meters 0.021792188414151186 Centerline is valid? [True, True] Translation: X:119.31, Y:-12.43, Z:-3.32 [[ 9.68607159e-01 2.48319716e-01 1.17255917e-02 1.19311399e+02] [-2.48299340e-01 9.68678114e-01 -3.18585641e-03 -1.24254819e+01] [-1.21494350e-02 1.74386645e-04 9.99926178e-01 -3.32231394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17420382200001 meters 0.021563849022319042 Centerline is valid? [True, True] Translation: X:119.34, Y:-12.43, Z:-3.32 [[ 9.68547351e-01 2.48539411e-01 1.20079173e-02 1.19339742e+02] [-2.48518066e-01 9.68621769e-01 -3.26192428e-03 -1.24326788e+01] [-1.24418468e-02 1.75143737e-04 9.99922582e-01 -3.32279277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.204203822 meters 0.02021089482090227 Centerline is valid? [True, True] Translation: X:119.37, Y:-12.44, Z:-3.32 [[ 9.68278437e-01 2.49583263e-01 1.20442512e-02 1.19368334e+02] [-2.49561878e-01 9.68353328e-01 -3.27119835e-03 -1.24372714e+01] [-1.24795271e-02 1.61644876e-04 9.99922115e-01 -3.32331021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.234203822 meters 0.01926495005258602 Centerline is valid? [True, True] Translation: X:119.40, Y:-12.44, Z:-3.32 [[ 9.67938584e-01 2.50903238e-01 1.19358219e-02 1.19395413e+02] [-2.50882340e-01 9.68012162e-01 -3.24135221e-03 -1.24419199e+01] [-1.23672866e-02 1.42942919e-04 9.99923512e-01 -3.32472314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264203822 meters 0.017467203321324305 Centerline is valid? [True, True] Translation: X:119.42, Y:-12.44, Z:-3.32 [[ 9.67486489e-01 2.52635281e-01 1.20543734e-02 1.19424374e+02] [-2.52614113e-01 9.67561574e-01 -3.27258490e-03 -1.24447436e+01] [-1.24901190e-02 1.21076821e-04 9.99921988e-01 -3.32490234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.294203822 meters 0.014734564257913484 Centerline is valid? [True, True] Translation: X:119.45, Y:-12.44, Z:-3.33 [[ 9.66392330e-01 2.56743194e-01 1.29921907e-02 1.19454241e+02] [-2.56718983e-01 9.66479657e-01 -3.52660689e-03 -1.24419954e+01] [-1.34621204e-02 7.27438496e-05 9.99909379e-01 -3.32566831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324203822 meters 0.013103985573500369 Centerline is valid? [True, True] Translation: X:119.48, Y:-12.44, Z:-3.32 [[ 9.65886756e-01 2.58645341e-01 1.28592994e-02 1.19483384e+02] [-2.58621804e-01 9.65972352e-01 -3.48957234e-03 -1.24437957e+01] [-1.33242893e-02 4.48365153e-05 9.99911227e-01 -3.32485199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.354203822 meters 0.012944269158272445 Centerline is valid? [True, True] Translation: X:119.51, Y:-12.45, Z:-3.33 [[ 9.65549223e-01 2.59918715e-01 1.25283755e-02 1.19510803e+02] [-2.59896481e-01 9.65630499e-01 -3.39972882e-03 -1.24473950e+01] [-1.29814347e-02 2.65248028e-05 9.99915737e-01 -3.32693583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384203822 meters 0.01285105957780906 Centerline is valid? [True, True] Translation: X:119.54, Y:-12.45, Z:-3.33 [[ 9.65180820e-01 2.61308769e-01 1.19879902e-02 1.19540129e+02] [-2.61288538e-01 9.65255265e-01 -3.25154684e-03 -1.24508383e+01] [-1.24211283e-02 6.00622230e-06 9.99922855e-01 -3.32902563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414203822 meters 0.013351642136006482 Centerline is valid? [True, True] Translation: X:119.57, Y:-12.46, Z:-3.33 [[ 9.65122344e-01 2.61540238e-01 1.16432470e-02 1.19567300e+02] [-2.61521175e-01 9.65192573e-01 -3.15768615e-03 -1.24567455e+01] [-1.20638376e-02 2.59781353e-06 9.99927229e-01 -3.33157037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444203822 meters 0.012458919495937306 Centerline is valid? [True, True] Translation: X:119.60, Y:-12.46, Z:-3.33 [[ 9.65240160e-01 2.61071150e-01 1.23809769e-02 1.19595449e+02] [-2.61049570e-01 9.65319561e-01 -3.35669256e-03 -1.24631881e+01] [-1.28279348e-02 7.96575616e-06 9.99917719e-01 -3.33008168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474203822 meters 0.012445513283561822 Centerline is valid? [True, True] Translation: X:119.62, Y:-12.47, Z:-3.33 [[ 9.65288554e-01 2.60845195e-01 1.33338320e-02 1.19622319e+02] [-2.60820149e-01 9.65380642e-01 -3.61466761e-03 -1.24695736e+01] [-1.38150920e-02 1.14652185e-05 9.99904567e-01 -3.33041323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50420382200001 meters 0.011683041251696752 Centerline is valid? [True, True] Translation: X:119.65, Y:-12.48, Z:-3.33 [[ 9.65198258e-01 2.61124997e-01 1.43547477e-02 1.19650924e+02] [-2.61096027e-01 9.65304996e-01 -3.88963454e-03 -1.24752864e+01] [-1.48723905e-02 6.30089045e-06 9.99889400e-01 -3.32838518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53420382200001 meters 0.011747873478858266 Centerline is valid? [True, True] Translation: X:119.68, Y:-12.48, Z:-3.33 [[ 9.65073970e-01 2.61558445e-01 1.48125517e-02 1.19679233e+02] [-2.61527658e-01 9.65187640e-01 -4.01302304e-03 -1.24761827e+01] [-1.53465319e-02 -1.02787483e-06 9.99882235e-01 -3.32864714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56420382200001 meters 0.011789876495817243 Centerline is valid? [True, True] Translation: X:119.71, Y:-12.48, Z:-3.33 [[ 9.65089162e-01 2.61497061e-01 1.49062372e-02 1.19705356e+02] [-2.61465886e-01 9.65204272e-01 -4.03772273e-03 -1.24812085e+01] [-1.54434165e-02 -7.10073223e-07 9.99880743e-01 -3.33014251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.594203822 meters 0.01229227282249419 Centerline is valid? [True, True] Translation: X:119.73, Y:-12.49, Z:-3.33 [[ 9.65145160e-01 2.61310094e-01 1.45552067e-02 1.19732386e+02] [-2.61280373e-01 9.65254907e-01 -3.94106585e-03 -1.24881387e+01] [-1.50793250e-02 7.10797022e-07 9.99886301e-01 -3.33314074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624203822 meters 0.01226740612911312 Centerline is valid? [True, True] Translation: X:119.76, Y:-12.50, Z:-3.33 [[ 9.65495731e-01 2.60077329e-01 1.33332706e-02 1.19760157e+02] [-2.60052283e-01 9.65587791e-01 -3.60935654e-03 -1.24967166e+01] [-1.38131551e-02 1.74708713e-05 9.99904594e-01 -3.33448326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.654203822 meters 0.012538448285534635 Centerline is valid? [True, True] Translation: X:119.79, Y:-12.50, Z:-3.34 [[ 9.65686311e-01 2.59374968e-01 1.32127193e-02 1.19788033e+02] [-2.59350316e-01 9.65776695e-01 -3.57605133e-03 -1.25035619e+01] [-1.36880746e-02 2.66208987e-05 9.99906314e-01 -3.33553851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684203822 meters 0.012322664276890443 Centerline is valid? [True, True] Translation: X:119.82, Y:-12.51, Z:-3.33 [[ 9.65855058e-01 2.58711701e-01 1.38659036e-02 1.19816496e+02] [-2.58684495e-01 9.65954582e-01 -3.75205339e-03 -1.25095289e+01] [-1.43645333e-02 3.70454670e-05 9.99896824e-01 -3.33481137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.714203822 meters 0.012166264490959509 Centerline is valid? [True, True] Translation: X:119.84, Y:-12.51, Z:-3.33 [[ 9.65846024e-01 2.58711211e-01 1.44902366e-02 1.19844900e+02] [-2.58681509e-01 9.65954713e-01 -3.92034183e-03 -1.25121503e+01] [-1.50111488e-02 3.80902926e-05 9.99887326e-01 -3.33444483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744203822 meters 0.012387275992836956 Centerline is valid? [True, True] Translation: X:119.87, Y:-12.52, Z:-3.34 [[ 9.65808476e-01 2.58866537e-01 1.42163019e-02 1.19872437e+02] [-2.58837972e-01 9.65913099e-01 -3.84570899e-03 -1.25168790e+01] [-1.47272376e-02 3.44995959e-05 9.99891548e-01 -3.33606702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774203822 meters 0.012822026689742807 Centerline is valid? [True, True] Translation: X:119.90, Y:-12.52, Z:-3.34 [[ 9.65751034e-01 2.59139339e-01 1.31050788e-02 1.19900451e+02] [-2.59115104e-01 9.65839947e-01 -3.54410727e-03 -1.25191242e+01] [-1.35758262e-02 2.70014069e-05 9.99907844e-01 -3.33943588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804203822 meters 0.012841714447445758 Centerline is valid? [True, True] Translation: X:119.93, Y:-12.52, Z:-3.34 [[ 9.65771640e-01 2.59060188e-01 1.31513277e-02 1.19927884e+02] [-2.59035794e-01 9.65861180e-01 -3.55513126e-03 -1.25241852e+01] [-1.36233498e-02 2.67803438e-05 9.99907198e-01 -3.34007253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834203822 meters 0.012556123654015212 Centerline is valid? [True, True] Translation: X:119.96, Y:-12.53, Z:-3.34 [[ 9.65913604e-01 2.58494840e-01 1.38321307e-02 1.19956633e+02] [-2.58467821e-01 9.66012638e-01 -3.73751782e-03 -1.25304210e+01] [-1.43281421e-02 3.49586333e-05 9.99897346e-01 -3.33929143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86420382200001 meters 0.012410733545808154 Centerline is valid? [True, True] Translation: X:119.99, Y:-12.54, Z:-3.34 [[ 9.66216009e-01 2.57295055e-01 1.50292482e-02 1.19985133e+02] [-2.57263019e-01 9.66332888e-01 -4.06048800e-03 -1.25367346e+01] [-1.55680003e-02 5.68387370e-05 9.99878810e-01 -3.33742721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89420382200001 meters 0.014733303705282846 Centerline is valid? [True, True] Translation: X:120.01, Y:-12.54, Z:-3.34 [[ 9.67344887e-01 2.52947961e-01 1.61616196e-02 1.20011807e+02] [-2.52910322e-01 9.67479876e-01 -4.36563131e-03 -1.25441147e+01] [-1.67403192e-02 1.35630724e-04 9.99859862e-01 -3.33589745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92420382200001 meters 0.017219653803746016 Centerline is valid? [True, True] Translation: X:120.04, Y:-12.55, Z:-3.34 [[ 9.68085144e-01 2.50115546e-01 1.59175362e-02 1.20038454e+02] [-2.50078670e-01 9.68215979e-01 -4.29856174e-03 -1.25547732e+01] [-1.64867500e-02 1.80737468e-04 9.99864068e-01 -3.33733373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.954203822 meters 0.030487360058946474 Centerline is valid? [True, True] Translation: X:120.06, Y:-12.57, Z:-3.34 [[ 9.69694013e-01 2.43716822e-01 1.71939312e-02 1.20064421e+02] [-2.43672807e-01 9.69846387e-01 -4.64215628e-03 -1.25711745e+01] [-1.78068436e-02 3.11777683e-04 9.99841397e-01 -3.33724992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.984203822 meters 0.025416684036516226 Centerline is valid? [True, True] Translation: X:120.09, Y:-12.58, Z:-3.34 [[ 9.70503976e-01 2.40434852e-01 1.76950484e-02 1.20092255e+02] [-2.40387703e-01 9.70665203e-01 -4.77662460e-03 -1.25822741e+01] [-1.83244348e-02 3.82061121e-04 9.99832020e-01 -3.33625967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.014203822 meters 0.02791364699396368 Centerline is valid? [True, True] Translation: X:120.12, Y:-12.59, Z:-3.34 [[ 9.71297782e-01 2.37220440e-01 1.75237236e-02 1.20119806e+02] [-2.37173683e-01 9.71455748e-01 -4.73006230e-03 -1.25924794e+01] [-1.81455895e-02 4.38132956e-04 9.99835259e-01 -3.33716121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044203822 meters 0.0347162885338996 Centerline is valid? [True, True] Translation: X:120.15, Y:-12.61, Z:-3.34 [[ 9.72559235e-01 2.31984889e-01 1.76506730e-02 1.20145953e+02] [-2.31936606e-01 9.72719241e-01 -4.76337734e-03 -1.26092421e+01] [-1.82741808e-02 5.38829422e-04 9.99832868e-01 -3.33862831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.074203822 meters 0.03592683066910014 Centerline is valid? [True, True] Translation: X:120.17, Y:-12.62, Z:-3.34 [[ 9.72984218e-01 2.30186323e-01 1.77754790e-02 1.20173726e+02] [-2.30137055e-01 9.73146404e-01 -4.79707320e-03 -1.26185099e+01] [-1.84023641e-02 5.76680128e-04 9.99830496e-01 -3.33898995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104203822 meters 0.038737445525961645 Centerline is valid? [True, True] Translation: X:120.20, Y:-12.63, Z:-3.34 [[ 9.73164161e-01 2.29478704e-01 1.70598887e-02 1.20200007e+02] [-2.29433225e-01 9.73313518e-01 -4.60334127e-03 -1.26299296e+01] [-1.76609891e-02 5.65701458e-04 9.99843873e-01 -3.34201845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.134203822 meters 0.03746415653463129 Centerline is valid? [True, True] Translation: X:120.23, Y:-12.64, Z:-3.35 [[ 9.73046621e-01 2.30163546e-01 1.43183844e-02 1.20228200e+02] [-2.30131592e-01 9.73151852e-01 -3.86304389e-03 -1.26390395e+01] [-1.48230941e-02 4.63809213e-04 9.99890024e-01 -3.34707374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164203822 meters 0.03709369994594604 Centerline is valid? [True, True] Translation: X:120.25, Y:-12.65, Z:-3.35 [[ 9.72825216e-01 2.31120402e-01 1.39448443e-02 1.20254979e+02] [-2.31090193e-01 9.72925058e-01 -3.76226728e-03 -1.26484984e+01] [-1.44368252e-02 4.37511727e-04 9.99895688e-01 -3.34841629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194203822 meters 0.03593796285457525 Centerline is valid? [True, True] Translation: X:120.28, Y:-12.66, Z:-3.35 [[ 9.72511929e-01 2.32399193e-01 1.45314752e-02 1.20281902e+02] [-2.32366540e-01 9.72620391e-01 -3.91991085e-03 -1.26561806e+01] [-1.50445932e-02 4.35531447e-04 9.99886729e-01 -3.34857999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224203822 meters 0.030435496830322088 Centerline is valid? [True, True] Translation: X:120.31, Y:-12.66, Z:-3.35 [[ 9.71428287e-01 2.36857585e-01 1.50188849e-02 1.20312385e+02] [-2.36823262e-01 9.71544308e-01 -4.04977856e-03 -1.26587587e+01] [-1.55507329e-02 3.77248150e-04 9.99879009e-01 -3.34772940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25420382200001 meters 0.02534436389595162 Centerline is valid? [True, True] Translation: X:120.34, Y:-12.66, Z:-3.35 [[ 9.70665030e-01 2.39943587e-01 1.53777394e-02 1.20342782e+02] [-2.39907991e-01 9.70786775e-01 -4.14650461e-03 -1.26604884e+01] [-1.59234332e-02 3.35624463e-04 9.99873158e-01 -3.34679102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28420382200001 meters 0.018532252122298296 Centerline is valid? [True, True] Translation: X:120.37, Y:-12.66, Z:-3.34 [[ 9.68856099e-01 2.47039143e-01 1.70153405e-02 1.20372850e+02] [-2.46996664e-01 9.69005471e-01 -4.58742036e-03 -1.26635556e+01] [-1.76212304e-02 2.41817851e-04 9.99844705e-01 -3.34495110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31420382200001 meters 0.01484457734765804 Centerline is valid? [True, True] Translation: X:120.40, Y:-12.67, Z:-3.34 [[ 9.67895614e-01 2.50718139e-01 1.78464496e-02 1.20401243e+02] [-2.50672032e-01 9.68060112e-01 -4.81162450e-03 -1.26691953e+01] [-1.84827976e-02 1.83544459e-04 9.99829162e-01 -3.34309509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.344203822 meters 0.012713947480933406 Centerline is valid? [True, True] Translation: X:120.43, Y:-12.68, Z:-3.34 [[ 9.66888541e-01 2.54466447e-01 1.93229739e-02 1.20428523e+02] [-2.54413162e-01 9.67081596e-01 -5.20867654e-03 -1.26754395e+01] [-2.00123259e-02 1.20190757e-04 9.99799726e-01 -3.34287092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374203822 meters 0.010693100181833894 Centerline is valid? [True, True] Translation: X:120.46, Y:-12.67, Z:-3.34 [[ 9.64756669e-01 2.62444372e-01 1.91708373e-02 1.20459458e+02] [-2.62393522e-01 9.64947123e-01 -5.16629525e-03 -1.26729452e+01] [-1.98547094e-02 -4.60857196e-05 9.99802875e-01 -3.34230402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404203822 meters 0.01292606234705509 Centerline is valid? [True, True] Translation: X:120.49, Y:-12.67, Z:-3.34 [[ 9.63671100e-01 2.66410658e-01 1.90623215e-02 1.20487876e+02] [-2.66361169e-01 9.63859608e-01 -5.13644737e-03 -1.26740628e+01] [-1.97418060e-02 -1.27616336e-04 9.99805103e-01 -3.34391233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434203822 meters 0.015247919195017723 Centerline is valid? [True, True] Translation: X:120.52, Y:-12.68, Z:-3.35 [[ 9.62664801e-01 2.70046205e-01 1.87490816e-02 1.20516917e+02] [-2.69999058e-01 9.62847343e-01 -5.04996113e-03 -1.26786041e+01] [-1.94162263e-02 -2.00814553e-04 9.99811467e-01 -3.34514746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464203822 meters 0.02091525616709415 Centerline is valid? [True, True] Translation: X:120.55, Y:-12.68, Z:-3.35 [[ 9.61015383e-01 2.75988799e-01 1.67217324e-02 1.20545938e+02] [-2.75952210e-01 9.61160809e-01 -4.50304970e-03 -1.26819568e+01] [-1.73150651e-02 -2.86898984e-04 9.99850042e-01 -3.35108985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494203822 meters 0.024942856371942126 Centerline is valid? [True, True] Translation: X:120.57, Y:-12.69, Z:-3.36 [[ 9.60409492e-01 2.78144260e-01 1.57917084e-02 1.20573359e+02] [-2.78111921e-01 9.60539263e-01 -4.25248849e-03 -1.26852087e+01] [-1.63513612e-02 -3.07732052e-04 9.99866260e-01 -3.35542777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524203822 meters 0.027296872470271915 Centerline is valid? [True, True] Translation: X:120.60, Y:-12.69, Z:-3.36 [[ 9.59639933e-01 2.80806550e-01 1.54557412e-02 1.20602259e+02] [-2.80775945e-01 9.59764326e-01 -4.16024134e-03 -1.26918910e+01] [-1.60020921e-02 -3.47266635e-04 9.99871898e-01 -3.35671475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554203822 meters 0.028187569282908928 Centerline is valid? [True, True] Translation: X:120.63, Y:-12.70, Z:-3.36 [[ 9.59414606e-01 2.81555672e-01 1.58119154e-02 1.20630546e+02] [-2.81523720e-01 9.59544824e-01 -4.25745020e-03 -1.26986112e+01] [-1.63709508e-02 -3.66769335e-04 9.99865920e-01 -3.35651167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584203822 meters 0.030666362095447777 Centerline is valid? [True, True] Translation: X:120.66, Y:-12.70, Z:-3.36 [[ 9.59101203e-01 2.82585091e-01 1.64483663e-02 1.20657834e+02] [-2.82550740e-01 9.59242150e-01 -4.42448085e-03 -1.27026984e+01] [-1.70282586e-02 -4.03973175e-04 9.99854927e-01 -3.35655050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61420382200001 meters 0.029897049091101302 Centerline is valid? [True, True] Translation: X:120.69, Y:-12.71, Z:-3.35 [[ 9.58456776e-01 2.84708591e-01 1.73673791e-02 1.20685262e+02] [-2.84670663e-01 9.58613999e-01 -4.67053007e-03 -1.27104547e+01] [-1.79783528e-02 -4.67482140e-04 9.99838267e-01 -3.35272802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64420382200001 meters 0.03032549305825301 Centerline is valid? [True, True] Translation: X:120.71, Y:-12.72, Z:-3.35 [[ 9.58236902e-01 2.85435623e-01 1.75654439e-02 1.20713797e+02] [-2.85396971e-01 9.58397760e-01 -4.72251085e-03 -1.27169217e+01] [-1.81826549e-02 -4.87840310e-04 9.99834563e-01 -3.35294871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67420382200001 meters 0.03032549305825301 Centerline is valid? [True, True] Translation: X:120.74, Y:-12.72, Z:-3.35 [[ 9.58257703e-01 2.85365774e-01 1.75656095e-02 1.20740385e+02] [-2.85327121e-01 9.58418561e-01 -4.72189466e-03 -1.27239333e+01] [-1.81826733e-02 -4.87152867e-04 9.99834563e-01 -3.35372940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.704203822 meters 0.029269611232035336 Centerline is valid? [True, True] Translation: X:120.77, Y:-12.73, Z:-3.35 [[ 9.58497680e-01 2.84560891e-01 1.75298874e-02 1.20767721e+02] [-2.84522290e-01 9.58657851e-01 -4.71067055e-03 -1.27316173e+01] [-1.81456368e-02 -4.72476934e-04 9.99835243e-01 -3.35476334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.734203822 meters 0.03102407574801762 Centerline is valid? [True, True] Translation: X:120.80, Y:-12.74, Z:-3.36 [[ 9.58887494e-01 2.83215001e-01 1.80010279e-02 1.20795704e+02] [-2.83174076e-01 9.59056334e-01 -4.83641539e-03 -1.27354618e+01] [-1.86337452e-02 -4.59846204e-04 9.99826271e-01 -3.35673387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764203822 meters 0.02682906502504469 Centerline is valid? [True, True] Translation: X:120.82, Y:-12.75, Z:-3.36 [[ 9.59506976e-01 2.81093388e-01 1.82447040e-02 1.20822796e+02] [-2.81050989e-01 9.59680325e-01 -4.90055113e-03 -1.27469948e+01] [-1.88865960e-02 -4.25579127e-04 9.99821542e-01 -3.35611156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794203822 meters 0.024433917875366265 Centerline is valid? [True, True] Translation: X:120.85, Y:-12.76, Z:-3.36 [[ 9.60251960e-01 2.78495450e-01 1.88800848e-02 1.20849510e+02] [-2.78449564e-01 9.60437470e-01 -5.07019808e-03 -1.27571129e+01] [-1.95451679e-02 -3.88483716e-04 9.99808899e-01 -3.35616033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824203822 meters 0.018060811262059256 Centerline is valid? [True, True] Translation: X:120.88, Y:-12.77, Z:-3.36 [[ 9.62041925e-01 2.72222334e-01 1.92440798e-02 1.20876413e+02] [-2.72173431e-01 9.62234342e-01 -5.16662990e-03 -1.27738500e+01] [-1.99237865e-02 -2.67212652e-04 9.99801466e-01 -3.35636091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854203822 meters 0.015066654885756557 Centerline is valid? [True, True] Translation: X:120.90, Y:-12.79, Z:-3.36 [[ 9.62970351e-01 2.68966383e-01 1.85792274e-02 1.20903577e+02] [-2.68920194e-01 9.63149546e-01 -4.98813743e-03 -1.27859087e+01] [-1.92362157e-02 -1.92900988e-04 9.99814948e-01 -3.35810669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884203822 meters 0.012557226652567012 Centerline is valid? [True, True] Translation: X:120.93, Y:-12.80, Z:-3.36 [[ 9.64212543e-01 2.64497525e-01 1.83092871e-02 1.20928943e+02] [-2.64451867e-01 9.64386359e-01 -4.91541066e-03 -1.27980600e+01] [-1.89573407e-02 -1.02424551e-04 9.99820288e-01 -3.36071747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914203822 meters 0.011479604693175093 Centerline is valid? [True, True] Translation: X:120.96, Y:-12.81, Z:-3.36 [[ 9.64641915e-01 2.62924080e-01 1.83549669e-02 1.20956488e+02] [-2.62877946e-01 9.64816523e-01 -4.92572548e-03 -1.28078538e+01] [-1.90042672e-02 -7.35547410e-05 9.99819400e-01 -3.36046421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944203822 meters 0.010693919503466801 Centerline is valid? [True, True] Translation: X:120.98, Y:-12.82, Z:-3.36 [[ 9.65126419e-01 2.61130459e-01 1.84899493e-02 1.20984300e+02] [-2.61083333e-01 9.65303518e-01 -4.96100277e-03 -1.28161767e+01] [-1.91438820e-02 -3.94227517e-05 9.99816738e-01 -3.35906703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974203822 meters 0.010988927916733223 Centerline is valid? [True, True] Translation: X:121.01, Y:-12.82, Z:-3.36 [[ 9.65361441e-01 2.60309347e-01 1.77857435e-02 1.21011206e+02] [-2.60265613e-01 9.65525268e-01 -4.77151016e-03 -1.28230121e+01] [-1.84146535e-02 -2.27855200e-05 9.99830436e-01 -3.36167498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00420382200001 meters 0.01135221085324199 Centerline is valid? [True, True] Translation: X:121.04, Y:-12.83, Z:-3.36 [[ 9.65565033e-01 2.59648600e-01 1.63331657e-02 1.21039053e+02] [-2.59611651e-01 9.65703166e-01 -4.38023561e-03 -1.28313110e+01] [-1.69103119e-02 -1.08777659e-05 9.99857010e-01 -3.36471189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03420382200001 meters 0.011643925889314807 Centerline is valid? [True, True] Translation: X:121.07, Y:-12.84, Z:-3.37 [[ 9.66056552e-01 2.57870751e-01 1.54082507e-02 1.21065889e+02] [-2.57837653e-01 9.66179422e-01 -4.13149607e-03 -1.28422319e+01] [-1.59525267e-02 1.84316512e-05 9.99872750e-01 -3.36863910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06420382200001 meters 0.011945818220865365 Centerline is valid? [True, True] Translation: X:121.09, Y:-12.85, Z:-3.37 [[ 9.66350188e-01 2.56772110e-01 1.53426466e-02 1.21092010e+02] [-2.56739165e-01 9.66471977e-01 -4.11327781e-03 -1.28512012e+01] [-1.58844130e-02 3.58085065e-05 9.99873834e-01 -3.36956013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.094203822 meters 0.012790532548379314 Centerline is valid? [True, True] Translation: X:121.12, Y:-12.86, Z:-3.37 [[ 9.67007480e-01 2.54232440e-01 1.61987653e-02 1.21117419e+02] [-2.54195373e-01 9.67143143e-01 -4.34194038e-03 -1.28618637e+01] [-1.67703868e-02 8.10376506e-05 9.99859364e-01 -3.36938945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124203822 meters 0.0134279619010767 Centerline is valid? [True, True] Translation: X:121.14, Y:-12.87, Z:-3.37 [[ 9.67383289e-01 2.52767310e-01 1.66810887e-02 1.21144334e+02] [-2.52727818e-01 9.67527093e-01 -4.46926710e-03 -1.28711284e+01] [-1.72690899e-02 1.07719163e-04 9.99850872e-01 -3.36871442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154203822 meters 0.01446232101151371 Centerline is valid? [True, True] Translation: X:121.17, Y:-12.88, Z:-3.37 [[ 9.67805349e-01 2.51124794e-01 1.70042420e-02 1.21171455e+02] [-2.51083519e-01 9.67954709e-01 -4.55496539e-03 -1.28809818e+01] [-1.76032008e-02 1.38834946e-04 9.99845042e-01 -3.36889284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184203822 meters 0.015986653165186708 Centerline is valid? [True, True] Translation: X:121.20, Y:-12.89, Z:-3.37 [[ 9.68285160e-01 2.49260407e-01 1.71201075e-02 1.21198519e+02] [-2.49218292e-01 9.68436482e-01 -4.58513127e-03 -1.28919448e+01] [-1.77226284e-02 1.73070611e-04 9.99842927e-01 -3.36933297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214203822 meters 0.01980677186541145 Centerline is valid? [True, True] Translation: X:121.22, Y:-12.91, Z:-3.37 [[ 9.69326816e-01 2.45169935e-01 1.72402477e-02 1.21224914e+02] [-2.45126599e-01 9.69480088e-01 -4.61617052e-03 -1.29084826e+01] [-1.78458231e-02 2.48534574e-04 9.99840720e-01 -3.36930644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244203822 meters 0.021147558546251676 Centerline is valid? [True, True] Translation: X:121.25, Y:-12.92, Z:-3.37 [[ 9.69748592e-01 2.43466079e-01 1.76617239e-02 1.21251578e+02] [-2.43420319e-01 9.69909370e-01 -4.72880773e-03 -1.29192479e+01] [-1.82815758e-02 2.86532160e-04 9.99832837e-01 -3.36921643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274203822 meters 0.023234926633880597 Centerline is valid? [True, True] Translation: X:121.28, Y:-12.93, Z:-3.37 [[ 9.70189988e-01 2.41650558e-01 1.83410767e-02 1.21277225e+02] [-2.41600906e-01 9.70363281e-01 -4.90960590e-03 -1.29343155e+01] [-1.89839163e-02 3.32029745e-04 9.99819734e-01 -3.36951888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304203822 meters 0.021714253540858864 Centerline is valid? [True, True] Translation: X:121.31, Y:-12.94, Z:-3.37 [[ 9.70136081e-01 2.41857757e-01 1.84610504e-02 1.21306906e+02] [-2.41807511e-01 9.70311660e-01 -4.94068286e-03 -1.29429284e+01] [-1.91079150e-02 3.29114043e-04 9.99817373e-01 -3.36938536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334203822 meters 0.021849935421993677 Centerline is valid? [True, True] Translation: X:121.34, Y:-12.95, Z:-3.37 [[ 9.69818193e-01 2.43129966e-01 1.84524024e-02 1.21335074e+02] [-2.43080001e-01 9.69993674e-01 -4.93819610e-03 -1.29524774e+01] [-1.90993371e-02 3.03742426e-04 9.99817545e-01 -3.37089458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36420382200001 meters 0.017260194471830897 Centerline is valid? [True, True] Translation: X:121.36, Y:-12.95, Z:-3.37 [[ 9.68595446e-01 2.48015976e-01 1.76334069e-02 1.21363473e+02] [-2.47971137e-01 9.68755922e-01 -4.72012519e-03 -1.29541399e+01] [-1.82531338e-02 1.99315806e-04 9.99833378e-01 -3.37312157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39420382200001 meters 0.014790357198771635 Centerline is valid? [True, True] Translation: X:121.39, Y:-12.96, Z:-3.38 [[ 9.67780662e-01 2.51258239e-01 1.64282688e-02 1.21391872e+02] [-2.51219801e-01 9.67920080e-01 -4.39666223e-03 -1.29562765e+01] [-1.70059489e-02 1.27898245e-04 9.99855380e-01 -3.37638869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42420382200001 meters 0.012305021507253603 Centerline is valid? [True, True] Translation: X:121.42, Y:-12.96, Z:-3.38 [[ 9.66921059e-01 2.54650835e-01 1.47179360e-02 1.21421625e+02] [-2.54620390e-01 9.67033065e-01 -3.93801976e-03 -1.29578972e+01] [-1.52355507e-02 6.02676439e-05 9.99883930e-01 -3.37841727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.454203822 meters 0.012719104401148037 Centerline is valid? [True, True] Translation: X:121.45, Y:-12.96, Z:-3.38 [[ 9.65116739e-01 2.61463076e-01 1.36652632e-02 1.21450371e+02] [-2.61437515e-01 9.65213478e-01 -3.65622259e-03 -1.29562314e+01] [-1.41458635e-02 -4.39308385e-05 9.99899941e-01 -3.38210649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.484203822 meters 0.014672325451504618 Centerline is valid? [True, True] Translation: X:121.48, Y:-12.96, Z:-3.38 [[ 9.64336421e-01 2.64294878e-01 1.42648051e-02 1.21478883e+02] [-2.64267359e-01 9.64441916e-01 -3.81496878e-03 -1.29574415e+01] [-1.47658526e-02 -9.08090191e-05 9.99890975e-01 -3.38358054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.514203822 meters 0.016628805078956577 Centerline is valid? [True, True] Translation: X:121.51, Y:-12.96, Z:-3.38 [[ 9.63589667e-01 2.66945430e-01 1.53326601e-02 1.21508446e+02] [-2.66913992e-01 9.63711636e-01 -4.09928009e-03 -1.29592120e+01] [-1.58705470e-02 -1.42477572e-04 9.99874045e-01 -3.38269653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544203822 meters 0.020590694355415894 Centerline is valid? [True, True] Translation: X:121.54, Y:-12.96, Z:-3.38 [[ 9.62383371e-01 2.71154849e-01 1.71258646e-02 1.21537232e+02] [-2.71116307e-01 9.62535709e-01 -4.57784695e-03 -1.29585534e+01] [-1.77255617e-02 -2.37457404e-04 9.99842862e-01 -3.38097725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.574203822 meters 0.01893134835354478 Centerline is valid? [True, True] Translation: X:121.56, Y:-12.97, Z:-3.38 [[ 9.62001269e-01 2.72492042e-01 1.73679467e-02 1.21564998e+02] [-2.72452640e-01 9.62158000e-01 -4.64142757e-03 -1.29672793e+01] [-1.79754609e-02 -2.66883724e-04 9.99838393e-01 -3.37841206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604203822 meters 0.022032116586771337 Centerline is valid? [True, True] Translation: X:121.59, Y:-12.97, Z:-3.38 [[ 9.61671121e-01 2.73632850e-01 1.77121083e-02 1.21593172e+02] [-2.73592080e-01 9.61834173e-01 -4.73256688e-03 -1.29695665e+01] [-1.83310968e-02 -2.94719668e-04 9.99831928e-01 -3.38155555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.634203822 meters 0.02103911289291072 Centerline is valid? [True, True] Translation: X:121.62, Y:-12.98, Z:-3.38 [[ 9.61865124e-01 2.72992433e-01 1.70474492e-02 1.21619967e+02] [-2.72954586e-01 9.62016142e-01 -4.55376166e-03 -1.29792817e+01] [-1.76430638e-02 -2.73074927e-04 9.99844312e-01 -3.38373819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664203822 meters 0.019574039148791862 Centerline is valid? [True, True] Translation: X:121.65, Y:-12.99, Z:-3.39 [[ 9.62261189e-01 2.71604003e-01 1.68721301e-02 1.21647286e+02] [-2.71566732e-01 9.62409063e-01 -4.50609833e-03 -1.29900999e+01] [-1.74617653e-02 -2.45865698e-04 9.99847502e-01 -3.38530939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694203822 meters 0.017894666171074488 Centerline is valid? [True, True] Translation: X:121.67, Y:-13.00, Z:-3.39 [[ 9.62825055e-01 2.69591673e-01 1.69777135e-02 1.21673942e+02] [-2.69553636e-01 9.62974706e-01 -4.53342897e-03 -1.29999287e+01] [-1.75712833e-02 -2.11505400e-04 9.99845591e-01 -3.38622776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724203822 meters 0.015231677174670017 Centerline is valid? [True, True] Translation: X:121.70, Y:-13.01, Z:-3.39 [[ 9.64316275e-01 2.64278833e-01 1.58372872e-02 1.21698914e+02] [-2.64245027e-01 9.64446311e-01 -4.22835001e-03 -1.30127665e+01] [-1.63916766e-02 -1.07457661e-04 9.99865642e-01 -3.39236232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75420382200001 meters 0.012201951136369873 Centerline is valid? [True, True] Translation: X:121.72, Y:-13.03, Z:-3.39 [[ 9.65082624e-01 2.61521207e-01 1.49059192e-02 1.21724581e+02] [-2.61490946e-01 9.65197728e-01 -3.97873654e-03 -1.30278222e+01] [-1.54276833e-02 -5.79533949e-05 9.99880985e-01 -3.38989460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78420382200001 meters 0.012054774926727189 Centerline is valid? [True, True] Translation: X:121.75, Y:-13.05, Z:-3.39 [[ 9.66349106e-01 2.56834189e-01 1.43388935e-02 1.21748958e+02] [-2.56805680e-01 9.66455482e-01 -3.82669242e-03 -1.30451122e+01] [-1.48407276e-02 1.56115146e-05 9.99889870e-01 -3.39264909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81420382200001 meters 0.012022648114797403 Centerline is valid? [True, True] Translation: X:121.78, Y:-13.06, Z:-3.39 [[ 9.66790347e-01 2.55132885e-01 1.49544601e-02 1.21775675e+02] [-2.55101685e-01 9.66905998e-01 -3.99013215e-03 -1.30553823e+01] [-1.54775711e-02 4.27132718e-05 9.99880214e-01 -3.39187613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.844203822 meters 0.01194168159415591 Centerline is valid? [True, True] Translation: X:121.80, Y:-13.06, Z:-3.39 [[ 9.67214770e-01 2.53312944e-01 1.81146766e-02 1.21802121e+02] [-2.53266865e-01 9.67384383e-01 -4.83221974e-03 -1.30646123e+01] [-1.87479191e-02 8.59469457e-05 9.99824239e-01 -3.38780863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.874203822 meters 0.011683248355319349 Centerline is valid? [True, True] Translation: X:121.83, Y:-13.07, Z:-3.39 [[ 9.67201016e-01 2.53284752e-01 1.92101235e-02 1.21828972e+02] [-2.53232951e-01 9.67391765e-01 -5.12309313e-03 -1.30712826e+01] [-1.98813167e-02 9.04245979e-05 9.99802343e-01 -3.38691671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904203822 meters 0.011349975741078492 Centerline is valid? [True, True] Translation: X:121.86, Y:-13.08, Z:-3.39 [[ 9.67103884e-01 2.53633441e-01 1.94975776e-02 1.21856602e+02] [-2.53580176e-01 9.67300404e-01 -5.19839408e-03 -1.30778671e+01] [-2.01785013e-02 8.31879301e-05 9.99796390e-01 -3.38716521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.934203822 meters 0.011102723116224166 Centerline is valid? [True, True] Translation: X:121.88, Y:-13.09, Z:-3.39 [[ 9.66953454e-01 2.54213020e-01 1.94102399e-02 1.21884844e+02] [-2.54160368e-01 9.67148249e-01 -5.17412635e-03 -1.30852317e+01] [-2.00879098e-02 6.98256185e-05 9.99798215e-01 -3.38837702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964203822 meters 0.010606025941626372 Centerline is valid? [True, True] Translation: X:121.91, Y:-13.09, Z:-3.39 [[ 9.66609738e-01 2.55615873e-01 1.80593365e-02 1.21912455e+02] [-2.55570555e-01 9.66778426e-01 -4.81321816e-03 -1.30925498e+01] [-1.86897119e-02 3.70688920e-05 9.99825331e-01 -3.39034176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.994203822 meters 0.01102093515812344 Centerline is valid? [True, True] Translation: X:121.94, Y:-13.10, Z:-3.39 [[ 9.66405573e-01 2.56429412e-01 1.74420543e-02 1.21939089e+02] [-2.56387286e-01 9.66562960e-01 -4.64794687e-03 -1.30989992e+01] [-1.80507139e-02 1.98807923e-05 9.99837072e-01 -3.39411648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024203822 meters 0.011313238708423854 Centerline is valid? [True, True] Translation: X:121.97, Y:-13.10, Z:-3.40 [[ 9.65929333e-01 2.58292930e-01 1.62876028e-02 1.21967578e+02] [-2.58256480e-01 9.66066645e-01 -4.33917616e-03 -1.31026892e+01] [-1.68556883e-02 -1.50414312e-05 9.99857933e-01 -3.39709744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054203822 meters 0.011802662083821865 Centerline is valid? [True, True] Translation: X:122.00, Y:-13.11, Z:-3.40 [[ 9.65678848e-01 2.59295901e-01 1.51656742e-02 1.21996329e+02] [-2.59264434e-01 9.65797926e-01 -4.03961121e-03 -1.31064384e+01] [-1.56944314e-02 -3.09528518e-05 9.99876834e-01 -3.39956950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084203822 meters 0.011930959702802725 Centerline is valid? [True, True] Translation: X:122.02, Y:-13.11, Z:-3.40 [[ 9.65500842e-01 2.59982955e-01 1.47304883e-02 1.22024686e+02] [-2.59953358e-01 9.65613205e-01 -3.92299498e-03 -1.31104697e+01] [-1.52438658e-02 -4.15849478e-05 9.99883805e-01 -3.40051418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11420382200001 meters 0.012628437385328416 Centerline is valid? [True, True] Translation: X:122.05, Y:-13.11, Z:-3.40 [[ 9.65231965e-01 2.60947896e-01 1.52790244e-02 1.22052314e+02] [-2.60916186e-01 9.65352885e-01 -4.06837723e-03 -1.31138290e+01] [-1.58112847e-02 -5.96170092e-05 9.99874992e-01 -3.40177857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14420382200001 meters 0.01204328234881443 Centerline is valid? [True, True] Translation: X:122.08, Y:-13.12, Z:-3.40 [[ 9.65214070e-01 2.60994531e-01 1.56093863e-02 1.22080417e+02] [-2.60961461e-01 9.65340277e-01 -4.15512951e-03 -1.31219816e+01] [-1.61528354e-02 -6.28587818e-05 9.99869532e-01 -3.40093145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17420382200001 meters 0.01250141656645739 Centerline is valid? [True, True] Translation: X:122.11, Y:-13.13, Z:-3.40 [[ 9.65221416e-01 2.60898528e-01 1.67205439e-02 1.22107248e+02] [-2.60860582e-01 9.65366228e-01 -4.45007525e-03 -1.31302425e+01] [-1.73024665e-02 -6.64228972e-05 9.99850299e-01 -3.40256641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.204203822 meters 0.011930874561009145 Centerline is valid? [True, True] Translation: X:122.14, Y:-13.14, Z:-3.40 [[ 9.65344675e-01 2.60376919e-01 1.77064498e-02 1.22135268e+02] [-2.60334304e-01 9.65507046e-01 -4.71106313e-03 -1.31386228e+01] [-1.83223541e-02 -6.17965639e-05 9.99832130e-01 -3.40126282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.234203822 meters 0.010754895987317827 Centerline is valid? [True, True] Translation: X:122.16, Y:-13.15, Z:-3.40 [[ 9.66032939e-01 2.57760542e-01 1.84354042e-02 1.22162080e+02] [-2.57713886e-01 9.66208830e-01 -4.90408059e-03 -1.31497624e+01] [-1.90765288e-02 -1.35562799e-05 9.99818026e-01 -3.39917991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264203822 meters 0.010761718573574738 Centerline is valid? [True, True] Translation: X:122.19, Y:-13.16, Z:-3.40 [[ 9.66532001e-01 2.55880268e-01 1.84710496e-02 1.22188999e+02] [-2.55833106e-01 9.66708481e-01 -4.91263486e-03 -1.31593181e+01] [-1.91131666e-02 2.27128202e-05 9.99817326e-01 -3.40064017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.294203822 meters 0.011313908862758376 Centerline is valid? [True, True] Translation: X:122.22, Y:-13.17, Z:-3.40 [[ 9.67066964e-01 2.53853101e-01 1.84415365e-02 1.22215634e+02] [-2.53805738e-01 9.67242782e-01 -4.90387769e-03 -1.31695552e+01] [-1.90823076e-02 6.18103342e-05 9.99817914e-01 -3.40158758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324203822 meters 0.012716971408586996 Centerline is valid? [True, True] Translation: X:122.24, Y:-13.18, Z:-3.40 [[ 9.67554055e-01 2.51980349e-01 1.85756378e-02 1.22241575e+02] [-2.51931966e-01 9.67732346e-01 -4.93869118e-03 -1.31812512e+01] [-1.92206987e-02 9.86537234e-05 9.99815260e-01 -3.40435348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.354203822 meters 0.015716907139239258 Centerline is valid? [True, True] Translation: X:122.27, Y:-13.20, Z:-3.41 [[ 9.68696622e-01 2.47627932e-01 1.75289090e-02 1.22267867e+02] [-2.47584160e-01 9.68855189e-01 -4.65901264e-03 -1.31977035e+01] [-1.81366762e-02 1.73289583e-04 9.99835502e-01 -3.40606475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384203822 meters 0.01871547312004362 Centerline is valid? [True, True] Translation: X:122.30, Y:-13.21, Z:-3.41 [[ 9.69569274e-01 2.44205770e-01 1.72905774e-02 1.22295184e+02] [-2.44162648e-01 9.69723408e-01 -4.59498061e-03 -1.32127230e+01] [-1.78891984e-02 2.33438856e-04 9.99839948e-01 -3.40738140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414203822 meters 0.019604061566049387 Centerline is valid? [True, True] Translation: X:122.32, Y:-13.22, Z:-3.41 [[ 9.69769149e-01 2.43411130e-01 1.72864071e-02 1.22324006e+02] [-2.43367905e-01 9.69923172e-01 -4.59374366e-03 -1.32226567e+01] [-1.78846551e-02 2.47914189e-04 9.99840026e-01 -3.40879683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444203822 meters 0.02022874983313137 Centerline is valid? [True, True] Translation: X:122.35, Y:-13.23, Z:-3.41 [[ 9.69824989e-01 2.43185744e-01 1.73258340e-02 1.22352328e+02] [-2.43142277e-01 9.69979706e-01 -4.60469823e-03 -1.32314632e+01] [-1.79255044e-02 2.53108665e-04 9.99839293e-01 -3.41012647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474203822 meters 0.019491452684156564 Centerline is valid? [True, True] Translation: X:122.38, Y:-13.24, Z:-3.41 [[ 9.69772138e-01 2.43408048e-01 1.71616453e-02 1.22382055e+02] [-2.43365442e-01 9.69923946e-01 -4.56071671e-03 -1.32388707e+01] [-1.77556059e-02 2.46304598e-04 9.99842326e-01 -3.41074649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50420382200001 meters 0.018941197328283258 Centerline is valid? [True, True] Translation: X:122.41, Y:-13.25, Z:-3.41 [[ 9.69445846e-01 2.44716448e-01 1.69885460e-02 1.22409600e+02] [-2.44674902e-01 9.69594664e-01 -4.51453039e-03 -1.32486578e+01] [-1.75767834e-02 2.19921909e-04 9.99845492e-01 -3.41207567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53420382200001 meters 0.01779644792403605 Centerline is valid? [True, True] Translation: X:122.44, Y:-13.26, Z:-3.41 [[ 9.69204970e-01 2.45647153e-01 1.72974958e-02 1.22437920e+02] [-2.45604216e-01 9.69359290e-01 -4.59737902e-03 -1.32560011e+01] [-1.78968213e-02 2.07464699e-04 9.99839818e-01 -3.41266155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56420382200001 meters 0.016004550155235497 Centerline is valid? [True, True] Translation: X:122.47, Y:-13.26, Z:-3.42 [[ 9.68565180e-01 2.48264590e-01 1.56903074e-02 1.22466303e+02] [-2.48229608e-01 9.68692249e-01 -4.17003249e-03 -1.32587060e+01] [-1.62343506e-02 1.44149403e-04 9.99868204e-01 -3.41671339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.594203822 meters 0.016004550155235497 Centerline is valid? [True, True] Translation: X:122.49, Y:-13.27, Z:-3.42 [[ 9.68576765e-01 2.48219381e-01 1.56904163e-02 1.22493703e+02] [-2.48184399e-01 9.68703834e-01 -4.16962275e-03 -1.32658902e+01] [-1.62343476e-02 1.44483164e-04 9.99868204e-01 -3.41751757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624203822 meters 0.014740826569887 Centerline is valid? [True, True] Translation: X:122.52, Y:-13.27, Z:-3.42 [[ 9.68285599e-01 2.49414111e-01 1.46833406e-02 1.22522098e+02] [-2.49383623e-01 9.68396917e-01 -3.90137081e-03 -1.32701335e+01] [-1.51923587e-02 1.15856492e-04 9.99884583e-01 -3.41938826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.654203822 meters 0.014500623882248334 Centerline is valid? [True, True] Translation: X:122.55, Y:-13.28, Z:-3.42 [[ 9.68014428e-01 2.50439828e-01 1.50983228e-02 1.22548643e+02] [-2.50407726e-01 9.68132161e-01 -4.01104813e-03 -1.32770100e+01] [-1.56216981e-02 1.02015781e-04 9.99877969e-01 -3.42190219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684203822 meters 0.012485263841487527 Centerline is valid? [True, True] Translation: X:122.58, Y:-13.28, Z:-3.42 [[ 9.67604528e-01 2.51970053e-01 1.58924622e-02 1.22577218e+02] [-2.51934720e-01 9.67735029e-01 -4.22029930e-03 -1.32845888e+01] [-1.64430814e-02 7.97176854e-05 9.99864800e-01 -3.41943779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.714203822 meters 0.012115551875080904 Centerline is valid? [True, True] Translation: X:122.61, Y:-13.29, Z:-3.42 [[ 9.67367650e-01 2.52905944e-01 1.54406571e-02 1.22606085e+02] [-2.52872717e-01 9.67490868e-01 -4.09993537e-03 -1.32926839e+01] [-1.59755928e-02 6.16239180e-05 9.99872380e-01 -3.42089393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744203822 meters 0.012282938342364047 Centerline is valid? [True, True] Translation: X:122.63, Y:-13.30, Z:-3.42 [[ 9.67060426e-01 2.54082243e-01 1.53735621e-02 1.22633309e+02] [-2.54049456e-01 9.67182616e-01 -4.08187485e-03 -1.33003859e+01] [-1.59061739e-02 4.17745526e-05 9.99873488e-01 -3.42394425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774203822 meters 0.0113193999980202 Centerline is valid? [True, True] Translation: X:122.66, Y:-13.31, Z:-3.42 [[ 9.66471574e-01 2.56280128e-01 1.59120047e-02 1.22661700e+02] [-2.56245311e-01 9.66602553e-01 -4.22432483e-03 -1.33055336e+01] [-1.64631949e-02 5.31327385e-06 9.99864472e-01 -3.42298969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804203822 meters 0.011803197055074767 Centerline is valid? [True, True] Translation: X:122.69, Y:-13.31, Z:-3.43 [[ 9.66275554e-01 2.57052738e-01 1.53441610e-02 1.22688600e+02] [-2.57020468e-01 9.66397377e-01 -4.07298120e-03 -1.33110382e+01] [-1.58755279e-02 -8.14128252e-06 9.99873976e-01 -3.42595190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834203822 meters 0.012717009203470167 Centerline is valid? [True, True] Translation: X:122.72, Y:-13.32, Z:-3.43 [[ 9.65786734e-01 2.58966732e-01 1.38642305e-02 1.22717209e+02] [-2.58940597e-01 9.65886241e-01 -3.67923912e-03 -1.33166053e+01] [-1.43440700e-02 -3.66517776e-05 9.99897118e-01 -3.42983275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86420382200001 meters 0.012834096604090978 Centerline is valid? [True, True] Translation: X:122.74, Y:-13.32, Z:-3.43 [[ 9.65502189e-01 2.60007131e-01 1.42061744e-02 1.22744781e+02] [-2.59979815e-01 9.65606695e-01 -3.76924353e-03 -1.33234164e+01] [-1.46976073e-02 -5.41057126e-05 9.99891983e-01 -3.43033195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89420382200001 meters 0.013134432121165638 Centerline is valid? [True, True] Translation: X:122.77, Y:-13.33, Z:-3.43 [[ 9.65215686e-01 2.61059200e-01 1.43795910e-02 1.22772760e+02] [-2.61031340e-01 9.65322790e-01 -3.81451782e-03 -1.33306187e+01] [-1.48767618e-02 -7.16914717e-05 9.99889332e-01 -3.43038177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92420382200001 meters 0.014111017245427697 Centerline is valid? [True, True] Translation: X:122.80, Y:-13.34, Z:-3.43 [[ 9.64772708e-01 2.62647604e-01 1.51610862e-02 1.22799861e+02] [-2.62616840e-01 9.64891821e-01 -4.02113550e-03 -1.33358956e+01] [-1.56849496e-02 -1.02074764e-04 9.99876978e-01 -3.43031875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.954203822 meters 0.014410463595001907 Centerline is valid? [True, True] Translation: X:122.83, Y:-13.34, Z:-3.43 [[ 9.64551320e-01 2.63413042e-01 1.59474162e-02 1.22828597e+02] [-2.63379129e-01 9.64683137e-01 -4.22845175e-03 -1.33414091e+01] [-1.64980328e-02 -1.21657876e-04 9.99863891e-01 -3.42989305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.984203822 meters 0.014868575285494607 Centerline is valid? [True, True] Translation: X:122.86, Y:-13.35, Z:-3.43 [[ 9.64381094e-01 2.64016243e-01 1.62643732e-02 1.22856403e+02] [-2.63981063e-01 9.64518225e-01 -4.31193422e-03 -1.33470656e+01] [-1.68257050e-02 -1.35138676e-04 9.99858429e-01 -3.43013105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.014203822 meters 0.015783350727981132 Centerline is valid? [True, True] Translation: X:122.88, Y:-13.35, Z:-3.43 [[ 9.64185015e-01 2.64782510e-01 1.54103425e-02 1.22884717e+02] [-2.64751047e-01 9.64308147e-01 -4.08418172e-03 -1.33540594e+01] [-1.59417387e-02 -1.41997497e-04 9.99872912e-01 -3.43307931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044203822 meters 0.01601723542954201 Centerline is valid? [True, True] Translation: X:122.91, Y:-13.36, Z:-3.43 [[ 9.64058844e-01 2.65244914e-01 1.53519232e-02 1.22913158e+02] [-2.65213760e-01 9.64181058e-01 -4.06795435e-03 -1.33608904e+01] [-1.58810377e-02 -1.49793915e-04 9.99873877e-01 -3.43415886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.074203822 meters 0.01595378627610588 Centerline is valid? [True, True] Translation: X:122.94, Y:-13.37, Z:-3.43 [[ 9.64037621e-01 2.65334206e-01 1.51401445e-02 1.22941149e+02] [-2.65303929e-01 9.64156490e-01 -4.01110405e-03 -1.33684946e+01] [-1.56617517e-02 -1.49884601e-04 9.99877336e-01 -3.43446417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104203822 meters 0.015517891777811819 Centerline is valid? [True, True] Translation: X:122.97, Y:-13.38, Z:-3.43 [[ 9.64070485e-01 2.65175750e-01 1.58089298e-02 1.22969275e+02] [-2.65142730e-01 9.64200082e-01 -4.18743731e-03 -1.33755962e+01] [-1.63533782e-02 -1.54638087e-04 9.99866263e-01 -3.43355601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.134203822 meters 0.014984818965378635 Centerline is valid? [True, True] Translation: X:123.00, Y:-13.38, Z:-3.43 [[ 9.64141421e-01 2.64869162e-01 1.66026317e-02 1.22997378e+02] [-2.64832714e-01 9.64284347e-01 -4.39676212e-03 -1.33813934e+01] [-1.71742246e-02 -1.57819535e-04 9.99852500e-01 -3.43278288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164203822 meters 0.015355310009257593 Centerline is valid? [True, True] Translation: X:123.03, Y:-13.39, Z:-3.43 [[ 9.64282253e-01 2.64336356e-01 1.69123404e-02 1.23025383e+02] [-2.64298469e-01 9.64430541e-01 -4.47788186e-03 -1.33861105e+01] [-1.74944446e-02 -1.51963678e-04 9.99846949e-01 -3.43482337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194203822 meters 0.01385806806595851 Centerline is valid? [True, True] Translation: X:123.05, Y:-13.40, Z:-3.44 [[ 9.64851794e-01 2.62333950e-01 1.55536287e-02 1.23052474e+02] [-2.62301657e-01 9.64977143e-01 -4.11743960e-03 -1.33950173e+01] [-1.60890404e-02 -1.07023604e-04 9.99870557e-01 -3.43832074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224203822 meters 0.01358576537653203 Centerline is valid? [True, True] Translation: X:123.08, Y:-13.40, Z:-3.44 [[ 9.65173918e-01 2.61143015e-01 1.56087789e-02 1.23079074e+02] [-2.61110347e-01 9.65300118e-01 -4.13139844e-03 -1.34030269e+01] [-1.61460419e-02 -8.80956563e-05 9.99869640e-01 -3.44018514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25420382200001 meters 0.012179730811087228 Centerline is valid? [True, True] Translation: X:123.11, Y:-13.41, Z:-3.44 [[ 9.65768405e-01 2.58866721e-01 1.67154965e-02 1.23105246e+02] [-2.58828936e-01 9.65913049e-01 -4.42314621e-03 -1.34129542e+01] [-1.72907215e-02 -5.47193090e-05 9.99850503e-01 -3.44038494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28420382200001 meters 0.011379287272677716 Centerline is valid? [True, True] Translation: X:123.13, Y:-13.42, Z:-3.44 [[ 9.66035113e-01 2.57895404e-01 1.63132122e-02 1.23132723e+02] [-2.57859295e-01 9.66172841e-01 -4.31565444e-03 -1.34218874e+01] [-1.68743700e-02 -3.74396574e-05 9.99857617e-01 -3.43951863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31420382200001 meters 0.011560774075215885 Centerline is valid? [True, True] Translation: X:123.16, Y:-13.43, Z:-3.44 [[ 9.66270884e-01 2.57070443e-01 1.53416534e-02 1.23159285e+02] [-2.57038412e-01 9.66392667e-01 -4.05807247e-03 -1.34288822e+01] [-1.58692718e-02 -2.21969465e-05 9.99874075e-01 -3.44233310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.344203822 meters 0.012304366589834278 Centerline is valid? [True, True] Translation: X:123.19, Y:-13.43, Z:-3.45 [[ 9.66801155e-01 2.55170174e-01 1.35539521e-02 1.23186144e+02] [-2.55144996e-01 9.66896159e-01 -3.58452831e-03 -1.34348751e+01] [-1.40199290e-02 7.30304851e-06 9.99901716e-01 -3.44804532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.374203822 meters 0.012740277458916602 Centerline is valid? [True, True] Translation: X:123.21, Y:-13.44, Z:-3.45 [[ 9.67113984e-01 2.54032353e-01 1.25740296e-02 1.23213985e+02] [-2.54010599e-01 9.67195721e-01 -3.32451004e-03 -1.34423914e+01] [-1.30060807e-02 2.12433628e-05 9.99915417e-01 -3.45046049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404203822 meters 0.01466458301669623 Centerline is valid? [True, True] Translation: X:123.24, Y:-13.45, Z:-3.46 [[ 9.67639812e-01 2.52075634e-01 1.14485466e-02 1.23239424e+02] [-2.52057466e-01 9.67707535e-01 -3.02667731e-03 -1.34532551e+01] [-1.18417964e-02 4.30418121e-05 9.99929883e-01 -3.45660092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.434203822 meters 0.013939300135912434 Centerline is valid? [True, True] Translation: X:123.27, Y:-13.46, Z:-3.45 [[ 9.67784128e-01 2.51508642e-01 1.17168680e-02 1.23267433e+02] [-2.51489583e-01 9.67855051e-01 -3.09662319e-03 -1.34608447e+01] [-1.21190574e-02 5.01925101e-05 9.99926560e-01 -3.45391331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464203822 meters 0.013639083300788286 Centerline is valid? [True, True] Translation: X:123.30, Y:-13.46, Z:-3.45 [[ 9.67634446e-01 2.52038663e-01 1.26527127e-02 1.23295567e+02] [-2.52016491e-01 9.67717164e-01 -3.34338221e-03 -1.34630735e+01] [-1.30869089e-02 4.64795257e-05 9.99914362e-01 -3.45302171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.494203822 meters 0.01360544163268422 Centerline is valid? [True, True] Translation: X:123.32, Y:-13.47, Z:-3.45 [[ 9.67542598e-01 2.52410222e-01 1.22638026e-02 1.23324264e+02] [-2.52389434e-01 9.67620317e-01 -3.23968848e-03 -1.34679637e+01] [-1.26844351e-02 3.92824004e-05 9.99919549e-01 -3.45419601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524203822 meters 0.013613562628631717 Centerline is valid? [True, True] Translation: X:123.35, Y:-13.47, Z:-3.46 [[ 9.67552665e-01 2.52402406e-01 1.16132125e-02 1.23352497e+02] [-2.52383770e-01 9.67622356e-01 -3.06733306e-03 -1.34734955e+01] [-1.20114063e-02 3.68199391e-05 9.99927860e-01 -3.45548337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554203822 meters 0.013792487732827255 Centerline is valid? [True, True] Translation: X:123.38, Y:-13.48, Z:-3.46 [[ 9.67587853e-01 2.52268831e-01 1.15838075e-02 1.23380126e+02] [-2.52250284e-01 9.67657189e-01 -3.05917705e-03 -1.34787872e+01] [-1.19808896e-02 3.80038153e-05 9.99928226e-01 -3.45735105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584203822 meters 0.01476431550465741 Centerline is valid? [True, True] Translation: X:123.41, Y:-13.49, Z:-3.46 [[ 9.68132573e-01 2.50120722e-01 1.26073853e-02 1.23407141e+02] [-2.50098583e-01 9.68214656e-01 -3.32851576e-03 -1.34850668e+01] [-1.30391860e-02 6.93553313e-05 9.99914984e-01 -3.45944056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61420382200001 meters 0.0156216433631984 Centerline is valid? [True, True] Translation: X:123.43, Y:-13.49, Z:-3.46 [[ 9.68540381e-01 2.48548402e-01 1.23782793e-02 1.23434471e+02] [-2.48526944e-01 9.68619473e-01 -3.26709207e-03 -1.34940708e+01] [-1.28018729e-02 8.79746609e-05 9.99918049e-01 -3.46021565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64420382200001 meters 0.019220959200791792 Centerline is valid? [True, True] Translation: X:123.46, Y:-13.51, Z:-3.46 [[ 9.69614772e-01 2.44373828e-01 1.13413907e-02 1.23461414e+02] [-2.44355538e-01 9.69681090e-01 -2.99256630e-03 -1.35083669e+01] [-1.17288369e-02 1.30304868e-04 9.99931206e-01 -3.46314237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67420382200001 meters 0.021268464478531268 Centerline is valid? [True, True] Translation: X:123.49, Y:-13.52, Z:-3.46 [[ 9.70114537e-01 2.42384042e-01 1.13031292e-02 1.23487923e+02] [-2.42365736e-01 9.70180371e-01 -2.98285888e-03 -1.35183527e+01] [-1.16890715e-02 1.54223528e-04 9.99931669e-01 -3.46441011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.704203822 meters 0.02433520580848955 Centerline is valid? [True, True] Translation: X:123.51, Y:-13.53, Z:-3.47 [[ 9.70599812e-01 2.40447709e-01 1.09956660e-02 1.23513901e+02] [-2.40430270e-01 9.70662078e-01 -2.90095750e-03 -1.35278963e+01] [-1.13706046e-02 1.71977849e-04 9.99935338e-01 -3.46737319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.734203822 meters 0.02661690470662718 Centerline is valid? [True, True] Translation: X:123.54, Y:-13.54, Z:-3.47 [[ 9.71091897e-01 2.38503691e-01 9.82433597e-03 1.23541911e+02] [-2.38489679e-01 9.71141575e-01 -2.59105477e-03 -1.35356965e+01] [-1.01587972e-02 1.73149562e-04 9.99948383e-01 -3.47079712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764203822 meters 0.023779659848828117 Centerline is valid? [True, True] Translation: X:123.57, Y:-13.54, Z:-3.47 [[ 9.71188667e-01 2.38125501e-01 9.42436830e-03 1.23571504e+02] [-2.38112594e-01 9.71234378e-01 -2.48508898e-03 -1.35399301e+01] [-9.74503355e-03 1.69429472e-04 9.99952502e-01 -3.46824893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.794203822 meters 0.025816141890143328 Centerline is valid? [True, True] Translation: X:123.60, Y:-13.55, Z:-3.47 [[ 9.71208570e-01 2.38096979e-01 7.98381852e-03 1.23599315e+02] [-2.38087714e-01 9.71241375e-01 -2.10538384e-03 -1.35460082e+01] [-8.25550041e-03 1.43917729e-04 9.99965912e-01 -3.47319363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824203822 meters 0.025050263690758107 Centerline is valid? [True, True] Translation: X:123.63, Y:-13.55, Z:-3.47 [[ 9.71137335e-01 2.38407115e-01 7.37052037e-03 1.23627812e+02] [-2.38399227e-01 9.71165295e-01 -1.94368781e-03 -1.35493239e+01] [-7.62138260e-03 1.30461442e-04 9.99970948e-01 -3.47418367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.854203822 meters 0.024164338665138174 Centerline is valid? [True, True] Translation: X:123.66, Y:-13.55, Z:-3.47 [[ 9.71177711e-01 2.38236057e-01 7.57858484e-03 1.23656852e+02] [-2.38227716e-01 9.71207271e-01 -1.99815802e-03 -1.35541950e+01] [-7.83640999e-03 1.35137577e-04 9.99969286e-01 -3.47331984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884203822 meters 0.023604058514132227 Centerline is valid? [True, True] Translation: X:123.68, Y:-13.56, Z:-3.47 [[ 9.71259090e-01 2.37829189e-01 9.64659358e-03 1.23684655e+02] [-2.37815663e-01 9.71306978e-01 -2.54253309e-03 -1.35623376e+01] [-9.97449225e-03 1.75347324e-04 9.99950238e-01 -3.46993710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914203822 meters 0.023381783106922696 Centerline is valid? [True, True] Translation: X:123.71, Y:-13.57, Z:-3.47 [[ 9.71223696e-01 2.37943686e-01 1.03602084e-02 1.23713190e+02] [-2.37928097e-01 9.71278934e-01 -2.72997298e-03 -1.35685548e+01] [-1.07122320e-02 1.86429779e-04 9.99942605e-01 -3.46941638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944203822 meters 0.021882920920030635 Centerline is valid? [True, True] Translation: X:123.74, Y:-13.57, Z:-3.47 [[ 9.70940799e-01 2.39036847e-01 1.16340246e-02 1.23743067e+02] [-2.39017280e-01 9.71010478e-01 -3.06464958e-03 -1.35699077e+01] [-1.20293239e-02 1.94860398e-04 9.99927626e-01 -3.46895840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974203822 meters 0.021752441303785126 Centerline is valid? [True, True] Translation: X:123.77, Y:-13.58, Z:-3.47 [[ 9.70662821e-01 2.40146524e-01 1.19722554e-02 1.23770651e+02] [-2.40125891e-01 9.70736634e-01 -3.15344309e-03 -1.35763843e+01] [-1.23791953e-02 1.86081480e-04 9.99923358e-01 -3.47096289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00420382200001 meters 0.019576651893349204 Centerline is valid? [True, True] Translation: X:123.80, Y:-13.58, Z:-3.47 [[ 9.70449630e-01 2.41013012e-01 1.18424322e-02 1.23799717e+02] [-2.40992896e-01 9.70521869e-01 -3.11866759e-03 -1.35809074e+01] [-1.22449789e-02 1.72567771e-04 9.99925013e-01 -3.47034312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03420382200001 meters 0.019424618036323817 Centerline is valid? [True, True] Translation: X:123.83, Y:-13.58, Z:-3.47 [[ 9.69926050e-01 2.43141695e-01 1.12060145e-02 1.23827802e+02] [-2.43123828e-01 9.69990772e-01 -2.95076389e-03 -1.35841559e+01] [-1.15871844e-02 1.37573627e-04 9.99932857e-01 -3.47395035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06420382200001 meters 0.01742351824945666 Centerline is valid? [True, True] Translation: X:123.86, Y:-13.59, Z:-3.47 [[ 9.69691903e-01 2.44067443e-01 1.13444547e-02 1.23856919e+02] [-2.44049206e-01 9.69758252e-01 -2.98624405e-03 -1.35863540e+01] [-1.17302235e-02 1.27131517e-04 9.99931190e-01 -3.47248856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.094203822 meters 0.016841499061941344 Centerline is valid? [True, True] Translation: X:123.89, Y:-13.59, Z:-3.48 [[ 9.69392426e-01 2.45302511e-01 1.02470451e-02 1.23886565e+02] [-2.45287705e-01 9.69446578e-01 -2.69696857e-03 -1.35886458e+01] [-1.05955359e-02 1.00946735e-04 9.99943861e-01 -3.47521092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124203822 meters 0.01814853746540748 Centerline is valid? [True, True] Translation: X:123.91, Y:-13.60, Z:-3.48 [[ 9.69373148e-01 2.45403213e-01 9.64171627e-03 1.23913329e+02] [-2.45390112e-01 9.69421092e-01 -2.53745681e-03 -1.35963651e+01] [-9.96958317e-03 9.37606560e-05 9.99950298e-01 -3.48023691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.154203822 meters 0.017342531535439635 Centerline is valid? [True, True] Translation: X:123.94, Y:-13.60, Z:-3.48 [[ 9.69472925e-01 2.45012488e-01 9.54609377e-03 1.23941579e+02] [-2.44999635e-01 9.69519918e-01 -2.51145455e-03 -1.36022911e+01] [-9.87046578e-03 9.59976968e-05 9.99951281e-01 -3.47917547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184203822 meters 0.017940048204199407 Centerline is valid? [True, True] Translation: X:123.97, Y:-13.61, Z:-3.48 [[ 9.69616296e-01 2.44421953e-01 1.01068141e-02 1.23968619e+02] [-2.44407517e-01 9.69668963e-01 -2.65858159e-03 -1.36097699e+01] [-1.04500797e-02 1.07622692e-04 9.99945391e-01 -3.48030221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.214203822 meters 0.02051386968183429 Centerline is valid? [True, True] Translation: X:123.99, Y:-13.62, Z:-3.48 [[ 9.69883895e-01 2.43333528e-01 1.06782007e-02 1.23994670e+02] [-2.43317357e-01 9.69942668e-01 -2.80807348e-03 -1.36209391e+01] [-1.10405409e-02 1.25313663e-04 9.99939044e-01 -3.48416961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244203822 meters 0.018566171459800385 Centerline is valid? [True, True] Translation: X:124.02, Y:-13.63, Z:-3.48 [[ 9.69949455e-01 2.43077299e-01 1.05584863e-02 1.24022672e+02] [-2.43061482e-01 9.70006913e-01 -2.77573240e-03 -1.36271369e+01] [-1.09165223e-02 1.25958787e-04 9.99940405e-01 -3.48189387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274203822 meters 0.018324539899688328 Centerline is valid? [True, True] Translation: X:124.05, Y:-13.63, Z:-3.49 [[ 9.69527481e-01 2.44783487e-01 9.87467075e-03 1.24049905e+02] [-2.44769743e-01 9.69577761e-01 -2.59576257e-03 -1.36341995e+01] [-1.02096610e-02 9.96425188e-05 9.99947875e-01 -3.48649272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304203822 meters 0.01803478984821719 Centerline is valid? [True, True] Translation: X:124.08, Y:-13.64, Z:-3.49 [[ 9.69156225e-01 2.46296999e-01 8.60236562e-03 1.24077772e+02] [-2.46286632e-01 9.69194399e-01 -2.26095066e-03 -1.36383622e+01] [-8.89422994e-03 7.25667529e-05 9.99960443e-01 -3.49049246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334203822 meters 0.017100167467554127 Centerline is valid? [True, True] Translation: X:124.11, Y:-13.64, Z:-3.49 [[ 9.68732356e-01 2.47993347e-01 7.54462724e-03 1.24107372e+02] [-2.47985428e-01 9.68761734e-01 -1.98244212e-03 -1.36408344e+01] [-7.80057863e-03 4.94982099e-05 9.99969574e-01 -3.49269507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36420382200001 meters 0.017083816160697016 Centerline is valid? [True, True] Translation: X:124.13, Y:-13.64, Z:-3.50 [[ 9.68335496e-01 2.49551026e-01 7.11709336e-03 1.24134752e+02] [-2.49544018e-01 9.68361649e-01 -1.87058613e-03 -1.36439393e+01] [-7.35872695e-03 3.53268778e-05 9.99972924e-01 -3.49565555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39420382200001 meters 0.016290725760721915 Centerline is valid? [True, True] Translation: X:124.16, Y:-13.65, Z:-3.50 [[ 9.67663827e-01 2.52171332e-01 6.02802509e-03 1.24164187e+02] [-2.52166362e-01 9.67682602e-01 -1.58338334e-03 -1.36470520e+01] [-6.23249889e-03 1.21176293e-05 9.99980578e-01 -3.49686693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42420382200001 meters 0.016618224687644057 Centerline is valid? [True, True] Translation: X:124.19, Y:-13.65, Z:-3.50 [[ 9.67283471e-01 2.53651447e-01 4.86119336e-03 1.24193076e+02] [-2.53648233e-01 9.67295686e-01 -1.27692410e-03 -1.36507204e+01] [-5.02610501e-03 2.11447161e-06 9.99987369e-01 -3.49894895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.454203822 meters 0.016618224687644057 Centerline is valid? [True, True] Translation: X:124.22, Y:-13.66, Z:-3.50 [[ 9.67301454e-01 2.53582858e-01 4.86111353e-03 1.24219705e+02] [-2.53579641e-01 9.67313669e-01 -1.27722857e-03 -1.36575647e+01] [-5.02610483e-03 2.78563295e-06 9.99987369e-01 -3.49972955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.484203822 meters 0.017095702459314 Centerline is valid? [True, True] Translation: X:124.25, Y:-13.65, Z:-3.50 [[ 9.66425257e-01 2.56910890e-01 4.36091702e-03 1.24250392e+02] [-2.56908339e-01 9.66435096e-01 -1.14511352e-03 -1.36543995e+01] [-4.50873539e-03 -1.36893242e-05 9.99989836e-01 -3.50194198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.514203822 meters 0.01780810918473981 Centerline is valid? [True, True] Translation: X:124.28, Y:-13.66, Z:-3.50 [[ 9.66180523e-01 2.57822211e-01 4.78579810e-03 1.24278257e+02] [-2.57819149e-01 9.66192376e-01 -1.25658031e-03 -1.36582494e+01] [-4.94797595e-03 -1.97869718e-05 9.99987758e-01 -3.50411819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544203822 meters 0.016949533808263882 Centerline is valid? [True, True] Translation: X:124.31, Y:-13.66, Z:-3.50 [[ 9.66006464e-01 2.58460614e-01 5.44266046e-03 1.24306455e+02] [-2.58456670e-01 9.66021796e-01 -1.42820805e-03 -1.36640121e+01] [-5.62686416e-03 -2.70336841e-05 9.99984169e-01 -3.50217089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.574203822 meters 0.017221020554346878 Centerline is valid? [True, True] Translation: X:124.34, Y:-13.66, Z:-3.50 [[ 9.65764971e-01 2.59336686e-01 6.51952588e-03 1.24335477e+02] [-2.59331048e-01 9.65786975e-01 -1.71043606e-03 -1.36633617e+01] [-6.74005200e-03 -3.88362546e-05 9.99977285e-01 -3.50216592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604203822 meters 0.018188080082253543 Centerline is valid? [True, True] Translation: X:124.36, Y:-13.66, Z:-3.51 [[ 9.65854213e-01 2.59006080e-01 6.44119527e-03 1.24362853e+02] [-2.59000569e-01 9.65875690e-01 -1.69000674e-03 -1.36647657e+01] [-6.65911595e-03 -3.59731092e-05 9.99977827e-01 -3.50583628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.634203822 meters 0.01680267718043376 Centerline is valid? [True, True] Translation: X:124.39, Y:-13.67, Z:-3.51 [[ 9.66451931e-01 2.56771908e-01 6.23325352e-03 1.24391550e+02] [-2.56766708e-01 9.66472031e-01 -1.63415574e-03 -1.36700652e+01] [-6.44387048e-03 -2.11590180e-05 9.99979238e-01 -3.50607047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664203822 meters 0.01635219864030355 Centerline is valid? [True, True] Translation: X:124.42, Y:-13.68, Z:-3.51 [[ 9.66979373e-01 2.54778486e-01 6.23019623e-03 1.24418773e+02] [-2.54773252e-01 9.66999443e-01 -1.63304776e-03 -1.36785293e+01] [-6.44066172e-03 -8.16385499e-06 9.99979259e-01 -3.50713362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694203822 meters 0.01608737486917115 Centerline is valid? [True, True] Translation: X:124.45, Y:-13.69, Z:-3.51 [[ 9.67529821e-01 2.52685190e-01 6.02005202e-03 1.24446117e+02] [-2.52680265e-01 9.67548549e-01 -1.57772981e-03 -1.36867863e+01] [-6.22336155e-03 5.35229993e-06 9.99980635e-01 -3.50720998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724203822 meters 0.01676760060070967 Centerline is valid? [True, True] Translation: X:124.47, Y:-13.69, Z:-3.51 [[ 9.68127197e-01 2.50397003e-01 5.57415913e-03 1.24472965e+02] [-2.50392742e-01 9.68143244e-01 -1.46095770e-03 -1.36948928e+01] [-5.76240393e-03 1.86638899e-05 9.99983397e-01 -3.50899317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75420382200001 meters 0.017485115368919016 Centerline is valid? [True, True] Translation: X:124.50, Y:-13.70, Z:-3.51 [[ 9.69071436e-01 2.46723173e-01 5.31304243e-03 1.24500639e+02] [-2.46719249e-01 9.69085999e-01 -1.39202522e-03 -1.37038775e+01] [-5.49223991e-03 3.81420428e-05 9.99984917e-01 -3.50807560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78420382200001 meters 0.01880405233110076 Centerline is valid? [True, True] Translation: X:124.53, Y:-13.71, Z:-3.51 [[ 9.69401462e-01 2.45420521e-01 5.43807029e-03 1.24527130e+02] [-2.45416390e-01 9.69416714e-01 -1.42473848e-03 -1.37113987e+01] [-5.62141629e-03 4.65519823e-05 9.99984199e-01 -3.51036324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81420382200001 meters 0.018921346911234822 Centerline is valid? [True, True] Translation: X:124.56, Y:-13.72, Z:-3.51 [[ 9.69593120e-01 2.44666366e-01 5.24884778e-03 1.24555033e+02] [-2.44662509e-01 9.69607326e-01 -1.37459100e-03 -1.37170577e+01] [-5.42563745e-03 4.85977078e-05 9.99985280e-01 -3.51050261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.844203822 meters 0.019420285309500053 Centerline is valid? [True, True] Translation: X:124.58, Y:-13.72, Z:-3.51 [[ 9.69655072e-01 2.44429349e-01 4.83055792e-03 1.24583818e+02] [-2.44426079e-01 9.69667103e-01 -1.26519557e-03 -1.37181379e+01] [-4.99328404e-03 4.60889676e-05 9.99987532e-01 -3.51259762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.874203822 meters 0.0187670741315216 Centerline is valid? [True, True] Translation: X:124.61, Y:-13.72, Z:-3.51 [[ 9.69645871e-01 2.44474790e-01 4.35456692e-03 1.24612197e+02] [-2.44472135e-01 9.69655648e-01 -1.14015777e-03 -1.37219770e+01] [-4.50117024e-03 4.09789967e-05 9.99989869e-01 -3.51277518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904203822 meters 0.023812322034620654 Centerline is valid? [True, True] Translation: X:124.64, Y:-13.73, Z:-3.52 [[ 9.69971031e-01 2.43196464e-01 3.41738534e-03 1.24639052e+02] [-2.43194819e-01 9.69977051e-01 -8.95203810e-04 -1.37295869e+01] [-3.53249575e-03 3.72313552e-05 9.99993760e-01 -3.51801006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.934203822 meters 0.02168572737211202 Centerline is valid? [True, True] Translation: X:124.67, Y:-13.74, Z:-3.52 [[ 9.70393787e-01 2.41492300e-01 4.16732778e-03 1.24665894e+02] [-2.41489840e-01 9.70402734e-01 -1.09125652e-03 -1.37391176e+01] [-4.30751632e-03 5.25812277e-05 9.99990721e-01 -3.51654441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964203822 meters 0.023149120142506748 Centerline is valid? [True, True] Translation: X:124.69, Y:-13.75, Z:-3.52 [[ 9.70986210e-01 2.39093215e-01 4.49598185e-03 1.24692460e+02] [-2.39090329e-01 9.70996617e-01 -1.17653343e-03 -1.37496725e+01] [-4.64688433e-03 6.74519535e-05 9.99989201e-01 -3.51609332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.994203822 meters 0.02597218253002388 Centerline is valid? [True, True] Translation: X:124.72, Y:-13.76, Z:-3.52 [[ 9.71650789e-01 2.36372891e-01 4.75408605e-03 1.24717847e+02] [-2.36369634e-01 9.71662415e-01 -1.24366679e-03 -1.37619442e+01] [-4.91333585e-03 8.46882405e-05 9.99987926e-01 -3.51702199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024203822 meters 0.027762890408122014 Centerline is valid? [True, True] Translation: X:124.74, Y:-13.78, Z:-3.51 [[ 9.72667531e-01 2.32143821e-01 5.20769542e-03 1.24744117e+02] [-2.32139858e-01 9.72681465e-01 -1.36129687e-03 -1.37769760e+01] [-5.38144547e-03 1.15175587e-04 9.99985513e-01 -3.51377009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054203822 meters 0.030828980359845375 Centerline is valid? [True, True] Translation: X:124.77, Y:-13.79, Z:-3.52 [[ 9.72932185e-01 2.31029797e-01 5.31011908e-03 1.24769371e+02] [-2.31025658e-01 9.72946667e-01 -1.38841152e-03 -1.37893544e+01] [-5.48722709e-03 1.24056502e-04 9.99984937e-01 -3.51758886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084203822 meters 0.027714221433783076 Centerline is valid? [True, True] Translation: X:124.80, Y:-13.80, Z:-3.52 [[ 9.72796852e-01 2.31586808e-01 5.81686607e-03 1.24796806e+02] [-2.31581857e-01 9.72814234e-01 -1.52009328e-03 -1.37980881e+01] [-6.01076366e-03 1.31661310e-04 9.99981927e-01 -3.51528553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11420382200001 meters 0.026399184071847097 Centerline is valid? [True, True] Translation: X:124.82, Y:-13.81, Z:-3.52 [[ 9.72445270e-01 2.33050036e-01 6.15445634e-03 1.24824758e+02] [-2.33044525e-01 9.72464737e-01 -1.60790877e-03 -1.38060546e+01] [-6.35971496e-03 1.29340917e-04 9.99979768e-01 -3.51546595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14420382200001 meters 0.022753209717762225 Centerline is valid? [True, True] Translation: X:124.85, Y:-13.81, Z:-3.52 [[ 9.71262218e-01 2.37962147e-01 4.87044486e-03 1.24853820e+02] [-2.37958759e-01 9.71274426e-01 -1.27219863e-03 -1.38098515e+01] [-5.03327366e-03 7.66734528e-05 9.99987330e-01 -3.51919764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17420382200001 meters 0.020637893930216034 Centerline is valid? [True, True] Translation: X:124.88, Y:-13.81, Z:-3.52 [[ 9.70493824e-01 2.41090759e-01 4.12096421e-03 1.24882806e+02] [-2.41088361e-01 9.70502572e-01 -1.07673738e-03 -1.38139429e+01] [-4.25899780e-03 5.14504693e-05 9.99990929e-01 -3.52174631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20420382200001 meters 0.019498605653951152 Centerline is valid? [True, True] Translation: X:124.91, Y:-13.82, Z:-3.53 [[ 9.69684977e-01 2.44332540e-01 3.55752162e-03 1.24910432e+02] [-2.44330770e-01 9.69691502e-01 -9.30585966e-04 -1.38181298e+01] [-3.67707092e-03 3.31632338e-05 9.99993239e-01 -3.52520467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.234203822 meters 0.01760954342804716 Centerline is valid? [True, True] Translation: X:124.94, Y:-13.82, Z:-3.53 [[ 9.68804930e-01 2.47807628e-01 2.89586506e-03 1.24939289e+02] [-2.47806474e-01 9.68809258e-01 -7.56644649e-04 -1.38206522e+01] [-2.99304320e-03 1.54269583e-05 9.99995521e-01 -3.52523892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264203822 meters 0.01863855727568278 Centerline is valid? [True, True] Translation: X:124.97, Y:-13.82, Z:-3.53 [[ 9.67124716e-01 2.54299155e-01 1.31279705e-03 1.24968548e+02] [-2.54298921e-01 9.67125607e-01 -3.44928554e-04 -1.38178844e+01] [-1.35735469e-03 -2.53944870e-07 9.99999079e-01 -3.53132932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.294203822 meters 0.02003317373232124 Centerline is valid? [True, True] Translation: X:125.00, Y:-13.82, Z:-3.53 [[ 9.66327255e-01 2.57315551e-01 5.85713577e-04 1.24997973e+02] [-2.57315503e-01 9.66327433e-01 -1.57442214e-04 -1.38204228e+01] [-6.06503427e-04 1.42751868e-06 9.99999816e-01 -3.53389429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324203822 meters 0.021388643406891478 Centerline is valid? [True, True] Translation: X:125.03, Y:-13.82, Z:-3.54 [[ 9.65678717e-01 2.59739309e-01 3.26648515e-04 1.25026754e+02] [-2.59739294e-01 9.65678772e-01 -8.98981102e-05 -1.38236869e+01] [-3.38787610e-04 1.96923696e-06 9.99999943e-01 -3.53500572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.354203822 meters 0.02174546686110754 Centerline is valid? [True, True] Translation: X:125.06, Y:-13.83, Z:-3.53 [[ 9.64559154e-01 2.63864042e-01 1.18570299e-03 1.25056261e+02] [-2.63863855e-01 9.64559883e-01 -3.13597309e-04 -1.38251536e+01] [-1.22642859e-03 -1.03810072e-05 9.99999248e-01 -3.52970298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384203822 meters 0.025088600665789378 Centerline is valid? [True, True] Translation: X:125.08, Y:-13.83, Z:-3.53 [[ 9.64168383e-01 2.65286006e-01 1.63242307e-03 1.25084862e+02] [-2.65285664e-01 9.64169764e-01 -4.26386519e-04 -1.38264400e+01] [-1.68704734e-03 -2.19500366e-05 9.99998577e-01 -3.53440576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414203822 meters 0.023788185839783007 Centerline is valid? [True, True] Translation: X:125.11, Y:-13.83, Z:-3.53 [[ 9.63968725e-01 2.66005489e-01 2.31884870e-03 1.25112482e+02] [-2.66004795e-01 9.63971514e-01 -6.08343731e-04 -1.38311913e+01] [-2.39712686e-03 -3.04005409e-05 9.99997126e-01 -3.53108183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444203822 meters 0.024952046747990644 Centerline is valid? [True, True] Translation: X:125.14, Y:-13.84, Z:-3.53 [[ 9.64122034e-01 2.65442775e-01 2.97267407e-03 1.25140233e+02] [-2.65441641e-01 9.64126616e-01 -7.76961189e-04 -1.38365549e+01] [-3.07227293e-03 -3.99860806e-05 9.99995280e-01 -3.53417891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474203822 meters 0.021164630239198033 Centerline is valid? [True, True] Translation: X:125.17, Y:-13.85, Z:-3.53 [[ 9.64980355e-01 2.62311792e-01 2.33193573e-03 1.25166305e+02] [-2.62311083e-01 9.64983173e-01 -6.10204108e-04 -1.38502877e+01] [-2.41034247e-03 -2.28576108e-05 9.99997095e-01 -3.53374162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50420382200001 meters 0.026469155033865644 Centerline is valid? [True, True] Translation: X:125.19, Y:-13.86, Z:-3.54 [[ 9.65627240e-01 2.59927257e-01 1.36173948e-03 1.25191576e+02] [-2.59927014e-01 9.65628200e-01 -3.55772086e-04 -1.38602057e+01] [-1.40740891e-03 -1.04096592e-05 9.99999010e-01 -3.53742532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53420382200001 meters 0.021770962771485255 Centerline is valid? [True, True] Translation: X:125.22, Y:-13.87, Z:-3.55 [[ 9.66370513e-01 2.57152477e-01 7.97416124e-04 1.25217449e+02] [-2.57152393e-01 9.66370842e-01 -2.08597567e-04 -1.38700874e+01] [-8.24241072e-04 -3.47492696e-06 9.99999660e-01 -3.54538803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56420382200001 meters 0.019984632316898284 Centerline is valid? [True, True] Translation: X:125.24, Y:-13.88, Z:-3.54 [[ 9.67039083e-01 2.54627963e-01 1.12278724e-04 1.25244328e+02] [-2.54627960e-01 9.67039090e-01 -3.39278082e-05 -1.38805723e+01] [-1.17216883e-04 4.22021411e-06 9.99999993e-01 -3.54402838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.594203822 meters 0.021111816513179473 Centerline is valid? [True, True] Translation: X:125.27, Y:-13.89, Z:-3.55 [[ 9.67719832e-01 2.52027594e-01 -6.46601846e-04 1.25271151e+02] [-2.52027539e-01 9.67720048e-01 1.65830784e-04 -1.38863506e+01] [ 6.67523503e-04 2.48373311e-06 9.99999777e-01 -3.54977697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624203822 meters 0.019591592262932746 Centerline is valid? [True, True] Translation: X:125.30, Y:-13.89, Z:-3.55 [[ 9.67770351e-01 2.51830476e-01 -1.39940105e-03 1.25299364e+02] [-2.51830222e-01 9.67771363e-01 3.57424919e-04 -1.38915737e+01] [ 1.44431074e-03 6.50623712e-06 9.99998957e-01 -3.54679788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.654203822 meters 0.019671578563576736 Centerline is valid? [True, True] Translation: X:125.33, Y:-13.90, Z:-3.55 [[ 9.67417363e-01 2.53171580e-01 -2.79241303e-03 1.25327219e+02] [-2.53170564e-01 9.67421393e-01 7.17460554e-04 -1.38977220e+01] [ 2.88308072e-03 1.28729841e-05 9.99995844e-01 -3.54718764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684203822 meters 0.020612015864956607 Centerline is valid? [True, True] Translation: X:125.35, Y:-13.90, Z:-3.55 [[ 9.67062908e-01 2.54525361e-01 -2.48446578e-03 1.25353985e+02] [-2.54524554e-01 9.67066099e-01 6.40885365e-04 -1.39043022e+01] [ 2.56576420e-03 1.25810788e-05 9.99996708e-01 -3.54903356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.714203822 meters 0.023573518890464336 Centerline is valid? [True, True] Translation: X:125.38, Y:-13.91, Z:-3.56 [[ 9.66577345e-01 2.56365652e-01 -2.21080587e-03 1.25380777e+02] [-2.56365021e-01 9.66579874e-01 5.69252777e-04 -1.39069412e+01] [ 2.28285732e-03 1.65464554e-05 9.99997394e-01 -3.55520852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744203822 meters 0.022110480546994223 Centerline is valid? [True, True] Translation: X:125.41, Y:-13.91, Z:-3.55 [[ 9.65925691e-01 2.58800611e-01 -3.13109521e-03 1.25409954e+02] [-2.58799364e-01 9.65930765e-01 8.04068657e-04 -1.39087081e+01] [ 3.23251465e-03 3.36548765e-05 9.99994775e-01 -3.54903014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774203822 meters 0.0329313724566393 Centerline is valid? [True, True] Translation: X:125.44, Y:-13.90, Z:-3.56 [[ 9.64239080e-01 2.64964011e-01 -6.08846472e-03 1.25443784e+02] [-2.64959362e-01 9.64258297e-01 1.57258784e-03 -1.38950906e+01] [ 6.28753180e-03 9.68450793e-05 9.99980229e-01 -3.55920508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804203822 meters 0.031177829505204358 Centerline is valid? [True, True] Translation: X:125.47, Y:-13.90, Z:-3.56 [[ 9.63455734e-01 2.67769660e-01 -7.24273364e-03 1.25474409e+02] [-2.67763161e-01 9.63482948e-01 1.87055249e-03 -1.38957841e+01] [ 7.47912756e-03 1.37142737e-04 9.99972022e-01 -3.56374815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834203822 meters 0.02987984524462145 Centerline is valid? [True, True] Translation: X:125.50, Y:-13.90, Z:-3.56 [[ 9.63558733e-01 2.67406378e-01 -6.95684992e-03 1.25501863e+02] [-2.67400413e-01 9.63583837e-01 1.79111356e-03 -1.39049623e+01] [ 7.18246333e-03 1.34421430e-04 9.99974197e-01 -3.56204362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86420382200001 meters 0.031478814788411254 Centerline is valid? [True, True] Translation: X:125.53, Y:-13.91, Z:-3.57 [[ 9.63888410e-01 2.66231713e-01 -6.30938563e-03 1.25528752e+02] [-2.66226766e-01 9.63909053e-01 1.62677717e-03 -1.39128137e+01] [ 6.51477360e-03 1.11695674e-04 9.99978772e-01 -3.56633734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89420382200001 meters 0.028004312628170925 Centerline is valid? [True, True] Translation: X:125.56, Y:-13.92, Z:-3.56 [[ 9.64398350e-01 2.64383264e-01 -6.10831851e-03 1.25555428e+02] [-2.64378618e-01 9.64417689e-01 1.57062573e-03 -1.39249866e+01] [ 6.30621759e-03 1.00199941e-04 9.99980111e-01 -3.56240452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92420382200001 meters 0.025106217526182868 Centerline is valid? [True, True] Translation: X:125.58, Y:-13.94, Z:-3.56 [[ 9.65438973e-01 2.60577191e-01 -5.20740794e-03 1.25582652e+02] [-2.60573765e-01 9.65453015e-01 1.33773319e-03 -1.39369958e+01] [ 5.37609045e-03 6.54141381e-05 9.99985547e-01 -3.56056432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95420382200001 meters 0.0253058072485531 Centerline is valid? [True, True] Translation: X:125.61, Y:-13.94, Z:-3.56 [[ 9.65859292e-01 2.59021118e-01 -4.88757875e-03 1.25610117e+02] [-2.59018074e-01 9.65871657e-01 1.25680997e-03 -1.39427859e+01] [ 5.04631411e-03 5.20696498e-05 9.99987266e-01 -3.56294694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.984203822 meters 0.03048272193503106 Centerline is valid? [True, True] Translation: X:125.64, Y:-13.95, Z:-3.56 [[ 9.66131445e-01 2.58008788e-01 -4.63637428e-03 1.25638308e+02] [-2.58006053e-01 9.66142569e-01 1.18892231e-03 -1.39479698e+01] [ 4.78615096e-03 4.75573989e-05 9.99988545e-01 -3.56171855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.014203822 meters 0.023354455542155608 Centerline is valid? [True, True] Translation: X:125.67, Y:-13.96, Z:-3.56 [[ 9.66542464e-01 2.56486606e-01 -3.20711368e-03 1.25665172e+02] [-2.56485287e-01 9.66547785e-01 8.23078747e-04 -1.39561530e+01] [ 3.31093729e-03 2.70369101e-05 9.99994518e-01 -3.56228731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04420382200001 meters 0.023258010269692497 Centerline is valid? [True, True] Translation: X:125.69, Y:-13.96, Z:-3.56 [[ 9.66722087e-01 2.55808722e-01 -3.20990985e-03 1.25691684e+02] [-2.55807409e-01 9.66727416e-01 8.20149268e-04 -1.39649552e+01] [ 3.31290919e-03 2.82623091e-05 9.99994512e-01 -3.56391253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07420382200002 meters 0.022028499835303975 Centerline is valid? [True, True] Translation: X:125.72, Y:-13.97, Z:-3.56 [[ 9.66861713e-01 2.55264972e-01 -4.26878187e-03 1.25718895e+02] [-2.55262626e-01 9.66871136e-01 1.09487266e-03 -1.39731118e+01] [ 4.40684461e-03 3.10700121e-05 9.99990289e-01 -3.56244447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10420382200002 meters 0.02162878981300963 Centerline is valid? [True, True] Translation: X:125.75, Y:-13.98, Z:-3.56 [[ 9.66822222e-01 2.55411660e-01 -4.43568536e-03 1.25747008e+02] [-2.55409143e-01 9.66832396e-01 1.13457098e-03 -1.39808953e+01] [ 4.57834697e-03 3.59861557e-05 9.99989519e-01 -3.56194440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13420382200002 meters 0.021408719324487104 Centerline is valid? [True, True] Translation: X:125.77, Y:-13.99, Z:-3.56 [[ 9.66447849e-01 2.56847641e-01 -2.80075899e-03 1.25774935e+02] [-2.56846650e-01 9.66451907e-01 7.13979125e-04 -1.39880020e+01] [ 2.89018272e-03 2.93419744e-05 9.99995823e-01 -3.55876801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164203822 meters 0.022163993177537384 Centerline is valid? [True, True] Translation: X:125.80, Y:-13.99, Z:-3.56 [[ 9.66161973e-01 2.57920165e-01 -2.86884579e-03 1.25803747e+02] [-2.57919132e-01 9.66166232e-01 7.30922468e-04 -1.39928875e+01] [ 2.96030157e-03 3.37407228e-05 9.99995618e-01 -3.55921986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194203822 meters 0.023484329437012594 Centerline is valid? [True, True] Translation: X:125.83, Y:-14.00, Z:-3.56 [[ 9.65759607e-01 2.59412560e-01 -3.67507972e-03 1.25832829e+02] [-2.59410872e-01 9.65766598e-01 9.37087675e-04 -1.39968371e+01] [ 3.79236155e-03 4.83542096e-05 9.99992808e-01 -3.56147302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224203822 meters 0.028149119318003145 Centerline is valid? [True, True] Translation: X:125.86, Y:-14.00, Z:-3.57 [[ 9.65280959e-01 2.61175004e-01 -4.50419668e-03 1.25861206e+02] [-2.61172468e-01 9.65291465e-01 1.15264066e-03 -1.39982740e+01] [ 4.64890354e-03 6.37500855e-05 9.99989192e-01 -3.56974729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254203822 meters 0.029056358780943432 Centerline is valid? [True, True] Translation: X:125.89, Y:-14.00, Z:-3.56 [[ 9.64422018e-01 2.64357909e-01 -2.25110011e-03 1.25891014e+02] [-2.64357294e-01 9.64424644e-01 5.71778961e-04 -1.39999774e+01] [ 2.32217072e-03 4.36585153e-05 9.99997303e-01 -3.56398027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284203822 meters 0.029289614907485693 Centerline is valid? [True, True] Translation: X:125.92, Y:-14.00, Z:-3.56 [[ 9.63982131e-01 2.65966601e-01 -4.67334713e-04 1.25919491e+02] [-2.65966577e-01 9.63982244e-01 1.14760374e-04 -1.40042943e+01] [ 4.81024792e-04 1.36684641e-05 9.99999884e-01 -3.55989426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314203822 meters 0.03057668328500183 Centerline is valid? [True, True] Translation: X:125.95, Y:-14.01, Z:-3.56 [[ 9.63536038e-01 2.67578592e-01 4.06667834e-06 1.25948379e+02] [-2.67578592e-01 9.63536038e-01 -5.90490334e-06 -1.40080097e+01] [-5.49841705e-06 4.60143110e-06 1.00000000e+00 -3.55922569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344203822 meters 0.0338826366071675 Centerline is valid? [True, True] Translation: X:125.98, Y:-14.01, Z:-3.56 [[ 9.62644711e-01 2.70761928e-01 -1.77164300e-03 1.25979229e+02] [-2.70761553e-01 9.62646340e-01 4.52771867e-04 -1.40078730e+01] [ 1.82805904e-03 4.38343689e-05 9.99998328e-01 -3.56248237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.374203822 meters 0.0338826366071675 Centerline is valid? [True, True] Translation: X:126.01, Y:-14.01, Z:-3.56 [[ 9.62696375e-01 2.70578171e-01 -1.77298799e-03 1.26005905e+02] [-2.70577806e-01 9.62698006e-01 4.47510939e-04 -1.40144893e+01] [ 1.82793869e-03 4.89140411e-05 9.99998328e-01 -3.56326275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404203822 meters 0.03552228220535412 Centerline is valid? [True, True] Translation: X:126.04, Y:-14.02, Z:-3.57 [[ 9.62344487e-01 2.71822732e-01 -2.34307920e-03 1.26035027e+02] [-2.71822092e-01 9.62347338e-01 5.93499061e-04 -1.40163413e+01] [ 2.41618257e-03 6.57501403e-05 9.99997079e-01 -3.56526640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.434203822 meters 0.04170612265704987 Centerline is valid? [True, True] Translation: X:126.06, Y:-14.01, Z:-3.57 [[ 9.61883621e-01 2.73454351e-01 -1.61774908e-03 1.26064637e+02] [-2.73454047e-01 9.61884981e-01 4.09937290e-04 -1.40103897e+01] [ 1.66818768e-03 4.80680691e-05 9.99998607e-01 -3.57149080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464203822 meters 0.03543880820557649 Centerline is valid? [True, True] Translation: X:126.09, Y:-14.02, Z:-3.56 [[ 9.61833526e-01 2.73631885e-01 -1.36369976e-03 1.26090088e+02] [-2.73631674e-01 9.61834492e-01 3.42088694e-04 -1.40230544e+01] [ 1.40525984e-03 4.41190722e-05 9.99999012e-01 -3.56378282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.494203822 meters 0.03828918732635489 Centerline is valid? [True, True] Translation: X:126.12, Y:-14.03, Z:-3.57 [[ 9.61792314e-01 2.73776412e-01 -1.42167129e-03 1.26117481e+02] [-2.73776179e-01 9.61793364e-01 3.59315842e-04 -1.40258999e+01] [ 1.46572621e-03 4.36325196e-05 9.99998925e-01 -3.56687667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524203822 meters 0.04257303357415113 Centerline is valid? [True, True] Translation: X:126.15, Y:-14.03, Z:-3.57 [[ 9.61710844e-01 2.74061558e-01 -1.58606176e-03 1.26145586e+02] [-2.74061266e-01 9.61712150e-01 4.02556319e-04 -1.40263067e+01] [ 1.63566007e-03 4.75353165e-05 9.99998661e-01 -3.57176298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.554203822 meters 0.041160611614167744 Centerline is valid? [True, True] Translation: X:126.17, Y:-14.03, Z:-3.57 [[ 9.61837464e-01 2.73618352e-01 -1.30042922e-03 1.26174715e+02] [-2.73618160e-01 9.61838342e-01 3.26598085e-04 -1.40277090e+01] [ 1.34016592e-03 4.16867775e-05 9.99999101e-01 -3.57023219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584203822 meters 0.034992311690958684 Centerline is valid? [True, True] Translation: X:126.20, Y:-14.04, Z:-3.56 [[ 9.62233106e-01 2.72222702e-01 -1.50000164e-03 1.26201745e+02] [-2.72222445e-01 9.62234274e-01 3.76800569e-04 -1.40379324e+01] [ 1.54592666e-03 4.57641337e-05 9.99998804e-01 -3.56440852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.614203822 meters 0.030243732431869792 Centerline is valid? [True, True] Translation: X:126.23, Y:-14.05, Z:-3.57 [[ 9.63603461e-01 2.67325531e-01 -2.33016007e-03 1.26229826e+02] [-2.67324880e-01 9.63606277e-01 5.92325845e-04 -1.40482610e+01] [ 2.40370069e-03 5.21425257e-05 9.99997110e-01 -3.56601369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644203822 meters 0.029956103272647205 Centerline is valid? [True, True] Translation: X:126.26, Y:-14.06, Z:-3.57 [[ 9.64585799e-01 2.63764168e-01 -1.64337614e-03 1.26257510e+02] [-2.63763840e-01 9.64587198e-01 4.17494581e-04 -1.40570707e+01] [ 1.69529969e-03 3.07538565e-05 9.99998563e-01 -3.57090693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.674203822 meters 0.02465591389425628 Centerline is valid? [True, True] Translation: X:126.28, Y:-14.07, Z:-3.57 [[ 9.65636668e-01 2.59895518e-01 -3.82125263e-04 1.26284806e+02] [-2.59895500e-01 9.65636743e-01 9.65246790e-05 -1.40711070e+01] [ 3.94080526e-04 6.10486683e-06 9.99999922e-01 -3.56713901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704203822 meters 0.020976765880871932 Centerline is valid? [True, True] Translation: X:126.31, Y:-14.09, Z:-3.57 [[ 9.67826896e-01 2.51616708e-01 3.63384360e-04 1.26309976e+02] [-2.51616691e-01 9.67826964e-01 -9.35102004e-05 -1.40886179e+01] [-3.75221911e-04 -9.31883134e-07 9.99999930e-01 -3.57067966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.734203822 meters 0.018494992836922717 Centerline is valid? [True, True] Translation: X:126.34, Y:-14.10, Z:-3.57 [[ 9.68783263e-01 2.47909234e-01 -2.37112104e-06 1.26335788e+02] [-2.47909234e-01 9.68783263e-01 -5.09115932e-06 -1.41015666e+01] [ 1.03495679e-06 5.52005274e-06 1.00000000e+00 -3.56750425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764203822 meters 0.01913529240777997 Centerline is valid? [True, True] Translation: X:126.36, Y:-14.11, Z:-3.57 [[ 9.69638141e-01 2.44541874e-01 -1.07092914e-03 1.26362128e+02] [-2.44541728e-01 9.69638733e-01 2.67104252e-04 -1.41145106e+01] [ 1.10373255e-03 2.89239261e-06 9.99999391e-01 -3.57076354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79420382200001 meters 0.02200693736822232 Centerline is valid? [True, True] Translation: X:126.39, Y:-14.13, Z:-3.58 [[ 9.70909548e-01 2.39428995e-01 -2.89917563e-03 1.26387008e+02] [-2.39427867e-01 9.70913877e-01 7.35319385e-04 -1.41328628e+01] [ 2.99090663e-03 -1.97851760e-05 9.99995527e-01 -3.57579820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82420382200002 meters 0.02315888836363473 Centerline is valid? [True, True] Translation: X:126.41, Y:-14.14, Z:-3.58 [[ 9.71381263e-01 2.37507287e-01 -2.95486862e-03 1.26413281e+02] [-2.37506109e-01 9.71385756e-01 7.48622028e-04 -1.41439260e+01] [ 3.04812048e-03 -2.53980621e-05 9.99995354e-01 -3.57685465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85420382200002 meters 0.023242813506422585 Centerline is valid? [True, True] Translation: X:126.44, Y:-14.15, Z:-3.58 [[ 9.71758528e-01 2.35957405e-01 -3.07689264e-03 1.26440719e+02] [-2.35956131e-01 9.71763398e-01 7.75864012e-04 -1.41532285e+01] [ 3.17308251e-03 -2.79407873e-05 9.99994965e-01 -3.57577360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88420382200002 meters 0.023675418420159793 Centerline is valid? [True, True] Translation: X:126.47, Y:-14.16, Z:-3.58 [[ 9.71818920e-01 2.35698085e-01 -3.79459690e-03 1.26467386e+02] [-2.35696143e-01 9.71826328e-01 9.57323002e-04 -1.41637405e+01] [ 3.91332837e-03 -3.59727509e-05 9.99992342e-01 -3.57620006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914203822 meters 0.02208559000112072 Centerline is valid? [True, True] Translation: X:126.50, Y:-14.17, Z:-3.57 [[ 9.71630206e-01 2.36482947e-01 -3.24926539e-03 1.26495646e+02] [-2.36481533e-01 9.71635639e-01 8.18349597e-04 -1.41711421e+01] [ 3.35062778e-03 -2.67419263e-05 9.99994386e-01 -3.57374363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944203822 meters 0.020600731523477942 Centerline is valid? [True, True] Translation: X:126.52, Y:-14.18, Z:-3.57 [[ 9.70432458e-01 2.41366481e-01 -1.75107306e-03 1.26524267e+02] [-2.41366074e-01 9.70434038e-01 4.42957310e-04 -1.41759863e+01] [ 1.80621595e-03 -7.21052101e-06 9.99998369e-01 -3.57406308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974203822 meters 0.019111937768264753 Centerline is valid? [True, True] Translation: X:126.55, Y:-14.18, Z:-3.57 [[ 9.69615473e-01 2.44631091e-01 -1.20991167e-03 1.26552901e+02] [-2.44630906e-01 9.69616228e-01 3.01392320e-04 -1.41797446e+01] [ 1.24687992e-03 3.74713112e-06 9.99999223e-01 -3.57219443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004203822 meters 0.019615136423873424 Centerline is valid? [True, True] Translation: X:126.58, Y:-14.18, Z:-3.57 [[ 9.68673808e-01 2.48335706e-01 -6.55493280e-04 1.26581173e+02] [-2.48335652e-01 9.68674030e-01 1.64159547e-04 -1.41829517e+01] [ 6.75725994e-04 3.76529770e-06 9.99999772e-01 -3.57305121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034203822 meters 0.023144803007172993 Centerline is valid? [True, True] Translation: X:126.61, Y:-14.18, Z:-3.57 [[ 9.66560918e-01 2.56435798e-01 8.20197629e-04 1.26611271e+02] [-2.56435710e-01 9.66561266e-01 -2.12319815e-04 -1.41803447e+01] [-8.47217661e-04 -5.10792599e-06 9.99999641e-01 -3.57086363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064203822 meters 0.028006356176255333 Centerline is valid? [True, True] Translation: X:126.64, Y:-14.18, Z:-3.58 [[ 9.65497242e-01 2.60413274e-01 5.27269603e-05 1.26640677e+02] [-2.60413274e-01 9.65497243e-01 -1.43716834e-05 -1.41805427e+01] [-5.46503121e-05 1.45020326e-07 9.99999999e-01 -3.57541334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.094203822 meters 0.029175448024756554 Centerline is valid? [True, True] Translation: X:126.67, Y:-14.19, Z:-3.57 [[ 9.64405213e-01 2.64423761e-01 -1.63114308e-03 1.26670944e+02] [-2.64423441e-01 9.64406591e-01 4.12532291e-04 -1.41859124e+01] [ 1.68216848e-03 3.34641751e-05 9.99998585e-01 -3.57414626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124203822 meters 0.03912458461564506 Centerline is valid? [True, True] Translation: X:126.70, Y:-14.18, Z:-3.58 [[ 9.62290968e-01 2.72011375e-01 -2.43014192e-03 1.26701306e+02] [-2.72010691e-01 9.62294033e-01 6.14035861e-04 -1.41842941e+01] [ 2.50553580e-03 7.01434196e-05 9.99996859e-01 -3.57964975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.154203822 meters 0.04345910491146638 Centerline is valid? [True, True] Translation: X:126.73, Y:-14.19, Z:-3.58 [[ 9.61192383e-01 2.75876033e-01 -1.27147733e-03 1.26730622e+02] [-2.75875851e-01 9.61193223e-01 3.20481348e-04 -1.41865667e+01] [ 1.31054852e-03 4.27256592e-05 9.99999140e-01 -3.57790607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184203822 meters 0.0486838668110042 Centerline is valid? [True, True] Translation: X:126.76, Y:-14.19, Z:-3.57 [[ 9.58940297e-01 2.83608014e-01 -4.84297392e-05 1.26762027e+02] [-2.83608013e-01 9.58940298e-01 1.18120779e-05 -1.41854861e+01] [ 4.97912283e-05 2.40798463e-06 9.99999999e-01 -3.57252952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.214203822 meters 0.054576126304788614 Centerline is valid? [True, True] Translation: X:126.79, Y:-14.18, Z:-3.57 [[ 9.57844339e-01 2.87287417e-01 4.03516114e-04 1.26791760e+02] [-2.87287399e-01 9.57844424e-01 -1.02370940e-04 -1.41846842e+01] [-4.15915542e-04 -1.78696693e-05 9.99999913e-01 -3.57411821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244203822 meters 0.05366484874744189 Centerline is valid? [True, True] Translation: X:126.82, Y:-14.19, Z:-3.57 [[ 9.56875389e-01 2.90496772e-01 1.05661708e-03 1.26820959e+02] [-2.90496653e-01 9.56875971e-01 -2.67478364e-04 -1.41922226e+01] [-1.08875310e-03 -5.10002630e-05 9.99999406e-01 -3.57065855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.274203822 meters 0.06378467868811111 Centerline is valid? [True, True] Translation: X:126.85, Y:-14.18, Z:-3.57 [[ 9.55353976e-01 2.95454514e-01 2.32598488e-03 1.26853139e+02] [-2.95453954e-01 9.55356800e-01 -5.88535973e-04 -1.41849687e+01] [-2.39603108e-03 -1.24961247e-04 9.99997122e-01 -3.57142142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304203822 meters 0.06437270417546678 Centerline is valid? [True, True] Translation: X:126.88, Y:-14.19, Z:-3.57 [[ 9.54857773e-01 2.97048309e-01 2.98938529e-03 1.26882393e+02] [-2.97047391e-01 9.54862438e-01 -7.56600241e-04 -1.41893835e+01] [-3.07919855e-03 -1.65543480e-04 9.99995246e-01 -3.56989673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.334203822 meters 0.06674037244304648 Centerline is valid? [True, True] Translation: X:126.91, Y:-14.19, Z:-3.57 [[ 9.54578245e-01 2.97937090e-01 3.72359653e-03 1.26910465e+02] [-2.97935673e-01 9.54585484e-01 -9.42615812e-04 -1.41911854e+01] [-3.83533141e-03 -2.09591692e-04 9.99992623e-01 -3.56980058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364203822 meters 0.06301503771890903 Centerline is valid? [True, True] Translation: X:126.94, Y:-14.20, Z:-3.57 [[ 9.54512649e-01 2.98146009e-01 3.81585279e-03 1.26937461e+02] [-2.98144513e-01 9.54520252e-01 -9.68410880e-04 -1.42004187e+01] [-3.93103661e-03 -2.13315137e-04 9.99992251e-01 -3.56798441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.394203822 meters 0.07204707175814647 Centerline is valid? [True, True] Translation: X:126.97, Y:-14.19, Z:-3.57 [[ 9.54697051e-01 2.97549584e-01 4.21727552e-03 1.26967800e+02] [-2.97547767e-01 9.54706337e-01 -1.06639327e-03 -1.41917600e+01] [-4.34356453e-03 -2.36758404e-04 9.99990539e-01 -3.57310707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424203822 meters 0.07053033293566119 Centerline is valid? [True, True] Translation: X:127.00, Y:-14.20, Z:-3.57 [[ 9.55000705e-01 2.96560101e-01 5.07542500e-03 1.26997303e+02] [-2.96557463e-01 9.55014150e-01 -1.28209402e-03 -1.41980649e+01] [-5.22732063e-03 -2.80754472e-04 9.99986298e-01 -3.57267243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.454203822 meters 0.0634913531056015 Centerline is valid? [True, True] Translation: X:127.02, Y:-14.21, Z:-3.57 [[ 9.55508653e-01 2.94921186e-01 4.97068841e-03 1.27024692e+02] [-2.94918635e-01 9.55521545e-01 -1.25526274e-03 -1.42107480e+01] [-5.11980345e-03 -2.66534228e-04 9.99986858e-01 -3.57082263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484203822 meters 0.0598104951043123 Centerline is valid? [True, True] Translation: X:127.05, Y:-14.22, Z:-3.58 [[ 9.57025047e-01 2.89990484e-01 2.92898079e-03 1.27052697e+02] [-2.89989575e-01 9.57029519e-01 -7.39666896e-04 -1.42197458e+01] [-3.01761744e-03 -1.41494149e-04 9.99995437e-01 -3.57669257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.514203822 meters 0.055806124906857324 Centerline is valid? [True, True] Translation: X:127.08, Y:-14.23, Z:-3.58 [[ 9.57836714e-01 2.87301599e-01 2.57301773e-03 1.27080823e+02] [-2.87300888e-01 9.57840163e-01 -6.49685919e-04 -1.42317271e+01] [-2.65119552e-03 -1.16937253e-04 9.99996479e-01 -3.57800663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54420382200001 meters 0.05620704754443931 Centerline is valid? [True, True] Translation: X:127.11, Y:-14.24, Z:-3.58 [[ 9.58653180e-01 2.84566877e-01 2.40248290e-03 1.27108959e+02] [-2.84566248e-01 9.58656185e-01 -6.06922669e-04 -1.42373328e+01] [-2.47586518e-03 -1.01837198e-04 9.99996930e-01 -3.58194873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57420382200002 meters 0.04596997266349796 Centerline is valid? [True, True] Translation: X:127.14, Y:-14.25, Z:-3.58 [[ 9.60027737e-01 2.79903665e-01 8.26385059e-04 1.27136365e+02] [-2.79903589e-01 9.60028092e-01 -2.08868805e-04 -1.42530614e+01] [-8.51816016e-04 -3.07882977e-05 9.99999637e-01 -3.58105683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60420382200002 meters 0.04380224815262051 Centerline is valid? [True, True] Translation: X:127.16, Y:-14.26, Z:-3.58 [[ 9.60634913e-01 2.77812363e-01 9.24351716e-04 1.27164894e+02] [-2.77812266e-01 9.60635357e-01 -2.33912881e-04 -1.42603520e+01] [-9.52948831e-04 -3.20913651e-05 9.99999545e-01 -3.58164646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63420382200002 meters 0.04031962702510529 Centerline is valid? [True, True] Translation: X:127.19, Y:-14.27, Z:-3.58 [[ 9.61200114e-01 2.75850179e-01 1.01017709e-03 1.27192520e+02] [-2.75850062e-01 9.61200644e-01 -2.56235534e-04 -1.42691926e+01] [-1.04166549e-03 -3.23637879e-05 9.99999457e-01 -3.58063137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664203822 meters 0.03583417870029651 Centerline is valid? [True, True] Translation: X:127.22, Y:-14.28, Z:-3.58 [[ 9.62493941e-01 2.71301078e-01 1.06660908e-03 1.27220615e+02] [-2.71300946e-01 9.62494532e-01 -2.69399190e-04 -1.42792983e+01] [-1.09969369e-03 -3.00769635e-05 9.99999395e-01 -3.58235085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694203822 meters 0.03366244777418593 Centerline is valid? [True, True] Translation: X:127.25, Y:-14.29, Z:-3.58 [[ 9.63175022e-01 2.68874606e-01 5.68384105e-04 1.27248458e+02] [-2.68874567e-01 9.63175190e-01 -1.45812176e-04 -1.42880444e+01] [-5.86658659e-04 -1.23813844e-05 9.99999828e-01 -3.58394880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724203822 meters 0.03292555690770185 Centerline is valid? [True, True] Translation: X:127.28, Y:-14.29, Z:-3.59 [[ 9.63873760e-01 2.66359481e-01 -4.23824903e-05 1.27275218e+02] [-2.66359481e-01 9.63873761e-01 5.74288567e-06 -1.42943565e+01] [ 4.23810422e-05 5.75356133e-06 9.99999999e-01 -3.58686155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754203822 meters 0.0294060578077784 Centerline is valid? [True, True] Translation: X:127.30, Y:-14.30, Z:-3.59 [[ 9.65135141e-01 2.61751484e-01 5.65454843e-04 1.27302732e+02] [-2.61751445e-01 9.65135307e-01 -1.43501041e-04 -1.43018374e+01] [-5.83302044e-04 -9.51072425e-06 9.99999830e-01 -3.58845984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784203822 meters 0.026619170216150866 Centerline is valid? [True, True] Translation: X:127.33, Y:-14.31, Z:-3.59 [[ 9.65776018e-01 2.59377167e-01 -4.11367211e-04 1.27329734e+02] [-2.59377148e-01 9.65776105e-01 9.86601671e-05 -1.43109460e+01] [ 4.22878817e-04 1.14156308e-05 9.99999911e-01 -3.58828826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814203822 meters 0.02603181051878562 Centerline is valid? [True, True] Translation: X:127.36, Y:-14.32, Z:-3.59 [[ 9.66363683e-01 2.57174697e-01 -1.55176429e-03 1.27355827e+02] [-2.57174407e-01 9.66364928e-01 3.86634948e-04 -1.43180564e+01] [ 1.59900331e-03 2.54440897e-05 9.99998721e-01 -3.59226229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844203822 meters 0.023660555461125304 Centerline is valid? [True, True] Translation: X:127.38, Y:-14.33, Z:-3.59 [[ 9.67182541e-01 2.54073635e-01 -2.12632824e-03 1.27383472e+02] [-2.54073084e-01 9.67184877e-01 5.29750870e-04 -1.43256782e+01] [ 2.19114825e-03 2.78769829e-05 9.99997599e-01 -3.59359800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.874203822 meters 0.02326743704650788 Centerline is valid? [True, True] Translation: X:127.41, Y:-14.33, Z:-3.59 [[ 9.67485076e-01 2.52925169e-01 -1.21919718e-03 1.27410494e+02] [-2.52924987e-01 9.67485844e-01 3.03895445e-04 -1.43315655e+01] [ 1.25641882e-03 1.43511240e-05 9.99999211e-01 -3.59489110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904203822 meters 0.020110961210296964 Centerline is valid? [True, True] Translation: X:127.44, Y:-14.34, Z:-3.59 [[ 9.67814320e-01 2.51663227e-01 -1.03063310e-03 1.27439265e+02] [-2.51663097e-01 9.67814869e-01 2.56163700e-04 -1.43378966e+01] [ 1.06192902e-03 1.14534205e-05 9.99999436e-01 -3.58909648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.934203822 meters 0.021148246530915106 Centerline is valid? [True, True] Translation: X:127.47, Y:-14.34, Z:-3.59 [[ 9.68017634e-01 2.50881173e-01 -7.05384751e-04 1.27466974e+02] [-2.50881112e-01 9.68017891e-01 1.75362776e-04 -1.43429400e+01] [ 7.26820278e-04 7.21345060e-06 9.99999736e-01 -3.59318381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964203822 meters 0.020173106203867155 Centerline is valid? [True, True] Translation: X:127.49, Y:-14.35, Z:-3.59 [[ 9.68404189e-01 2.49385457e-01 -4.69078535e-04 1.27494732e+02] [-2.49385431e-01 9.68404303e-01 1.12814234e-04 -1.43512753e+01] [ 4.82391901e-04 7.73157640e-06 9.99999884e-01 -3.59316034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.994203822 meters 0.019893013238571167 Centerline is valid? [True, True] Translation: X:127.52, Y:-14.36, Z:-3.60 [[ 9.69138045e-01 2.46513078e-01 -1.65922003e-03 1.27521098e+02] [-2.46512729e-01 9.69139465e-01 4.14620936e-04 -1.43585318e+01] [ 1.71022509e-03 7.19393473e-06 9.99998538e-01 -3.59574191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024203822 meters 0.01933360062435778 Centerline is valid? [True, True] Translation: X:127.55, Y:-14.36, Z:-3.60 [[ 9.69551645e-01 2.44872798e-01 -2.63066608e-03 1.27549550e+02] [-2.44871923e-01 9.69555214e-01 6.54673159e-04 -1.43640405e+01] [ 2.71088766e-03 9.43682516e-06 9.99996325e-01 -3.59595779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.054203822 meters 0.020004127902896903 Centerline is valid? [True, True] Translation: X:127.58, Y:-14.37, Z:-3.60 [[ 9.70049342e-01 2.42894848e-01 -2.52325192e-03 1.27575195e+02] [-2.42894035e-01 9.70052624e-01 6.28477193e-04 -1.43711830e+01] [ 2.60034101e-03 3.22895131e-06 9.99996619e-01 -3.59954779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084203822 meters 0.019696216813049623 Centerline is valid? [True, True] Translation: X:127.60, Y:-14.38, Z:-3.60 [[ 9.70571454e-01 2.40804755e-01 -2.03065979e-03 1.27602689e+02] [-2.40804227e-01 9.70573578e-01 5.04068435e-04 -1.43819919e+01] [ 2.09228682e-03 -2.42971169e-07 9.99997811e-01 -3.59932312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.114203822 meters 0.01869300311510783 Centerline is valid? [True, True] Translation: X:127.63, Y:-14.39, Z:-3.59 [[ 9.71180949e-01 2.38341778e-01 -8.72618101e-04 1.27629436e+02] [-2.38341683e-01 9.71181341e-01 2.13374854e-04 -1.43936441e+01] [ 8.98326560e-04 7.55673199e-07 9.99999597e-01 -3.59479656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144203822 meters 0.0180650619572484 Centerline is valid? [True, True] Translation: X:127.66, Y:-14.40, Z:-3.59 [[ 9.71126532e-01 2.38564989e-01 -6.65652713e-05 1.27658119e+02] [-2.38564988e-01 9.71126535e-01 1.16030289e-05 -1.43980180e+01] [ 6.74113775e-05 4.61213392e-06 9.99999998e-01 -3.59356395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.174203822 meters 0.020819700091922532 Centerline is valid? [True, True] Translation: X:127.69, Y:-14.40, Z:-3.60 [[ 9.70534591e-01 2.40961012e-01 -6.31295842e-04 1.27686515e+02] [-2.40960962e-01 9.70534796e-01 1.56051007e-04 -1.43978350e+01] [ 6.50296789e-04 6.64753196e-07 9.99999789e-01 -3.60312379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204203822 meters 0.01872273364390132 Centerline is valid? [True, True] Translation: X:127.72, Y:-14.40, Z:-3.60 [[ 9.70094649e-01 2.42724075e-01 -1.18147866e-03 1.27716196e+02] [-2.42723902e-01 9.70095368e-01 2.90229815e-04 -1.44001392e+01] [ 1.21659273e-03 5.22271841e-06 9.99999260e-01 -3.59846546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.234203822 meters 0.018502078056331098 Centerline is valid? [True, True] Translation: X:127.74, Y:-14.40, Z:-3.60 [[ 9.69568886e-01 2.44815535e-01 -1.23660284e-03 1.27744658e+02] [-2.44815348e-01 9.69569675e-01 3.02920067e-04 -1.44017426e+01] [ 1.27313215e-03 9.03748180e-06 9.99999190e-01 -3.59811275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264203822 meters 0.020883717225832817 Centerline is valid? [True, True] Translation: X:127.77, Y:-14.40, Z:-3.60 [[ 9.68447500e-01 2.49208864e-01 -2.09355401e-03 1.27773752e+02] [-2.49208320e-01 9.68449762e-01 5.20692412e-04 -1.43991268e+01] [ 2.15726304e-03 1.74678126e-05 9.99997673e-01 -3.60218945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29420382200001 meters 0.020883717225832817 Centerline is valid? [True, True] Translation: X:127.80, Y:-14.41, Z:-3.60 [[ 9.68495999e-01 2.49020306e-01 -2.09457305e-03 1.27800447e+02] [-2.49019771e-01 9.68498264e-01 5.16606760e-04 -1.44055897e+01] [ 2.15723594e-03 2.12585203e-05 9.99997673e-01 -3.60296949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32420382200002 meters 0.02463194851478525 Centerline is valid? [True, True] Translation: X:127.83, Y:-14.41, Z:-3.61 [[ 9.68035537e-01 2.50801245e-01 -2.43614365e-03 1.27828260e+02] [-2.50800515e-01 9.68038602e-01 6.05552480e-04 -1.44074135e+01] [ 2.51015441e-03 2.47897610e-05 9.99996849e-01 -3.61112878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35420382200002 meters 0.022754128209070894 Centerline is valid? [True, True] Translation: X:127.86, Y:-14.41, Z:-3.61 [[ 9.67666852e-01 2.52218186e-01 -2.61728256e-03 1.27856910e+02] [-2.52217359e-01 9.67670391e-01 6.46958646e-04 -1.44133710e+01] [ 2.69584158e-03 3.40836595e-05 9.99996366e-01 -3.60526573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38420382200002 meters 0.025602009198170322 Centerline is valid? [True, True] Translation: X:127.89, Y:-14.41, Z:-3.61 [[ 9.67198401e-01 2.54016942e-01 -1.62696996e-03 1.27886146e+02] [-2.54016622e-01 9.67199769e-01 4.03403463e-04 -1.44119100e+01] [ 1.67607628e-03 2.31062283e-05 9.99998595e-01 -3.60836108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414203822 meters 0.02438651864471349 Centerline is valid? [True, True] Translation: X:127.91, Y:-14.42, Z:-3.61 [[ 9.67221630e-01 2.53929414e-01 -1.47313566e-03 1.27913809e+02] [-2.53929159e-01 9.67222752e-01 3.60929792e-04 -1.44181811e+01] [ 1.51650102e-03 2.49729974e-05 9.99998850e-01 -3.60632620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444203822 meters 0.024462349754932364 Centerline is valid? [True, True] Translation: X:127.94, Y:-14.42, Z:-3.61 [[ 9.67544437e-01 2.52700930e-01 5.22379974e-05 1.27941545e+02] [-2.52700929e-01 9.67544438e-01 -1.54512010e-05 -1.44229847e+01] [-5.44471169e-05 1.74913312e-06 9.99999999e-01 -3.60725316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474203822 meters 0.023241722927539232 Centerline is valid? [True, True] Translation: X:127.97, Y:-14.43, Z:-3.61 [[ 9.67837158e-01 2.51577106e-01 4.42616090e-04 1.27969889e+02] [-2.51577079e-01 9.67837259e-01 -1.14800389e-04 -1.44296807e+01] [-4.57261493e-04 -2.43981258e-07 9.99999895e-01 -3.60617403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504203822 meters 0.022274417978154017 Centerline is valid? [True, True] Translation: X:128.00, Y:-14.44, Z:-3.61 [[ 9.68148679e-01 2.50375362e-01 5.59954726e-04 1.27997918e+02] [-2.50375321e-01 9.68148841e-01 -1.43881560e-04 -1.44375006e+01] [-5.78143917e-04 -9.00101709e-07 9.99999833e-01 -3.60666142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534203822 meters 0.020933484380638138 Centerline is valid? [True, True] Translation: X:128.02, Y:-14.45, Z:-3.61 [[ 9.69014804e-01 2.47002490e-01 -2.81192567e-04 1.28023051e+02] [-2.47002482e-01 9.69014845e-01 6.43412714e-05 -1.44531860e+01] [ 2.88372226e-04 7.10761758e-06 9.99999958e-01 -3.61098074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564203822 meters 0.020252049969618244 Centerline is valid? [True, True] Translation: X:128.05, Y:-14.46, Z:-3.61 [[ 9.69424170e-01 2.45389397e-01 -9.07002951e-04 1.28050301e+02] [-2.45389298e-01 9.69424594e-01 2.20132977e-04 -1.44645087e+01] [ 9.33289266e-04 9.16658897e-06 9.99999564e-01 -3.61238844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.594203822 meters 0.021932069354797232 Centerline is valid? [True, True] Translation: X:128.08, Y:-14.47, Z:-3.62 [[ 9.69692335e-01 2.44324684e-01 -1.49136390e-03 1.28076526e+02] [-2.44324408e-01 9.69693482e-01 3.67737373e-04 -1.44717094e+01] [ 1.53601317e-03 7.78448988e-06 9.99998820e-01 -3.61845807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624203822 meters 0.02044933248368554 Centerline is valid? [True, True] Translation: X:128.10, Y:-14.48, Z:-3.62 [[ 9.69891162e-01 2.43531087e-01 -1.93510112e-03 1.28104420e+02] [-2.43530624e-01 9.69893092e-01 4.74682451e-04 -1.44785204e+01] [ 1.99244114e-03 1.08660709e-05 9.99998015e-01 -3.61585274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.654203822 meters 0.020192166165239132 Centerline is valid? [True, True] Translation: X:128.13, Y:-14.49, Z:-3.62 [[ 9.69904638e-01 2.43472351e-01 -2.49157004e-03 1.28131695e+02] [-2.43471582e-01 9.69907838e-01 6.12036183e-04 -1.44869367e+01] [ 2.56560720e-03 1.30097656e-05 9.99996709e-01 -3.61623211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684203822 meters 0.021429325339536228 Centerline is valid? [True, True] Translation: X:128.16, Y:-14.49, Z:-3.62 [[ 9.69495246e-01 2.45078093e-01 -3.96176002e-03 1.28160103e+02] [-2.45076154e-01 9.69503341e-01 9.75337209e-04 -1.44907755e+01] [ 4.07997336e-03 2.53481200e-05 9.99991677e-01 -3.61819039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.714203822 meters 0.0205303028119409 Centerline is valid? [True, True] Translation: X:128.19, Y:-14.49, Z:-3.61 [[ 9.69167076e-01 2.46383225e-01 -3.23813993e-03 1.28189568e+02] [-2.46381933e-01 9.69172485e-01 7.98116312e-04 -1.44943328e+01] [ 3.33495859e-03 2.43111242e-05 9.99994439e-01 -3.61479499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744203822 meters 0.020724823979917137 Centerline is valid? [True, True] Translation: X:128.22, Y:-14.50, Z:-3.61 [[ 9.68759731e-01 2.47991054e-01 -2.24084342e-03 1.28218594e+02] [-2.47990448e-01 9.68762322e-01 5.48690777e-04 -1.44981293e+01] [ 2.30691508e-03 2.41582360e-05 9.99997339e-01 -3.61361314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.774203822 meters 0.02554119505048164 Centerline is valid? [True, True] Translation: X:128.25, Y:-14.50, Z:-3.62 [[ 9.68343000e-01 2.49619790e-01 -1.33980657e-03 1.28246419e+02] [-2.49619573e-01 9.68343927e-01 3.29212433e-04 -1.44995151e+01] [ 1.37957149e-03 1.56513888e-05 9.99999048e-01 -3.62244973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804203822 meters 0.023158173356762308 Centerline is valid? [True, True] Translation: X:128.27, Y:-14.50, Z:-3.61 [[ 9.67878782e-01 2.51416858e-01 -4.75353637e-04 1.28274035e+02] [-2.51416834e-01 9.67878899e-01 1.11665961e-04 -1.45033735e+01] [ 4.88159459e-04 1.14327916e-05 9.99999881e-01 -3.61458173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.834203822 meters 0.025757177359026745 Centerline is valid? [True, True] Translation: X:128.30, Y:-14.51, Z:-3.62 [[ 9.67916201e-01 2.51273188e-01 1.10921099e-04 1.28302220e+02] [-2.51273187e-01 9.67916208e-01 -3.00051513e-05 -1.45056847e+01] [-1.14901820e-04 1.17097399e-06 9.99999993e-01 -3.62092302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864203822 meters 0.023622858090153295 Centerline is valid? [True, True] Translation: X:128.33, Y:-14.51, Z:-3.62 [[ 9.68224111e-01 2.50084125e-01 3.84850226e-05 1.28330154e+02] [-2.50084125e-01 9.68224112e-01 -1.42532759e-05 -1.45125283e+01] [-4.08266451e-05 4.17587220e-06 9.99999999e-01 -3.61956657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.894203822 meters 0.02408581223503597 Centerline is valid? [True, True] Translation: X:128.36, Y:-14.52, Z:-3.62 [[ 9.68440530e-01 2.49243079e-01 -9.10134236e-04 1.28357372e+02] [-2.49242979e-01 9.68440957e-01 2.22693028e-04 -1.45177297e+01] [ 9.36915966e-04 1.11796145e-05 9.99999561e-01 -3.62274009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924203822 meters 0.022503255972947084 Centerline is valid? [True, True] Translation: X:128.38, Y:-14.52, Z:-3.62 [[ 9.68701661e-01 2.48225657e-01 -1.05628354e-03 1.28384861e+02] [-2.48225527e-01 9.68702236e-01 2.54673737e-04 -1.45247815e+01] [ 1.08644078e-03 1.54936662e-05 9.99999410e-01 -3.62190112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.954203822 meters 0.02203685425800399 Centerline is valid? [True, True] Translation: X:128.41, Y:-14.53, Z:-3.62 [[ 9.69129970e-01 2.46550402e-01 2.93960674e-05 1.28411615e+02] [-2.46550402e-01 9.69129970e-01 -8.95217020e-06 -1.45329655e+01] [-3.06957713e-05 1.42820420e-06 1.00000000e+00 -3.62304642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984203822 meters 0.020642348276536455 Centerline is valid? [True, True] Translation: X:128.44, Y:-14.54, Z:-3.62 [[ 9.69347599e-01 2.45692503e-01 -6.52877884e-04 1.28438617e+02] [-2.45692452e-01 9.69347819e-01 1.58997625e-04 -1.45420716e+01] [ 6.71930277e-04 6.28320192e-06 9.99999774e-01 -3.62188431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.014203822 meters 0.020604095440132766 Centerline is valid? [True, True] Translation: X:128.47, Y:-14.55, Z:-3.62 [[ 9.69552293e-01 2.44873187e-01 -2.33964566e-03 1.28466588e+02] [-2.44872523e-01 9.69555115e-01 5.70664986e-04 -1.45494302e+01] [ 2.40815597e-03 1.96253888e-05 9.99997100e-01 -3.62367964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04420382200001 meters 0.020595834170904857 Centerline is valid? [True, True] Translation: X:128.49, Y:-14.56, Z:-3.63 [[ 9.69720827e-01 2.44189578e-01 -3.60116395e-03 1.28494718e+02] [-2.44187992e-01 9.69727513e-01 8.80299225e-04 -1.45561248e+01] [ 3.70710766e-03 2.57165035e-05 9.99993128e-01 -3.62540838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07420382200002 meters 0.020824037355534408 Centerline is valid? [True, True] Translation: X:128.52, Y:-14.56, Z:-3.63 [[ 9.69694218e-01 2.44309410e-01 -2.45677553e-03 1.28522555e+02] [-2.44308669e-01 9.69697330e-01 6.02040357e-04 -1.45606598e+01] [ 2.52941280e-03 1.64165077e-05 9.99996801e-01 -3.62590337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10420382200002 meters 0.020355308183906438 Centerline is valid? [True, True] Translation: X:128.55, Y:-14.57, Z:-3.62 [[ 9.69670856e-01 2.44410922e-01 -1.31636780e-03 1.28551204e+02] [-2.44410715e-01 9.69671749e-01 3.18394397e-04 -1.45654493e+01] [ 1.35426374e-03 1.29966277e-05 9.99999083e-01 -3.62466963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13420382200002 meters 0.01928227798756088 Centerline is valid? [True, True] Translation: X:128.58, Y:-14.57, Z:-3.62 [[ 9.70024915e-01 2.43005012e-01 4.77196289e-04 1.28577828e+02] [-2.43004983e-01 9.70025033e-01 -1.18915495e-04 -1.45745077e+01] [-4.91789407e-04 -6.10083268e-07 9.99999879e-01 -3.62329206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164203822 meters 0.018213256416772176 Centerline is valid? [True, True] Translation: X:128.61, Y:-14.59, Z:-3.62 [[ 9.70426045e-01 2.41394460e-01 1.41646919e-03 1.28605005e+02] [-2.41394203e-01 9.70427079e-01 -3.52438281e-04 -1.45856673e+01] [-1.45965671e-03 8.78353558e-08 9.99998935e-01 -3.62196757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194203822 meters 0.016304220220413744 Centerline is valid? [True, True] Translation: X:128.63, Y:-14.60, Z:-3.62 [[ 9.71178793e-01 2.38309401e-01 4.51456457e-03 1.28632765e+02] [-2.38306823e-01 9.71189286e-01 -1.10857221e-03 -1.45997435e+01] [-4.64867992e-03 7.70278670e-07 9.99989195e-01 -3.61719581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224203822 meters 0.015601155697681847 Centerline is valid? [True, True] Translation: X:128.66, Y:-14.61, Z:-3.62 [[ 9.71570137e-01 2.36685765e-01 5.59613839e-03 1.28660171e+02] [-2.36681761e-01 9.71586254e-01 -1.37678914e-03 -1.46088509e+01] [-5.76299753e-03 1.31433220e-05 9.99983394e-01 -3.61508208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254203822 meters 0.015778657163639125 Centerline is valid? [True, True] Translation: X:128.69, Y:-14.62, Z:-3.61 [[ 9.71960025e-01 2.35071013e-01 5.94382452e-03 1.28686370e+02] [-2.35066471e-01 9.71978198e-01 -1.46149103e-03 -1.46176612e+01] [-6.12082202e-03 2.33170077e-05 9.99981267e-01 -3.61454122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284203822 meters 0.017213940578521245 Centerline is valid? [True, True] Translation: X:128.71, Y:-14.63, Z:-3.62 [[ 9.72758490e-01 2.31732050e-01 6.41695997e-03 1.28711772e+02] [-2.31726714e-01 9.72779654e-01 -1.57314847e-03 -1.46319540e+01] [-6.60683702e-03 4.33124794e-05 9.99978174e-01 -3.61560701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314203822 meters 0.018126954553964132 Centerline is valid? [True, True] Translation: X:128.74, Y:-14.64, Z:-3.62 [[ 9.73260634e-01 2.29602264e-01 6.82186504e-03 1.28738072e+02] [-2.29596169e-01 9.73284540e-01 -1.67417210e-03 -1.46444619e+01] [-7.02400948e-03 6.31317201e-05 9.99975329e-01 -3.61520262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344203822 meters 0.019788554965465513 Centerline is valid? [True, True] Translation: X:128.76, Y:-14.66, Z:-3.62 [[ 9.73869756e-01 2.26995906e-01 7.11031828e-03 1.28764044e+02] [-2.26989226e-01 9.73895709e-01 -1.74350762e-03 -1.46582647e+01] [-7.32047755e-03 8.39837033e-05 9.99973201e-01 -3.61568880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.374203822 meters 0.02230826722359674 Centerline is valid? [True, True] Translation: X:128.79, Y:-14.68, Z:-3.61 [[ 9.74942277e-01 2.22337377e-01 7.32440244e-03 1.28789137e+02] [-2.22330187e-01 9.74969782e-01 -1.79211486e-03 -1.46787264e+01] [-7.53952517e-03 1.18772779e-04 9.99971570e-01 -3.61340598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404203822 meters 0.02454067066507667 Centerline is valid? [True, True] Translation: X:128.81, Y:-14.69, Z:-3.62 [[ 9.75309860e-01 2.20699986e-01 7.88624622e-03 1.28813738e+02] [-2.20691596e-01 9.75341733e-01 -1.92959851e-03 -1.46930815e+01] [-8.11764742e-03 1.41528195e-04 9.99967041e-01 -3.61518001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.434203822 meters 0.02542761096828435 Centerline is valid? [True, True] Translation: X:128.84, Y:-14.71, Z:-3.61 [[ 9.75523959e-01 2.19686696e-01 9.52682198e-03 1.28838959e+02] [-2.19674398e-01 9.75570460e-01 -2.33160893e-03 -1.47092140e+01] [-9.80630957e-03 1.81741487e-04 9.99951900e-01 -3.61350256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464203822 meters 0.024384994573549996 Centerline is valid? [True, True] Translation: X:128.87, Y:-14.72, Z:-3.61 [[ 9.75338940e-01 2.20524463e-01 9.10570953e-03 1.28867209e+02] [-2.20513277e-01 9.75381430e-01 -2.22719118e-03 -1.47166918e+01] [-9.37269012e-03 1.64336434e-04 9.99956062e-01 -3.61405363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.494203822 meters 0.02263254815521533 Centerline is valid? [True, True] Translation: X:128.89, Y:-14.72, Z:-3.62 [[ 9.74919238e-01 2.22426899e-01 7.66515758e-03 1.28894649e+02] [-2.22419032e-01 9.74949362e-01 -1.87479703e-03 -1.47223549e+01] [-7.89014578e-03 1.22898759e-04 9.99968865e-01 -3.61651400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524203822 meters 0.01884721051410899 Centerline is valid? [True, True] Translation: X:128.92, Y:-14.73, Z:-3.62 [[ 9.73654535e-01 2.27977226e-01 4.81980528e-03 1.28922880e+02] [-2.27974179e-01 9.73666464e-01 -1.17970583e-03 -1.47262430e+01] [-4.96182883e-03 4.98347848e-05 9.99987689e-01 -3.62131096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.554203822 meters 0.016909360347253984 Centerline is valid? [True, True] Translation: X:128.95, Y:-14.73, Z:-3.62 [[ 9.72840707e-01 2.31437831e-01 4.18191509e-03 1.28951293e+02] [-2.31435571e-01 9.72849695e-01 -1.02326295e-03 -1.47296244e+01] [-4.30519658e-03 2.76279413e-05 9.99990732e-01 -3.62264186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584203822 meters 0.01599871711346702 Centerline is valid? [True, True] Translation: X:128.98, Y:-14.73, Z:-3.62 [[ 9.71993954e-01 2.34979021e-01 3.55162282e-03 1.28979080e+02] [-2.34977411e-01 9.72000442e-01 -8.69860358e-04 -1.47329886e+01] [-3.65657789e-03 1.09478730e-05 9.99993315e-01 -3.62315218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.614203822 meters 0.01636165754226389 Centerline is valid? [True, True] Translation: X:129.01, Y:-14.74, Z:-3.63 [[ 9.71185711e-01 2.38300883e-01 3.31705020e-03 1.29006166e+02] [-2.38299509e-01 9.71191376e-01 -8.09394937e-04 -1.47376330e+01] [-3.41437008e-03 -4.37863710e-06 9.99994171e-01 -3.62529371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644203822 meters 0.017118124448041526 Centerline is valid? [True, True] Translation: X:129.03, Y:-14.74, Z:-3.62 [[ 9.69930109e-01 2.43360283e-01 3.37000591e-03 1.29034771e+02] [-2.43358888e-01 9.69935963e-01 -8.24185268e-04 -1.47428348e+01] [-3.46926389e-03 -2.07187862e-05 9.99993982e-01 -3.62324515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.674203822 meters 0.02078365621685308 Centerline is valid? [True, True] Translation: X:129.06, Y:-14.74, Z:-3.63 [[ 9.69329698e-01 2.45727636e-01 4.22665945e-03 1.29061897e+02] [-2.45725483e-01 9.69338912e-01 -1.02932905e-03 -1.47436707e+01] [-4.35000007e-03 -4.08387206e-05 9.99990538e-01 -3.62889724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704203822 meters 0.022296893260940795 Centerline is valid? [True, True] Translation: X:129.09, Y:-14.75, Z:-3.63 [[ 9.68405692e-01 2.49327052e-01 5.14166052e-03 1.29090226e+02] [-2.49323927e-01 9.68419339e-01 -1.25042232e-03 -1.47472461e+01] [-5.29104760e-03 -7.10229032e-05 9.99986000e-01 -3.62626151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.734203822 meters 0.023457304817974183 Centerline is valid? [True, True] Translation: X:129.12, Y:-14.75, Z:-3.63 [[ 9.68096936e-01 2.50523522e-01 5.12718983e-03 1.29118259e+02] [-2.50520419e-01 9.68110510e-01 -1.24918404e-03 -1.47533226e+01] [-5.27663635e-03 -7.51345055e-05 9.99986076e-01 -3.62734650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764203822 meters 0.025827433557246673 Centerline is valid? [True, True] Translation: X:129.15, Y:-14.76, Z:-3.63 [[ 9.67827757e-01 2.51561633e-01 5.11635485e-03 1.29145995e+02] [-2.51558576e-01 9.67841277e-01 -1.24302300e-03 -1.47582955e+01] [-5.26451630e-03 -8.40307764e-05 9.99986139e-01 -3.63017547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79420382200001 meters 0.02599254184164346 Centerline is valid? [True, True] Translation: X:129.17, Y:-14.77, Z:-3.63 [[ 9.67326423e-01 2.53472386e-01 5.59825062e-03 1.29173161e+02] [-2.53468746e-01 9.67342617e-01 -1.36214899e-03 -1.47673170e+01] [-5.76069356e-03 -1.01338853e-04 9.99983402e-01 -3.62880154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82420382200002 meters 0.02911234894113572 Centerline is valid? [True, True] Translation: X:129.20, Y:-14.77, Z:-3.63 [[ 9.67100953e-01 2.54341453e-01 5.11586694e-03 1.29200447e+02] [-2.54338438e-01 9.67114479e-01 -1.24237551e-03 -1.47721299e+01] [-5.26361658e-03 -9.96590634e-05 9.99986142e-01 -3.63328680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85420382200002 meters 0.027669396359367632 Centerline is valid? [True, True] Translation: X:129.23, Y:-14.78, Z:-3.63 [[ 9.67021833e-01 2.54652922e-01 4.54577276e-03 1.29227841e+02] [-2.54650537e-01 9.67032513e-01 -1.10573240e-03 -1.47817641e+01] [-4.67748805e-03 -8.83161040e-05 9.99989057e-01 -3.63281478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88420382200002 meters 0.02721340398558419 Centerline is valid? [True, True] Translation: X:129.25, Y:-14.79, Z:-3.63 [[ 9.67057388e-01 2.54511308e-01 4.89930150e-03 1.29254875e+02] [-2.54508539e-01 9.67069793e-01 -1.19109403e-03 -1.47897609e+01] [-5.04111339e-03 -9.50577869e-05 9.99987289e-01 -3.63279445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914203822 meters 0.031114794046502223 Centerline is valid? [True, True] Translation: X:129.28, Y:-14.79, Z:-3.64 [[ 9.67096318e-01 2.54362403e-01 4.94772266e-03 1.29282216e+02] [-2.54359590e-01 9.67108969e-01 -1.20026167e-03 -1.47922398e+01] [-5.09028841e-03 -9.77320677e-05 9.99987040e-01 -3.63820512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944203822 meters 0.029123215779885754 Centerline is valid? [True, True] Translation: X:129.31, Y:-14.80, Z:-3.64 [[ 9.67186103e-01 2.54030795e-01 4.40417217e-03 1.29309671e+02] [-2.54028560e-01 9.67196127e-01 -1.06896767e-03 -1.48017422e+01] [-4.53124897e-03 -8.48948377e-05 9.99989730e-01 -3.63694354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974203822 meters 0.028329585938449798 Centerline is valid? [True, True] Translation: X:129.34, Y:-14.81, Z:-3.64 [[ 9.67520392e-01 2.52759938e-01 4.08714425e-03 1.29336000e+02] [-2.52758011e-01 9.67529022e-01 -9.89708764e-04 -1.48109860e+01] [-4.20458941e-03 -7.54950416e-05 9.99991158e-01 -3.63953588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004203822 meters 0.027154435846483242 Centerline is valid? [True, True] Translation: X:129.36, Y:-14.82, Z:-3.64 [[ 9.67747950e-01 2.51891782e-01 3.79927758e-03 1.29362053e+02] [-2.51890101e-01 9.67755406e-01 -9.22415131e-04 -1.48213060e+01] [-3.90912021e-03 -6.43350620e-05 9.99992357e-01 -3.64026036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034203822 meters 0.02804177749196918 Centerline is valid? [True, True] Translation: X:129.39, Y:-14.83, Z:-3.64 [[ 9.67853891e-01 2.51504637e-01 2.06458031e-03 1.29388345e+02] [-2.51504141e-01 9.67856093e-01 -5.00638615e-04 -1.48315761e+01] [-2.12412957e-03 -3.47054678e-05 9.99997743e-01 -3.64483840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064203822 meters 0.0269336411084398 Centerline is valid? [True, True] Translation: X:129.42, Y:-14.84, Z:-3.64 [[ 9.67769390e-01 2.51834223e-01 1.39026843e-03 1.29415838e+02] [-2.51833994e-01 9.67770388e-01 -3.40129193e-04 -1.48402424e+01] [-1.43111679e-03 -2.09502298e-05 9.99998976e-01 -3.64384333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.094203822 meters 0.027155367957904904 Centerline is valid? [True, True] Translation: X:129.44, Y:-14.85, Z:-3.64 [[ 9.67682296e-01 2.52169870e-01 1.15312649e-03 1.29443818e+02] [-2.52169712e-01 9.67682983e-01 -2.82781091e-04 -1.48472762e+01] [-1.18716975e-03 -1.71413196e-05 9.99999295e-01 -3.64472101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124203822 meters 0.028274559253066888 Centerline is valid? [True, True] Translation: X:129.47, Y:-14.85, Z:-3.65 [[ 9.67531492e-01 2.52749900e-01 5.47583611e-04 1.29471316e+02] [-2.52749865e-01 9.67531647e-01 -1.33635692e-04 -1.48532822e+01] [-5.63580881e-04 -9.10494328e-06 9.99999841e-01 -3.64727684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.154203822 meters 0.029654792749722443 Centerline is valid? [True, True] Translation: X:129.50, Y:-14.86, Z:-3.65 [[ 9.67203222e-01 2.54003491e-01 -3.91649709e-04 1.29499981e+02] [-2.54003476e-01 9.67203301e-01 8.92662874e-05 -1.48578284e+01] [ 4.01478840e-04 1.31417465e-05 9.99999919e-01 -3.64849489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184203822 meters 0.029654792749722443 Centerline is valid? [True, True] Translation: X:129.53, Y:-14.86, Z:-3.65 [[ 9.67252576e-01 2.53815486e-01 -3.91825875e-04 1.29526742e+02] [-2.53815471e-01 9.67252655e-01 8.85318573e-05 -1.48640691e+01] [ 4.01465374e-04 1.38188021e-05 9.99999919e-01 -3.64927539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.214203822 meters 0.03177982819080213 Centerline is valid? [True, True] Translation: X:129.55, Y:-14.87, Z:-3.65 [[ 9.67052188e-01 2.54577739e-01 4.91281148e-04 1.29554854e+02] [-2.54577710e-01 9.67052312e-01 -1.20723182e-04 -1.48669258e+01] [-5.05828005e-04 -8.32361289e-06 9.99999872e-01 -3.65084875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244203822 meters 0.03215576394214815 Centerline is valid? [True, True] Translation: X:129.58, Y:-14.88, Z:-3.65 [[ 9.66944385e-01 2.54979642e-01 1.98469083e-03 1.29582308e+02] [-2.54979190e-01 9.66946421e-01 -4.81421959e-04 -1.48754370e+01] [-2.04184249e-03 -4.05465999e-05 9.99997915e-01 -3.64993369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.274203822 meters 0.03813666696702189 Centerline is valid? [True, True] Translation: X:129.61, Y:-14.88, Z:-3.65 [[ 9.67139333e-01 2.54244232e-01 1.17535479e-03 1.29610000e+02] [-2.54244071e-01 9.67140047e-01 -2.86850630e-04 -1.48846888e+01] [-1.20966280e-03 -2.14024591e-05 9.99999268e-01 -3.65265206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304203822 meters 0.03095795847622997 Centerline is valid? [True, True] Translation: X:129.64, Y:-14.89, Z:-3.65 [[ 9.67476237e-01 2.52958329e-01 1.34706731e-03 1.29636361e+02] [-2.52958121e-01 9.67477175e-01 -3.24880753e-04 -1.48941581e+01] [-1.38543816e-03 -2.64372067e-05 9.99999040e-01 -3.65289305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.334203822 meters 0.02654663865495656 Centerline is valid? [True, True] Translation: X:129.66, Y:-14.91, Z:-3.65 [[ 9.68125000e-01 2.50448237e-01 3.10900373e-03 1.29663782e+02] [-2.50447130e-01 9.68129990e-01 -7.46527854e-04 -1.49072760e+01] [-3.19688633e-03 -5.59087833e-05 9.99994888e-01 -3.64787405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364203822 meters 0.027251014609642295 Centerline is valid? [True, True] Translation: X:129.69, Y:-14.91, Z:-3.65 [[ 9.68202849e-01 2.50143974e-01 3.35182271e-03 1.29691206e+02] [-2.50142684e-01 9.68208649e-01 -8.05609495e-04 -1.49134298e+01] [-3.44678210e-03 -5.84405212e-05 9.99994058e-01 -3.64966582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.394203822 meters 0.026449659663061113 Centerline is valid? [True, True] Translation: X:129.72, Y:-14.92, Z:-3.65 [[ 9.68304873e-01 2.49750608e-01 3.21024034e-03 1.29718454e+02] [-2.49749412e-01 9.68310194e-01 -7.74827970e-04 -1.49215067e+01] [-3.30202221e-03 -5.14859376e-05 9.99994547e-01 -3.64903637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424203822 meters 0.024934417141342525 Centerline is valid? [True, True] Translation: X:129.75, Y:-14.93, Z:-3.64 [[ 9.68281012e-01 2.49821225e-01 4.60838978e-03 1.29745534e+02] [-2.49818778e-01 9.68291975e-01 -1.10846977e-03 -1.49312596e+01] [-4.73918612e-03 -7.79520705e-05 9.99988767e-01 -3.64493389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.454203822 meters 0.026326895271619646 Centerline is valid? [True, True] Translation: X:129.77, Y:-14.94, Z:-3.65 [[ 9.68167961e-01 2.50251954e-01 4.97587264e-03 1.29771931e+02] [-2.50249124e-01 9.68180743e-01 -1.19348736e-03 -1.49361208e+01] [-5.11621662e-03 -8.97115440e-05 9.99986908e-01 -3.64655445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484203822 meters 0.025659703736631907 Centerline is valid? [True, True] Translation: X:129.80, Y:-14.94, Z:-3.65 [[ 9.67971396e-01 2.51039941e-01 3.21313142e-03 1.29799274e+02] [-2.51038756e-01 9.67976727e-01 -7.73594956e-04 -1.49445786e+01] [-3.30443967e-03 -5.78027247e-05 9.99994539e-01 -3.64739181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.514203822 meters 0.02963388970098451 Centerline is valid? [True, True] Translation: X:129.83, Y:-14.95, Z:-3.65 [[ 9.67893629e-01 2.51346221e-01 2.64590794e-03 1.29826586e+02] [-2.51345425e-01 9.67897244e-01 -6.34466162e-04 -1.49474014e+01] [-2.72043767e-03 -5.09410999e-05 9.99996298e-01 -3.65428365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54420382200001 meters 0.029491100795265523 Centerline is valid? [True, True] Translation: X:129.85, Y:-14.95, Z:-3.65 [[ 9.67844659e-01 2.51527251e-01 3.28006495e-03 1.29854452e+02] [-2.51526022e-01 9.67850215e-01 -7.88501901e-04 -1.49539534e+01] [-3.37294129e-03 -6.18743377e-05 9.99994310e-01 -3.65363519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57420382200002 meters 0.03010200163557568 Centerline is valid? [True, True] Translation: X:129.88, Y:-14.96, Z:-3.65 [[ 9.67748359e-01 2.51885227e-01 4.11666452e-03 1.29883804e+02] [-2.51883304e-01 9.67757111e-01 -9.87650490e-04 -1.49565955e+01] [-4.23270593e-03 -8.11219201e-05 9.99991039e-01 -3.65272561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60420382200002 meters 0.029621892784910193 Centerline is valid? [True, True] Translation: X:129.91, Y:-14.96, Z:-3.65 [[ 9.67721601e-01 2.51991898e-01 3.87110024e-03 1.29912165e+02] [-2.51990200e-01 9.67729341e-01 -9.28407840e-04 -1.49631535e+01] [-3.98012854e-03 -7.70390006e-05 9.99992076e-01 -3.65311257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63420382200002 meters 0.028458292247686822 Centerline is valid? [True, True] Translation: X:129.94, Y:-14.97, Z:-3.65 [[ 9.67848638e-01 2.51504604e-01 3.80110705e-03 1.29938483e+02] [-2.51502962e-01 9.67856099e-01 -9.11714564e-04 -1.49716202e+01] [-3.90822505e-03 -7.35879819e-05 9.99992360e-01 -3.65239413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664203822 meters 0.02889246647196659 Centerline is valid? [True, True] Translation: X:129.97, Y:-14.98, Z:-3.65 [[ 9.68092713e-01 2.50546493e-01 4.79093735e-03 1.29965317e+02] [-2.50543901e-01 9.68104564e-01 -1.14352268e-03 -1.49784069e+01] [-4.92463391e-03 -9.33041617e-05 9.99987870e-01 -3.65285550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694203822 meters 0.02793855425273152 Centerline is valid? [True, True] Translation: X:129.99, Y:-14.99, Z:-3.65 [[ 9.68248219e-01 2.49949471e-01 4.54411017e-03 1.29992644e+02] [-2.49947119e-01 9.68258878e-01 -1.08752591e-03 -1.49854078e+01] [-4.67170154e-03 -8.27922215e-05 9.99989084e-01 -3.65306062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724203822 meters 0.025009160325311332 Centerline is valid? [True, True] Translation: X:130.02, Y:-14.99, Z:-3.65 [[ 9.68574404e-01 2.48692982e-01 3.92742131e-03 1.30019427e+02] [-2.48691213e-01 9.68582364e-01 -9.40133350e-04 -1.49942485e+01] [-4.03783559e-03 -6.61260732e-05 9.99991846e-01 -3.65121712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754203822 meters 0.024353992981357687 Centerline is valid? [True, True] Translation: X:130.05, Y:-15.00, Z:-3.65 [[ 9.68771419e-01 2.47912979e-01 4.59261394e-03 1.30047531e+02] [-2.47910564e-01 9.68782302e-01 -1.09683169e-03 -1.50005742e+01] [-4.72116192e-03 -7.59783205e-05 9.99988852e-01 -3.65154699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784203822 meters 0.024610223515710707 Centerline is valid? [True, True] Translation: X:130.07, Y:-15.01, Z:-3.65 [[ 9.69068705e-01 2.46743242e-01 4.85979202e-03 1.30074943e+02] [-2.46740543e-01 9.69080887e-01 -1.15679872e-03 -1.50056151e+01] [-4.99496383e-03 -7.80902853e-05 9.99987522e-01 -3.65424238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814203822 meters 0.021142448649854723 Centerline is valid? [True, True] Translation: X:130.10, Y:-15.02, Z:-3.66 [[ 9.70099125e-01 2.42679333e-01 3.79852184e-03 1.30101749e+02] [-2.42677641e-01 9.70106561e-01 -9.07076216e-04 -1.50179025e+01] [-3.90509961e-03 -4.18624765e-05 9.99992374e-01 -3.65691232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844203822 meters 0.019654593681664008 Centerline is valid? [True, True] Translation: X:130.13, Y:-15.03, Z:-3.66 [[ 9.70732382e-01 2.40137818e-01 3.53136751e-03 1.30128963e+02] [-2.40136340e-01 9.70738805e-01 -8.43008851e-04 -1.50293325e+01] [-3.63047378e-03 -2.96736772e-05 9.99993409e-01 -3.65819522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.874203822 meters 0.020767788652670018 Centerline is valid? [True, True] Translation: X:130.16, Y:-15.04, Z:-3.66 [[ 9.71346511e-01 2.37644902e-01 3.29491754e-03 1.30155273e+02] [-2.37643612e-01 9.71352099e-01 -7.83470237e-04 -1.50385511e+01] [-3.38671277e-03 -2.19950242e-05 9.99994265e-01 -3.66484319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904203822 meters 0.01802890462581218 Centerline is valid? [True, True] Translation: X:130.18, Y:-15.05, Z:-3.66 [[ 9.71953576e-01 2.35158573e-01 2.58682859e-03 1.30181456e+02] [-2.35157759e-01 9.71957018e-01 -6.18785420e-04 -1.50486657e+01] [-2.65979890e-03 -6.88211176e-06 9.99996463e-01 -3.66080681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.934203822 meters 0.01752864703507022 Centerline is valid? [True, True] Translation: X:130.21, Y:-15.06, Z:-3.66 [[ 9.72907252e-01 2.31194506e-01 7.61722853e-04 1.30208325e+02] [-2.31194431e-01 9.72907550e-01 -1.85423339e-04 -1.50595514e+01] [-7.83954772e-04 4.29362970e-06 9.99999693e-01 -3.66243641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964203822 meters 0.01911097014265927 Centerline is valid? [True, True] Translation: X:130.23, Y:-15.07, Z:-3.67 [[ 9.73231051e-01 2.29828470e-01 4.42374431e-04 1.30234378e+02] [-2.29828445e-01 9.73231152e-01 -1.06531531e-04 -1.50685333e+01] [-4.55016556e-04 2.00956644e-06 9.99999896e-01 -3.66795402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.994203822 meters 0.01844437700251936 Centerline is valid? [True, True] Translation: X:130.26, Y:-15.08, Z:-3.67 [[ 9.73585721e-01 2.28321350e-01 4.52955254e-04 1.30261097e+02] [-2.28321323e-01 9.73585826e-01 -1.12745426e-04 -1.50763786e+01] [-4.66733003e-04 6.34799431e-06 9.99999891e-01 -3.66592440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024203822 meters 0.018310331576882433 Centerline is valid? [True, True] Translation: X:130.29, Y:-15.08, Z:-3.67 [[ 9.73532427e-01 2.28546527e-01 1.04818148e-03 1.30288198e+02] [-2.28546391e-01 9.73532991e-01 -2.49655989e-04 -1.50817164e+01] [-1.07749726e-03 3.49010632e-06 9.99999419e-01 -3.66663451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.054203822 meters 0.017711937919001677 Centerline is valid? [True, True] Translation: X:130.32, Y:-15.09, Z:-3.67 [[ 9.73510973e-01 2.28638920e-01 7.93796281e-04 1.30316006e+02] [-2.28638839e-01 9.73511296e-01 -1.92582935e-04 -1.50874116e+01] [-8.16801601e-04 5.98894034e-06 9.99999666e-01 -3.66576399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084203822 meters 0.016700425752837585 Centerline is valid? [True, True] Translation: X:130.34, Y:-15.09, Z:-3.66 [[ 9.73498970e-01 2.28687175e-01 1.38940642e-03 1.30344431e+02] [-2.28686933e-01 9.73499962e-01 -3.33255474e-04 -1.50934052e+01] [-1.42879835e-03 6.68476841e-06 9.99998979e-01 -3.66290165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.114203822 meters 0.017549211452110847 Centerline is valid? [True, True] Translation: X:130.37, Y:-15.10, Z:-3.67 [[ 9.73570020e-01 2.28383054e-01 1.61144660e-03 1.30371403e+02] [-2.28382734e-01 9.73571354e-01 -3.82279140e-04 -1.50993133e+01] [-1.65616432e-03 4.14892930e-06 9.99998629e-01 -3.66625018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144203822 meters 0.01700880175693264 Centerline is valid? [True, True] Translation: X:130.40, Y:-15.11, Z:-3.67 [[ 9.73657332e-01 2.28010389e-01 1.63162486e-03 1.30398965e+02] [-2.28010055e-01 9.73658699e-01 -3.90646872e-04 -1.51053133e+01] [-1.67771729e-03 8.32931709e-06 9.99998593e-01 -3.66512568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.174203822 meters 0.018046361098971033 Centerline is valid? [True, True] Translation: X:130.43, Y:-15.11, Z:-3.67 [[ 9.73652929e-01 2.28027134e-01 1.89758135e-03 1.30425727e+02] [-2.28026691e-01 9.73654778e-01 -4.49289092e-04 -1.51127457e+01] [-1.95003925e-03 4.75244411e-06 9.99998099e-01 -3.66865911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204203822 meters 0.01747898890275562 Centerline is valid? [True, True] Translation: X:130.45, Y:-15.12, Z:-3.67 [[ 9.73650543e-01 2.28034691e-01 2.19078224e-03 1.30453758e+02] [-2.28034102e-01 9.73653008e-01 -5.17914476e-04 -1.51203537e+01] [-2.25116419e-03 4.69464858e-06 9.99997466e-01 -3.66724659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.234203822 meters 0.016230831994189683 Centerline is valid? [True, True] Translation: X:130.48, Y:-15.12, Z:-3.66 [[ 9.73262643e-01 2.29675084e-01 3.03027076e-03 1.30482487e+02] [-2.29673959e-01 9.73267361e-01 -7.18942859e-04 -1.51231042e+01] [-3.11438689e-03 3.74594444e-06 9.99995150e-01 -3.66339048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264203822 meters 0.016493641163374224 Centerline is valid? [True, True] Translation: X:130.51, Y:-15.13, Z:-3.66 [[ 9.72888003e-01 2.31254961e-01 3.17432964e-03 1.30509897e+02] [-2.31253744e-01 9.72893182e-01 -7.50072052e-04 -1.51262409e+01] [-3.26174154e-03 -4.33951283e-06 9.99994681e-01 -3.66448893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29420382200001 meters 0.016649960476321144 Centerline is valid? [True, True] Translation: X:130.54, Y:-15.13, Z:-3.66 [[ 9.72479075e-01 2.32966838e-01 3.30162578e-03 1.30538153e+02] [-2.32965524e-01 9.72484680e-01 -7.82620030e-04 -1.51294565e+01] [-3.39310500e-03 -8.08337649e-06 9.99994243e-01 -3.66400987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32420382200002 meters 0.01939612506493683 Centerline is valid? [True, True] Translation: X:130.57, Y:-15.12, Z:-3.66 [[ 9.71115822e-01 2.38555775e-01 5.02029451e-03 1.30567343e+02] [-2.38552845e-01 9.71128797e-01 -1.18328906e-03 -1.51245204e+01] [-5.15763301e-03 -4.84948139e-05 9.99986698e-01 -3.66302456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35420382200002 meters 0.022210999180458043 Centerline is valid? [True, True] Translation: X:130.60, Y:-15.12, Z:-3.67 [[ 9.70443652e-01 2.41269541e-01 5.30351676e-03 1.30596484e+02] [-2.41266314e-01 9.70458141e-01 -1.24952912e-03 -1.51233179e+01] [-5.44831433e-03 -6.69623387e-05 9.99985156e-01 -3.66501234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38420382200002 meters 0.023995813069763425 Centerline is valid? [True, True] Translation: X:130.63, Y:-15.12, Z:-3.67 [[ 9.69928313e-01 2.43346544e-01 4.63970380e-03 1.30625580e+02] [-2.43344091e-01 9.69939408e-01 -1.09489204e-03 -1.51247514e+01] [-4.76666975e-03 -6.70777076e-05 9.99988637e-01 -3.66604436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414203822 meters 0.027141903697033988 Centerline is valid? [True, True] Translation: X:130.65, Y:-15.13, Z:-3.67 [[ 9.69416748e-01 2.45376700e-01 4.63079487e-03 1.30653346e+02] [-2.45374290e-01 9.69427805e-01 -1.09043643e-03 -1.51260851e+01] [-4.75678900e-03 -7.91906647e-05 9.99988683e-01 -3.66978703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444203822 meters 0.026848161260610744 Centerline is valid? [True, True] Translation: X:130.68, Y:-15.13, Z:-3.67 [[ 9.69605495e-01 2.44636374e-01 4.26961626e-03 1.30679390e+02] [-2.44634321e-01 9.69614892e-01 -1.00459524e-03 -1.51311801e+01] [-4.38564405e-03 -7.04336150e-05 9.99990381e-01 -3.67072941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474203822 meters 0.02430663873172522 Centerline is valid? [True, True] Translation: X:130.71, Y:-15.14, Z:-3.67 [[ 9.69967777e-01 2.43204648e-01 3.74303477e-03 1.30706995e+02] [-2.43203049e-01 9.69974998e-01 -8.83476915e-04 -1.51381702e+01] [-3.84551584e-03 -5.33733291e-05 9.99992605e-01 -3.67029042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504203822 meters 0.021418018104665273 Centerline is valid? [True, True] Translation: X:130.73, Y:-15.15, Z:-3.67 [[ 9.71113824e-01 2.38591138e-01 3.49432502e-03 1.30733754e+02] [-2.38589729e-01 9.71120110e-01 -8.20743581e-04 -1.51475217e+01] [-3.58923145e-03 -3.66746223e-05 9.99993558e-01 -3.67360532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534203822 meters 0.018191416791616382 Centerline is valid? [True, True] Translation: X:130.76, Y:-15.16, Z:-3.67 [[ 9.71839473e-01 2.35602110e-01 4.43663406e-03 1.30760541e+02] [-2.35599797e-01 9.71849600e-01 -1.04448101e-03 -1.51593061e+01] [-4.55782297e-03 -3.02022095e-05 9.99989613e-01 -3.67008445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564203822 meters 0.015207909121862803 Centerline is valid? [True, True] Translation: X:130.79, Y:-15.17, Z:-3.67 [[ 9.73086933e-01 2.30322539e-01 7.30398472e-03 1.30787776e+02] [-2.30316178e-01 9.73114345e-01 -1.71183960e-03 -1.51721763e+01] [-7.50188755e-03 -1.64570964e-05 9.99971860e-01 -3.66721703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.594203822 meters 0.015321446221974353 Centerline is valid? [True, True] Translation: X:130.81, Y:-15.18, Z:-3.67 [[ 9.73629532e-01 2.28019803e-01 7.24591556e-03 1.30812964e+02] [-2.28013471e-01 9.73656495e-01 -1.69931075e-03 -1.51810498e+01] [-7.44250925e-03 2.33277335e-06 9.99972304e-01 -3.66957925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624203822 meters 0.015694095753745096 Centerline is valid? [True, True] Translation: X:130.84, Y:-15.19, Z:-3.67 [[ 9.74159268e-01 2.25765270e-01 6.61534097e-03 1.30839736e+02] [-2.25759930e-01 9.74181730e-01 -1.55285786e-03 -1.51915925e+01] [-6.79512568e-03 1.92519605e-05 9.99976913e-01 -3.67157849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.654203822 meters 0.01541191038026559 Centerline is valid? [True, True] Translation: X:130.87, Y:-15.20, Z:-3.67 [[ 9.74592850e-01 2.23910843e-01 5.71938068e-03 1.30867179e+02] [-2.23906821e-01 9.74609631e-01 -1.34239763e-03 -1.52014844e+01] [-5.87474088e-03 2.76827896e-05 9.99982743e-01 -3.67059756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684203822 meters 0.017161918331422776 Centerline is valid? [True, True] Translation: X:130.89, Y:-15.21, Z:-3.68 [[ 9.74933864e-01 2.22430297e-01 5.35939943e-03 1.30893802e+02] [-2.22426761e-01 9.74948595e-01 -1.25463856e-03 -1.52095050e+01] [-5.50420857e-03 3.11157688e-05 9.99984851e-01 -3.67507380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.714203822 meters 0.017218007287749453 Centerline is valid? [True, True] Translation: X:130.92, Y:-15.22, Z:-3.68 [[ 9.75015890e-01 2.22067570e-01 5.47798860e-03 1.30921104e+02] [-2.22063871e-01 9.75031278e-01 -1.28221428e-03 -1.52154373e+01] [-5.62594844e-03 3.37159461e-05 9.99984174e-01 -3.67589071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744203822 meters 0.017183643632983733 Centerline is valid? [True, True] Translation: X:130.95, Y:-15.22, Z:-3.68 [[ 9.75007292e-01 2.22097452e-01 5.78817133e-03 1.30947961e+02] [-2.22093327e-01 9.75024472e-01 -1.35399448e-03 -1.52233496e+01] [-5.94432741e-03 3.46402594e-05 9.99982332e-01 -3.67587720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.774203822 meters 0.015699097288595906 Centerline is valid? [True, True] Translation: X:130.98, Y:-15.23, Z:-3.67 [[ 9.74925997e-01 2.22446973e-01 6.05348812e-03 1.30976241e+02] [-2.22442455e-01 9.74944790e-01 -1.41819503e-03 -1.52284849e+01] [-6.21728990e-03 3.60824448e-05 9.99980672e-01 -3.67274834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804203822 meters 0.015265280879744375 Centerline is valid? [True, True] Translation: X:131.00, Y:-15.23, Z:-3.67 [[ 9.74699411e-01 2.23429438e-01 6.35175752e-03 1.31004543e+02] [-2.23424494e-01 9.74720106e-01 -1.48667096e-03 -1.52325316e+01] [-6.52335182e-03 2.99190978e-05 9.99978722e-01 -3.67275036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.834203822 meters 0.016254725030987526 Centerline is valid? [True, True] Translation: X:131.03, Y:-15.23, Z:-3.68 [[ 9.74089975e-01 2.26089193e-01 5.69188388e-03 1.31032154e+02] [-2.26085282e-01 9.74106604e-01 -1.32986132e-03 -1.52349381e+01] [-5.84516895e-03 8.55340679e-06 9.99982917e-01 -3.67827840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864203822 meters 0.016095454970541073 Centerline is valid? [True, True] Translation: X:131.06, Y:-15.24, Z:-3.68 [[ 9.73707148e-01 2.27742120e-01 5.28365311e-03 1.31060645e+02] [-2.27738766e-01 9.73721483e-01 -1.23590911e-03 -1.52386308e+01] [-5.42627510e-03 1.20889826e-07 9.99985278e-01 -3.67908845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.894203822 meters 0.016112081325751395 Centerline is valid? [True, True] Translation: X:131.09, Y:-15.24, Z:-3.68 [[ 9.73255541e-01 2.29677367e-01 4.68610301e-03 1.31089673e+02] [-2.29674752e-01 9.73266822e-01 -1.09599892e-03 -1.52417496e+01] [-4.81255473e-03 -9.59253043e-06 9.99988420e-01 -3.67917288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924203822 meters 0.01901640321390675 Centerline is valid? [True, True] Translation: X:131.12, Y:-15.24, Z:-3.68 [[ 9.72323979e-01 2.33608916e-01 3.59931213e-03 1.31118663e+02] [-2.33607408e-01 9.72330640e-01 -8.39535740e-04 -1.52388771e+01] [-3.69584450e-03 -2.45252474e-05 9.99993170e-01 -3.68460515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.954203822 meters 0.020406930728866072 Centerline is valid? [True, True] Translation: X:131.15, Y:-15.24, Z:-3.69 [[ 9.71979054e-01 2.35047948e-01 3.02999397e-03 1.31146519e+02] [-2.35046887e-01 9.71983776e-01 -7.06764528e-04 -1.52409102e+01] [-3.11122853e-03 -2.52303338e-05 9.99995160e-01 -3.68693499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984203822 meters 0.019480938816704246 Centerline is valid? [True, True] Translation: X:131.18, Y:-15.25, Z:-3.68 [[ 9.71733291e-01 2.36060214e-01 3.16010570e-03 1.31175029e+02] [-2.36059056e-01 9.71738429e-01 -7.39816975e-04 -1.52452251e+01] [-3.24543750e-03 -2.70667850e-05 9.99994733e-01 -3.68337955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.014203822 meters 0.02062390097510802 Centerline is valid? [True, True] Translation: X:131.20, Y:-15.25, Z:-3.68 [[ 9.71349872e-01 2.37621977e-01 3.90154793e-03 1.31201701e+02] [-2.37620241e-01 9.71357707e-01 -9.09305047e-04 -1.52485930e+01] [-4.00586951e-03 -4.38334171e-05 9.99991976e-01 -3.68315290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04420382200001 meters 0.022209277622820964 Centerline is valid? [True, True] Translation: X:131.23, Y:-15.25, Z:-3.69 [[ 9.71257668e-01 2.37997766e-01 3.95037289e-03 1.31229409e+02] [-2.37995993e-01 9.71265701e-01 -9.19668248e-04 -1.52536746e+01] [-4.05574068e-03 -4.69380809e-05 9.99991774e-01 -3.68614653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07420382200002 meters 0.02246424105531021 Centerline is valid? [True, True] Translation: X:131.26, Y:-15.26, Z:-3.68 [[ 9.71113055e-01 2.38554851e-01 5.56937159e-03 1.31257552e+02] [-2.38551344e-01 9.71129022e-01 -1.29543207e-03 -1.52571663e+01] [-5.71761000e-03 -7.05700807e-05 9.99983652e-01 -3.68489610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10420382200002 meters 0.02246424105531021 Centerline is valid? [True, True] Translation: X:131.28, Y:-15.26, Z:-3.69 [[ 9.71157756e-01 2.38372819e-01 5.56878706e-03 1.31284356e+02] [-2.38369294e-01 9.71173720e-01 -1.29795022e-03 -1.52631814e+01] [-5.71765570e-03 -6.69134135e-05 9.99983652e-01 -3.68567617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13420382200002 meters 0.021572372897320193 Centerline is valid? [True, True] Translation: X:131.31, Y:-15.27, Z:-3.69 [[ 9.71261000e-01 2.37945591e-01 5.82803006e-03 1.31312533e+02] [-2.37941735e-01 9.71278483e-01 -1.35649154e-03 -1.52691804e+01] [-5.98341138e-03 -6.92242517e-05 9.99982097e-01 -3.68513235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164203822 meters 0.02081731965363496 Centerline is valid? [True, True] Translation: X:131.34, Y:-15.27, Z:-3.68 [[ 9.71375372e-01 2.37474918e-01 5.96246713e-03 1.31340306e+02] [-2.37470876e-01 9.71393668e-01 -1.38721985e-03 -1.52744442e+01] [-6.12133274e-03 -6.84010941e-05 9.99981262e-01 -3.68466791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194203822 meters 0.020883109644166703 Centerline is valid? [True, True] Translation: X:131.37, Y:-15.28, Z:-3.69 [[ 9.71422627e-01 2.37272670e-01 6.30554155e-03 1.31367614e+02] [-2.37268175e-01 9.71443089e-01 -1.46243464e-03 -1.52786193e+01] [-6.47247053e-03 -7.54622304e-05 9.99979050e-01 -3.68523503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224203822 meters 0.020748286406911128 Centerline is valid? [True, True] Translation: X:131.40, Y:-15.28, Z:-3.69 [[ 9.71479336e-01 2.37070073e-01 5.06760068e-03 1.31395751e+02] [-2.37067153e-01 9.71492551e-01 -1.17796733e-03 -1.52833967e+01] [-5.20239711e-03 -5.69907476e-05 9.99986466e-01 -3.68742239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254203822 meters 0.023606146931438574 Centerline is valid? [True, True] Translation: X:131.42, Y:-15.29, Z:-3.70 [[ 9.71485451e-01 2.37066655e-01 3.92668986e-03 1.31422744e+02] [-2.37064909e-01 9.71493386e-01 -9.11184946e-04 -1.52876663e+01] [-4.03076480e-03 -4.56774552e-05 9.99991875e-01 -3.69527119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284203822 meters 0.02052837619252248 Centerline is valid? [True, True] Translation: X:131.45, Y:-15.30, Z:-3.69 [[ 9.71596582e-01 2.36617538e-01 3.49602820e-03 1.31450033e+02] [-2.36616143e-01 9.71602871e-01 -8.13338947e-04 -1.52979161e+01] [-3.58920130e-03 -3.69793678e-05 9.99993558e-01 -3.69134048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314203822 meters 0.022238977185668564 Centerline is valid? [True, True] Translation: X:131.48, Y:-15.30, Z:-3.69 [[ 9.71591655e-01 2.36636296e-01 3.59424618e-03 1.31476718e+02] [-2.36634833e-01 9.71598303e-01 -8.33165212e-04 -1.53002484e+01] [-3.68932062e-03 -4.10274775e-05 9.99993194e-01 -3.69443316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344203822 meters 0.022668571300344092 Centerline is valid? [True, True] Translation: X:131.51, Y:-15.30, Z:-3.70 [[ 9.71539535e-01 2.36858130e-01 3.02634625e-03 1.31505078e+02] [-2.36857086e-01 9.71544248e-01 -7.03705335e-04 -1.53034500e+01] [-3.10690762e-03 -3.31340029e-05 9.99995173e-01 -3.69570409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.374203822 meters 0.02253001217301669 Centerline is valid? [True, True] Translation: X:131.53, Y:-15.30, Z:-3.70 [[ 9.71424688e-01 2.37331234e-01 2.82160283e-03 1.31534333e+02] [-2.37330329e-01 9.71428785e-01 -6.56016733e-04 -1.53046111e+01] [-2.89667947e-03 -3.23810803e-05 9.99995804e-01 -3.69548606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404203822 meters 0.022361812908995762 Centerline is valid? [True, True] Translation: X:131.56, Y:-15.31, Z:-3.70 [[ 9.71442796e-01 2.37251221e-01 3.27899431e-03 1.31562502e+02] [-2.37250003e-01 9.71448329e-01 -7.61005326e-04 -1.53092367e+01] [-3.36592299e-03 -3.86682698e-05 9.99994335e-01 -3.69575562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.434203822 meters 0.02373393995274174 Centerline is valid? [True, True] Translation: X:131.59, Y:-15.31, Z:-3.70 [[ 9.71461590e-01 2.37169561e-01 3.60246526e-03 1.31590467e+02] [-2.37168106e-01 9.71468269e-01 -8.32157097e-04 -1.53134510e+01] [-3.69704303e-03 -4.59812053e-05 9.99993165e-01 -3.69930635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464203822 meters 0.0222491325525878 Centerline is valid? [True, True] Translation: X:131.62, Y:-15.32, Z:-3.70 [[ 9.71635029e-01 2.36466811e-01 2.96957790e-03 1.31618309e+02] [-2.36465809e-01 9.71639566e-01 -6.88884954e-04 -1.53222013e+01] [-3.04825781e-03 -3.28588892e-05 9.99995354e-01 -3.69886870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.494203822 meters 0.019920139267885228 Centerline is valid? [True, True] Translation: X:131.65, Y:-15.33, Z:-3.70 [[ 9.71823870e-01 2.35692728e-01 2.70270403e-03 1.31645481e+02] [-2.35691893e-01 9.71827627e-01 -6.27895050e-04 -1.53304727e+01] [-2.77455274e-03 -2.68020304e-05 9.99996151e-01 -3.69583344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524203822 meters 0.023422265473412533 Centerline is valid? [True, True] Translation: X:131.67, Y:-15.34, Z:-3.70 [[ 9.71894054e-01 2.35398275e-01 3.09838550e-03 1.31672391e+02] [-2.35397193e-01 9.71898992e-01 -7.14626058e-04 -1.53352714e+01] [-3.17953948e-03 -3.48104329e-05 9.99994945e-01 -3.69803568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.554203822 meters 0.020755409066975945 Centerline is valid? [True, True] Translation: X:131.70, Y:-15.34, Z:-3.70 [[ 9.72203700e-01 2.34104726e-01 3.86555905e-03 1.31700457e+02] [-2.34103035e-01 9.72211384e-01 -8.90799936e-04 -1.53379397e+01] [-3.96668099e-03 -3.89001104e-05 9.99992132e-01 -3.69950119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584203822 meters 0.020989342329420742 Centerline is valid? [True, True] Translation: X:131.73, Y:-15.34, Z:-3.70 [[ 9.72220746e-01 2.34033408e-01 3.89692689e-03 1.31727913e+02] [-2.34031687e-01 9.72228555e-01 -8.98282214e-04 -1.53408534e+01] [-3.99893165e-03 -3.86757703e-05 9.99992003e-01 -3.70054427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.614203822 meters 0.020303470853542914 Centerline is valid? [True, True] Translation: X:131.76, Y:-15.34, Z:-3.70 [[ 9.72415577e-01 2.33195464e-01 5.27463865e-03 1.31756198e+02] [-2.33192296e-01 9.72429881e-01 -1.21647683e-03 -1.53440365e+01] [-5.41289312e-03 -4.70840785e-05 9.99985349e-01 -3.69933871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644203822 meters 0.019665597662222367 Centerline is valid? [True, True] Translation: X:131.78, Y:-15.35, Z:-3.70 [[ 9.72511457e-01 2.32769909e-01 6.29561835e-03 1.31783946e+02] [-2.32765399e-01 9.72531833e-01 -1.44990865e-03 -1.53506460e+01] [-6.46018436e-03 -5.53493428e-05 9.99979131e-01 -3.69876914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.674203822 meters 0.018588782278111848 Centerline is valid? [True, True] Translation: X:131.81, Y:-15.36, Z:-3.70 [[ 9.72709416e-01 2.31933650e-01 6.57075335e-03 1.31812124e+02] [-2.31928727e-01 9.72731607e-01 -1.51199459e-03 -1.53586523e+01] [-6.74226189e-03 -5.32150841e-05 9.99977269e-01 -3.69791845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704203822 meters 0.016059329160885233 Centerline is valid? [True, True] Translation: X:131.84, Y:-15.37, Z:-3.69 [[ 9.72977784e-01 2.30803570e-01 6.62900281e-03 1.31839846e+02] [-2.30798540e-01 9.73000365e-01 -1.52449418e-03 -1.53680255e+01] [-6.80188085e-03 -4.66652010e-05 9.99976866e-01 -3.69370767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.734203822 meters 0.016009530543394396 Centerline is valid? [True, True] Translation: X:131.87, Y:-15.38, Z:-3.70 [[ 9.73523405e-01 2.28464785e-01 7.48477557e-03 1.31867111e+02] [-2.28458319e-01 9.73552177e-01 -1.71919670e-03 -1.53755694e+01] [-7.67959545e-03 -3.62810222e-05 9.99970511e-01 -3.69764755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764203822 meters 0.015516766417169642 Centerline is valid? [True, True] Translation: X:131.89, Y:-15.38, Z:-3.70 [[ 9.73833071e-01 2.27153010e-01 7.11755706e-03 1.31894267e+02] [-2.27147134e-01 9.73859081e-01 -1.63411268e-03 -1.53824278e+01] [-7.30269119e-03 -2.53797185e-05 9.99973335e-01 -3.69830634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79420382200001 meters 0.016141515321771757 Centerline is valid? [True, True] Translation: X:131.92, Y:-15.39, Z:-3.70 [[ 9.74425267e-01 2.24622837e-01 6.32299747e-03 1.31920941e+02] [-2.24618165e-01 9.74445782e-01 -1.44871392e-03 -1.53902317e+01] [-6.48683244e-03 -8.59664361e-06 9.99978960e-01 -3.70355434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82420382200002 meters 0.014962904006491277 Centerline is valid? [True, True] Translation: X:131.95, Y:-15.40, Z:-3.70 [[ 9.74825113e-01 2.22884730e-01 6.19655031e-03 1.31947605e+02] [-2.22880196e-01 9.74844807e-01 -1.42159293e-03 -1.53985363e+01] [-6.35752624e-03 4.71614003e-06 9.99979791e-01 -3.70105036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85420382200002 meters 0.01556907785850428 Centerline is valid? [True, True] Translation: X:131.97, Y:-15.41, Z:-3.70 [[ 9.75183374e-01 2.21312933e-01 6.16218327e-03 1.31973091e+02] [-2.21308442e-01 9.75202843e-01 -1.40997857e-03 -1.54072124e+01] [-6.32142513e-03 1.12444763e-05 9.99980020e-01 -3.70385304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88420382200002 meters 0.017467384368332964 Centerline is valid? [True, True] Translation: X:132.00, Y:-15.42, Z:-3.71 [[ 9.75835550e-01 2.18471866e-01 3.87604787e-03 1.31999342e+02] [-2.18470070e-01 9.75843247e-01 -8.86211379e-04 -1.54196926e+01] [-3.97602739e-03 1.79961203e-05 9.99992095e-01 -3.70890087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914203822 meters 0.018135409017884893 Centerline is valid? [True, True] Translation: X:132.03, Y:-15.43, Z:-3.71 [[ 9.76086701e-01 2.17359331e-01 3.11010793e-03 1.32027067e+02] [-2.17358158e-01 9.76091656e-01 -7.14486012e-04 -1.54291056e+01] [-3.19105060e-03 2.13929633e-05 9.99994908e-01 -3.71082619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944203822 meters 0.016352485677511887 Centerline is valid? [True, True] Translation: X:132.06, Y:-15.44, Z:-3.71 [[ 9.75977371e-01 2.17839544e-01 3.75568514e-03 1.32055065e+02] [-2.17837842e-01 9.75984596e-01 -8.61375169e-04 -1.54355625e+01] [-3.85313242e-03 2.25523254e-05 9.99992576e-01 -3.70634774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974203822 meters 0.018217174002855552 Centerline is valid? [True, True] Translation: X:132.08, Y:-15.44, Z:-3.70 [[ 9.75718267e-01 2.18994848e-01 3.88836566e-03 1.32083319e+02] [-2.18993036e-01 9.75726015e-01 -8.91024159e-04 -1.54404230e+01] [-3.98910923e-03 1.78635474e-05 9.99992043e-01 -3.70490983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004203822 meters 0.015652421683017337 Centerline is valid? [True, True] Translation: X:132.11, Y:-15.45, Z:-3.71 [[ 9.75439171e-01 2.20228155e-01 4.24066481e-03 1.32111096e+02] [-2.20226030e-01 9.75448389e-01 -9.67715219e-04 -1.54455105e+01] [-4.34966779e-03 1.00425580e-05 9.99990540e-01 -3.70648551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034203822 meters 0.015040903772151743 Centerline is valid? [True, True] Translation: X:132.14, Y:-15.45, Z:-3.70 [[ 9.75121983e-01 2.21626960e-01 4.31381713e-03 1.32138607e+02] [-2.21624761e-01 9.75131525e-01 -9.87486591e-04 -1.54495450e+01] [-4.42539272e-03 6.87119480e-06 9.99990208e-01 -3.70489900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064203822 meters 0.016823883808295262 Centerline is valid? [True, True] Translation: X:132.17, Y:-15.45, Z:-3.71 [[ 9.74308685e-01 2.25170895e-01 4.54467136e-03 1.32165830e+02] [-2.25168505e-01 9.74319284e-01 -1.03749601e-03 -1.54498957e+01] [-4.66157485e-03 -1.24754888e-05 9.99989135e-01 -3.70978928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.094203822 meters 0.01752643405031597 Centerline is valid? [True, True] Translation: X:132.19, Y:-15.45, Z:-3.71 [[ 9.73969855e-01 2.26633209e-01 4.48447320e-03 1.32194589e+02] [-2.26630897e-01 9.73980179e-01 -1.02386361e-03 -1.54540200e+01] [-4.59982950e-03 -1.91078876e-05 9.99989421e-01 -3.71074991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124203822 meters 0.017943283315173312 Centerline is valid? [True, True] Translation: X:132.22, Y:-15.46, Z:-3.71 [[ 9.73702070e-01 2.27770949e-01 4.96733555e-03 1.32222327e+02] [-2.27768147e-01 9.73714740e-01 -1.13019245e-03 -1.54585155e+01] [-5.09419285e-03 -3.09300825e-05 9.99987024e-01 -3.71105467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.154203822 meters 0.01778821808690172 Centerline is valid? [True, True] Translation: X:132.25, Y:-15.46, Z:-3.71 [[ 9.73524036e-01 2.28521403e-01 5.37773914e-03 1.32250460e+02] [-2.28518116e-01 9.73538888e-01 -1.22621260e-03 -1.54632748e+01] [-5.51565401e-03 -3.51633749e-05 9.99984788e-01 -3.70961917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184203822 meters 0.019080739631948597 Centerline is valid? [True, True] Translation: X:132.28, Y:-15.47, Z:-3.71 [[ 9.73307941e-01 2.29429968e-01 5.79152672e-03 1.32277428e+02] [-2.29426196e-01 9.73325171e-01 -1.31646950e-03 -1.54676513e+01] [-5.93907629e-03 -4.73977207e-05 9.99982362e-01 -3.71123075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.214203822 meters 0.018559121098629033 Centerline is valid? [True, True] Translation: X:132.30, Y:-15.48, Z:-3.71 [[ 9.73365849e-01 2.29193928e-01 5.39144986e-03 1.32304741e+02] [-2.29190656e-01 9.73380779e-01 -1.22536315e-03 -1.54752465e+01] [-5.52877946e-03 -4.29432843e-05 9.99984715e-01 -3.71127742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244203822 meters 0.016865307881865507 Centerline is valid? [True, True] Translation: X:132.33, Y:-15.49, Z:-3.71 [[ 9.73547188e-01 2.28405678e-01 6.05969832e-03 1.32331727e+02] [-2.28401523e-01 9.73566045e-01 -1.37825846e-03 -1.54874029e+01] [-6.21431859e-03 -4.22446836e-05 9.99980690e-01 -3.70903879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.274203822 meters 0.01829660782437719 Centerline is valid? [True, True] Translation: X:132.36, Y:-15.49, Z:-3.71 [[ 9.73651712e-01 2.27931787e-01 7.03167184e-03 1.32358891e+02] [-2.27926213e-01 9.73677101e-01 -1.59481142e-03 -1.54938067e+01] [-7.21008607e-03 -4.99114717e-05 9.99974006e-01 -3.71294548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304203822 meters 0.01618414436468884 Centerline is valid? [True, True] Translation: X:132.39, Y:-15.50, Z:-3.71 [[ 9.73793255e-01 2.27309600e-01 7.55265522e-03 1.32386544e+02] [-2.27303137e-01 9.73822542e-01 -1.71465090e-03 -1.55020748e+01] [-7.74470252e-03 -4.70267496e-05 9.99970008e-01 -3.70820540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.334203822 meters 0.016535077867638203 Centerline is valid? [True, True] Translation: X:132.41, Y:-15.51, Z:-3.71 [[ 9.73920446e-01 2.26759016e-01 7.70158033e-03 1.32413086e+02] [-2.26752309e-01 9.73950895e-01 -1.74468006e-03 -1.55093965e+01] [-7.89658299e-03 -4.71715402e-05 9.99968820e-01 -3.70992870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364203822 meters 0.01590140032749656 Centerline is valid? [True, True] Translation: X:132.44, Y:-15.52, Z:-3.71 [[ 9.74036362e-01 2.26262158e-01 7.65508503e-03 1.32439529e+02] [-2.26255499e-01 9.74066442e-01 -1.73645161e-03 -1.55178428e+01] [-7.84945473e-03 -4.06380751e-05 9.99969192e-01 -3.70968727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.394203822 meters 0.015104769786996658 Centerline is valid? [True, True] Translation: X:132.47, Y:-15.53, Z:-3.71 [[ 9.74107990e-01 2.25962606e-01 7.38409156e-03 1.32466592e+02] [-2.25956409e-01 9.74135976e-01 -1.67385361e-03 -1.55258171e+01] [-7.57133756e-03 -3.79686420e-05 9.99971336e-01 -3.70811199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424203822 meters 0.016695366973444828 Centerline is valid? [True, True] Translation: X:132.49, Y:-15.53, Z:-3.71 [[ 9.74085371e-01 2.26067831e-01 7.14318524e-03 1.32494138e+02] [-2.26062067e-01 9.74111561e-01 -1.61494785e-03 -1.55307179e+01] [-7.32334708e-03 -4.17061432e-05 9.99973183e-01 -3.71203732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.454203822 meters 0.017310935092975384 Centerline is valid? [True, True] Translation: X:132.52, Y:-15.54, Z:-3.71 [[ 9.73839112e-01 2.27124729e-01 7.19313252e-03 1.32522281e+02] [-2.27118899e-01 9.73865676e-01 -1.62795530e-03 -1.55375341e+01] [-7.37489377e-03 -4.83297991e-05 9.99972804e-01 -3.71338204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484203822 meters 0.0181937327914088 Centerline is valid? [True, True] Translation: X:132.55, Y:-15.55, Z:-3.72 [[ 9.73711691e-01 2.27682573e-01 6.79624662e-03 1.32548629e+02] [-2.27677401e-01 9.73735407e-01 -1.53552680e-03 -1.55459437e+01] [-6.96735866e-03 -5.21913678e-05 9.99975726e-01 -3.71596842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.514203822 meters 0.018431609912857007 Centerline is valid? [True, True] Translation: X:132.58, Y:-15.55, Z:-3.71 [[ 9.73251577e-01 2.29625772e-01 7.30560738e-03 1.32576678e+02] [-2.29619843e-01 9.73278994e-01 -1.65152892e-03 -1.55543843e+01] [-7.48962781e-03 -7.01593012e-05 9.99971950e-01 -3.71322227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54420382200001 meters 0.020885803534019483 Centerline is valid? [True, True] Translation: X:132.60, Y:-15.56, Z:-3.72 [[ 9.72826361e-01 2.31384597e-01 8.36898763e-03 1.32604038e+02] [-2.31376916e-01 9.72862353e-01 -1.88797075e-03 -1.55553406e+01] [-8.57872035e-03 -9.97228334e-05 9.99963197e-01 -3.71525189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57420382200002 meters 0.020816103276165114 Centerline is valid? [True, True] Translation: X:132.63, Y:-15.56, Z:-3.71 [[ 9.72414951e-01 2.33113788e-01 8.19300961e-03 1.32632810e+02] [-2.33106479e-01 9.72449458e-01 -1.84938910e-03 -1.55604093e+01] [-8.39840585e-03 -1.11470014e-04 9.99964727e-01 -3.71312809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60420382200002 meters 0.025791384615550746 Centerline is valid? [True, True] Translation: X:132.66, Y:-15.56, Z:-3.72 [[ 9.71381126e-01 2.37456917e-01 5.73762478e-03 1.32662777e+02] [-2.37453427e-01 9.71398065e-01 -1.29191857e-03 -1.55616724e+01] [-5.88029261e-03 -1.07473354e-04 9.99982705e-01 -3.71782710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63420382200002 meters 0.027432199098385478 Centerline is valid? [True, True] Translation: X:132.69, Y:-15.57, Z:-3.72 [[ 9.70964150e-01 2.39150193e-01 5.98364796e-03 1.32691666e+02] [-2.39146408e-01 9.70982580e-01 -1.35085873e-03 -1.55656507e+01] [-6.13307606e-03 -1.19332516e-04 9.99981185e-01 -3.71855450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664203822 meters 0.029825634007648903 Centerline is valid? [True, True] Translation: X:132.72, Y:-15.57, Z:-3.72 [[ 9.70434924e-01 2.41285995e-01 6.09314233e-03 1.32719032e+02] [-2.41282133e-01 9.70454043e-01 -1.37215217e-03 -1.55688591e+01] [-6.24419571e-03 -1.38581991e-04 9.99980495e-01 -3.71996262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694203822 meters 0.034070259554979665 Centerline is valid? [True, True] Translation: X:132.75, Y:-15.57, Z:-3.73 [[ 9.70303116e-01 2.41830874e-01 5.44894727e-03 1.32746637e+02] [-2.41827797e-01 9.70318408e-01 -1.22658962e-03 -1.55708484e+01] [-5.58384108e-03 -1.27543186e-04 9.99984402e-01 -3.72567863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724203822 meters 0.029599990162797508 Centerline is valid? [True, True] Translation: X:132.77, Y:-15.58, Z:-3.72 [[ 9.70303436e-01 2.41832767e-01 5.30617965e-03 1.32773423e+02] [-2.41829836e-01 9.70317937e-01 -1.19681800e-03 -1.55828110e+01] [-5.43811110e-03 -1.21915935e-04 9.99985206e-01 -3.72157218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754203822 meters 0.03196099258456188 Centerline is valid? [True, True] Translation: X:132.80, Y:-15.59, Z:-3.72 [[ 9.70331889e-01 2.41712367e-01 5.58183595e-03 1.32801315e+02] [-2.41709144e-01 9.70347935e-01 -1.25511415e-03 -1.55868165e+01] [-5.71969959e-03 -1.31303509e-04 9.99983634e-01 -3.72477212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784203822 meters 0.030447397347864343 Centerline is valid? [True, True] Translation: X:132.83, Y:-15.59, Z:-3.72 [[ 9.70464622e-01 2.41164847e-01 6.15913597e-03 1.32829489e+02] [-2.41160900e-01 9.70484156e-01 -1.38676446e-03 -1.55933170e+01] [-6.31178271e-03 -1.39536929e-04 9.99980071e-01 -3.72397299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814203822 meters 0.029349907592131685 Centerline is valid? [True, True] Translation: X:132.86, Y:-15.60, Z:-3.72 [[ 9.70537838e-01 2.40872844e-01 6.04795149e-03 1.32856675e+02] [-2.40869035e-01 9.70556673e-01 -1.36137898e-03 -1.56003604e+01] [-6.19779890e-03 -1.35494428e-04 9.99980784e-01 -3.72370551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844203822 meters 0.030529910064050043 Centerline is valid? [True, True] Translation: X:132.88, Y:-15.61, Z:-3.73 [[ 9.70681537e-01 2.40294060e-01 6.00979931e-03 1.32883574e+02] [-2.40290310e-01 9.70700132e-01 -1.34919441e-03 -1.56057399e+01] [-6.15791639e-03 -1.34458434e-04 9.99981031e-01 -3.72617391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.874203822 meters 0.0302962571896755 Centerline is valid? [True, True] Translation: X:132.91, Y:-15.61, Z:-3.73 [[ 9.70819255e-01 2.39728564e-01 6.33950889e-03 1.32911004e+02] [-2.39724373e-01 9.70839944e-01 -1.42412281e-03 -1.56133380e+01] [-6.49605137e-03 -1.37168947e-04 9.99978891e-01 -3.72676515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904203822 meters 0.026637044033746834 Centerline is valid? [True, True] Translation: X:132.94, Y:-15.62, Z:-3.72 [[ 9.71125059e-01 2.38448479e-01 7.64480992e-03 1.32938649e+02] [-2.38442362e-01 9.71155136e-01 -1.71519863e-03 -1.56234642e+01] [-7.83328292e-03 -1.57174168e-04 9.99969307e-01 -3.72166591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.934203822 meters 0.026883379573618006 Centerline is valid? [True, True] Translation: X:132.97, Y:-15.63, Z:-3.72 [[ 9.71351873e-01 2.37501723e-01 8.27471929e-03 1.32965660e+02] [-2.37494557e-01 9.71387103e-01 -1.85231553e-03 -1.56286936e+01] [-8.47788373e-03 -1.65950633e-04 9.99964048e-01 -3.72265874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964203822 meters 0.023773767960152677 Centerline is valid? [True, True] Translation: X:132.99, Y:-15.64, Z:-3.72 [[ 9.72083294e-01 2.34477098e-01 8.63480302e-03 1.32992963e+02] [-2.34469184e-01 9.72121633e-01 -1.93201410e-03 -1.56391579e+01] [-8.84709187e-03 -1.46516594e-04 9.99960853e-01 -3.72248567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.994203822 meters 0.023773767960152677 Centerline is valid? [True, True] Translation: X:133.02, Y:-15.64, Z:-3.72 [[ 9.72128618e-01 2.34289138e-01 8.63427825e-03 1.33019812e+02] [-2.34281196e-01 9.72166951e-01 -1.93436283e-03 -1.56449582e+01] [-8.84716016e-03 -1.42399569e-04 9.99960853e-01 -3.72326569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024203822 meters 0.022965949735520956 Centerline is valid? [True, True] Translation: X:133.05, Y:-15.65, Z:-3.73 [[ 9.72584230e-01 2.32384710e-01 8.78984372e-03 1.33046818e+02] [-2.32376442e-01 9.72623940e-01 -1.96468013e-03 -1.56523846e+01] [-9.00577406e-03 -1.31735694e-04 9.99959439e-01 -3.72509407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.054203822 meters 0.020846019118720336 Centerline is valid? [True, True] Translation: X:133.07, Y:-15.66, Z:-3.73 [[ 9.73056967e-01 2.30392838e-01 8.90387302e-03 1.33074452e+02] [-2.30384257e-01 9.73097697e-01 -1.99168221e-03 -1.56623254e+01] [-9.12320764e-03 -1.13291920e-04 9.99958376e-01 -3.72505149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084203822 meters 0.017400680120623395 Centerline is valid? [True, True] Translation: X:133.10, Y:-15.68, Z:-3.73 [[ 9.74078472e-01 2.26026508e-01 9.11858826e-03 1.33100457e+02] [-2.26017335e-01 9.74121148e-01 -2.03775721e-03 -1.56799110e+01] [-9.34319681e-03 -7.60235906e-05 9.99956348e-01 -3.72672662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.114203822 meters 0.016336922282571845 Centerline is valid? [True, True] Translation: X:133.13, Y:-15.69, Z:-3.73 [[ 9.74524283e-01 2.24100528e-01 9.02079264e-03 1.33127141e+02] [-2.24091479e-01 9.74566032e-01 -2.01470516e-03 -1.56903721e+01] [-9.24285457e-03 -5.81036623e-05 9.99957282e-01 -3.72780888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144203822 meters 0.015812832346570545 Centerline is valid? [True, True] Translation: X:133.15, Y:-15.70, Z:-3.73 [[ 9.74842552e-01 2.22714857e-01 8.94933490e-03 1.33153602e+02] [-2.22705926e-01 9.74883629e-01 -1.99514141e-03 -1.56983840e+01] [-9.16890772e-03 -4.81211679e-05 9.99957964e-01 -3.72912087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.174203822 meters 0.015403576428193257 Centerline is valid? [True, True] Translation: X:133.18, Y:-15.71, Z:-3.73 [[ 9.75056321e-01 2.21802377e-01 8.29913980e-03 1.33181730e+02] [-2.21794668e-01 9.75091639e-01 -1.84957649e-03 -1.57064978e+01] [-8.50266229e-03 -3.72637040e-05 9.99963851e-01 -3.73072433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204203822 meters 0.014625766970275478 Centerline is valid? [True, True] Translation: X:133.21, Y:-15.71, Z:-3.73 [[ 9.75034203e-01 2.21916249e-01 7.84105395e-03 1.33209311e+02] [-2.21909353e-01 9.75065730e-01 -1.74981758e-03 -1.57136202e+01] [-8.03385594e-03 -3.38712137e-05 9.99967727e-01 -3.72877690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.234203822 meters 0.016588942451981115 Centerline is valid? [True, True] Translation: X:133.24, Y:-15.72, Z:-3.73 [[ 9.74901662e-01 2.22502241e-01 7.71369913e-03 1.33237038e+02] [-2.22495610e-01 9.74932178e-01 -1.71837264e-03 -1.57184203e+01] [-7.90267526e-03 -4.10198498e-05 9.99968773e-01 -3.73429381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264203822 meters 0.017447335546847964 Centerline is valid? [True, True] Translation: X:133.27, Y:-15.72, Z:-3.74 [[ 9.74685911e-01 2.23461657e-01 7.22934182e-03 1.33265105e+02] [-2.23455852e-01 9.74712720e-01 -1.61142334e-03 -1.57237357e+01] [-7.40662276e-03 -4.48071038e-05 9.99972570e-01 -3.73580939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29420382200001 meters 0.01999693493568026 Centerline is valid? [True, True] Translation: X:133.29, Y:-15.73, Z:-3.74 [[ 9.74029728e-01 2.26323744e-01 6.60693001e-03 1.33292745e+02] [-2.26318981e-01 9.74052133e-01 -1.46965286e-03 -1.57280055e+01] [-6.76811161e-03 -6.37880943e-05 9.99977094e-01 -3.73821232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32420382200002 meters 0.02152571386043684 Centerline is valid? [True, True] Translation: X:133.32, Y:-15.73, Z:-3.74 [[ 9.73696514e-01 2.27746760e-01 6.81996344e-03 1.33320941e+02] [-2.27741709e-01 9.73720395e-01 -1.51855968e-03 -1.57321490e+01] [-6.98658454e-03 -7.45738586e-05 9.99975591e-01 -3.73888970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35420382200002 meters 0.022269759945222303 Centerline is valid? [True, True] Translation: X:133.35, Y:-15.73, Z:-3.74 [[ 9.73216966e-01 2.29749734e-01 7.98723370e-03 1.33349084e+02] [-2.29742884e-01 9.73249736e-01 -1.77729703e-03 -1.57349888e+01] [-8.18190660e-03 -1.05314483e-04 9.99966522e-01 -3.73594026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38420382200002 meters 0.02055309196704482 Centerline is valid? [True, True] Translation: X:133.38, Y:-15.74, Z:-3.73 [[ 9.73135904e-01 2.30074720e-01 8.49325001e-03 1.33375903e+02] [-2.30067002e-01 9.73172960e-01 -1.88809579e-03 -1.57428905e+01] [-8.69980436e-03 -1.16642766e-04 9.99962149e-01 -3.73262696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414203822 meters 0.0207776708214412 Centerline is valid? [True, True] Translation: X:133.40, Y:-15.75, Z:-3.73 [[ 9.73197181e-01 2.29807174e-01 8.71256684e-03 1.33402457e+02] [-2.29799079e-01 9.73236173e-01 -1.93277817e-03 -1.57499806e+01] [-8.92355150e-03 -1.21165561e-04 9.99960177e-01 -3.73369772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444203822 meters 0.018113688637323436 Centerline is valid? [True, True] Translation: X:133.43, Y:-15.76, Z:-3.73 [[ 9.73547940e-01 2.28284240e-01 9.52444200e-03 1.33429633e+02] [-2.28274490e-01 9.73594521e-01 -2.11310106e-03 -1.57634511e+01] [-9.75533222e-03 -1.16981949e-04 9.99952409e-01 -3.73078225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474203822 meters 0.019589971847368683 Centerline is valid? [True, True] Translation: X:133.46, Y:-15.77, Z:-3.73 [[ 9.73789508e-01 2.27217026e-01 1.03158982e-02 1.33456484e+02] [-2.27205571e-01 9.73844140e-01 -2.28461263e-03 -1.57699919e+01] [-1.05651799e-02 -1.19097728e-04 9.99944180e-01 -3.73497919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504203822 meters 0.01806145853236031 Centerline is valid? [True, True] Translation: X:133.48, Y:-15.78, Z:-3.74 [[ 9.73986490e-01 2.26375366e-01 1.02230970e-02 1.33483968e+02] [-2.26364080e-01 9.74040133e-01 -2.26311509e-03 -1.57803345e+01] [-1.04700203e-02 -1.09898433e-04 9.99945182e-01 -3.73501866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534203822 meters 0.020577803043749485 Centerline is valid? [True, True] Translation: X:133.51, Y:-15.79, Z:-3.75 [[ 9.74229916e-01 2.25432567e-01 7.49861473e-03 1.33510629e+02] [-2.25426465e-01 9.74258771e-01 -1.66023146e-03 -1.57884961e+01] [-7.67986141e-03 -7.29390595e-05 9.99970507e-01 -3.74513496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564203822 meters 0.01805447771480929 Centerline is valid? [True, True] Translation: X:133.54, Y:-15.80, Z:-3.74 [[ 9.74270544e-01 2.25272239e-01 7.02324907e-03 1.33538612e+02] [-2.25266867e-01 9.74295856e-01 -1.55708566e-03 -1.57971690e+01] [-7.19349063e-03 -6.50826222e-05 9.99974124e-01 -3.74090796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.594203822 meters 0.018189872934511513 Centerline is valid? [True, True] Translation: X:133.57, Y:-15.80, Z:-3.74 [[ 9.74168240e-01 2.25685860e-01 7.88245650e-03 1.33566600e+02] [-2.25679123e-01 9.74200126e-01 -1.74554139e-03 -1.58023499e+01] [-8.07303413e-03 -7.84548853e-05 9.99967409e-01 -3.74068535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624203822 meters 0.020729899667407202 Centerline is valid? [True, True] Translation: X:133.59, Y:-15.81, Z:-3.74 [[ 9.73754557e-01 2.27446468e-01 8.37652988e-03 1.33593681e+02] [-2.27438955e-01 9.73790580e-01 -1.85149462e-03 -1.58086855e+01] [-8.57810181e-03 -1.02247874e-04 9.99963202e-01 -3.74259612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.654203822 meters 0.020840214692251873 Centerline is valid? [True, True] Translation: X:133.62, Y:-15.82, Z:-3.74 [[ 9.73533475e-01 2.28382060e-01 8.61433997e-03 1.33621187e+02] [-2.28374145e-01 9.73571580e-01 -1.90470893e-03 -1.58169865e+01] [-8.82167792e-03 -1.12994623e-04 9.99961082e-01 -3.74162928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684203822 meters 0.021299467171404348 Centerline is valid? [True, True] Translation: X:133.65, Y:-15.82, Z:-3.74 [[ 9.73167438e-01 2.29915616e-01 9.16224949e-03 1.33649790e+02] [-2.29906748e-01 9.73210558e-01 -2.02398953e-03 -1.58231848e+01] [-9.38214474e-03 -1.36782275e-04 9.99955977e-01 -3.73977414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.714203822 meters 0.024326483310218066 Centerline is valid? [True, True] Translation: X:133.68, Y:-15.82, Z:-3.74 [[ 9.72663095e-01 2.32002107e-01 1.00760570e-02 1.33677754e+02] [-2.31991538e-01 9.72715267e-01 -2.22146443e-03 -1.58246489e+01] [-1.03165190e-02 -1.76823507e-04 9.99946768e-01 -3.74127991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744203822 meters 0.02935998388080505 Centerline is valid? [True, True] Translation: X:133.71, Y:-15.83, Z:-3.75 [[ 9.71844453e-01 2.35455320e-01 8.89671282e-03 1.33706388e+02] [-2.35447231e-01 9.71885156e-01 -1.96081792e-03 -1.58255689e+01] [-9.10826813e-03 -1.89096378e-04 9.99958501e-01 -3.74631774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.774203822 meters 0.027392232886356564 Centerline is valid? [True, True] Translation: X:133.73, Y:-15.83, Z:-3.74 [[ 9.71600555e-01 2.36473950e-01 8.51071081e-03 1.33734042e+02] [-2.36466568e-01 9.71637811e-01 -1.87791957e-03 -1.58338555e+01] [-8.71340748e-03 -1.87910886e-04 9.99962020e-01 -3.74429109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804203822 meters 0.03058553118601084 Centerline is valid? [True, True] Translation: X:133.76, Y:-15.83, Z:-3.75 [[ 9.71125364e-01 2.38403604e-01 8.90220438e-03 1.33762243e+02] [-2.38395645e-01 9.71166141e-01 -1.96025231e-03 -1.58333953e+01] [-9.11285069e-03 -2.18596015e-04 9.99958453e-01 -3.74611886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.834203822 meters 0.032816856089954966 Centerline is valid? [True, True] Translation: X:133.79, Y:-15.84, Z:-3.75 [[ 9.70921525e-01 2.39246682e-01 8.50983470e-03 1.33790184e+02] [-2.39239446e-01 9.70958793e-01 -1.87334825e-03 -1.58368413e+01] [-8.71089118e-03 -2.17013995e-04 9.99962036e-01 -3.74919617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864203822 meters 0.031251233978472605 Centerline is valid? [True, True] Translation: X:133.82, Y:-15.85, Z:-3.75 [[ 9.70684669e-01 2.40231215e-01 7.76127247e-03 1.33817233e+02] [-2.40225230e-01 9.70715674e-01 -1.70826750e-03 -1.58460338e+01] [-7.94436802e-03 -2.06264394e-04 9.99968422e-01 -3.74821677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.894203822 meters 0.03773027329501887 Centerline is valid? [True, True] Translation: X:133.85, Y:-15.84, Z:-3.75 [[ 9.69830102e-01 2.43688823e-01 6.73279171e-03 1.33847436e+02] [-2.43684411e-01 9.69853451e-01 -1.48049970e-03 -1.58432463e+01] [-6.89060250e-03 -2.04843210e-04 9.99976239e-01 -3.75270695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924203822 meters 0.03972777603319662 Centerline is valid? [True, True] Translation: X:133.88, Y:-15.84, Z:-3.75 [[ 9.69361396e-01 2.45544270e-01 6.81870259e-03 1.33877227e+02] [-2.45539786e-01 9.69385353e-01 -1.50025045e-03 -1.58442060e+01] [-6.97832832e-03 -2.19977904e-04 9.99975627e-01 -3.75340610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.954203822 meters 0.03963299380228999 Centerline is valid? [True, True] Translation: X:133.91, Y:-15.85, Z:-3.75 [[ 9.68901342e-01 2.47330091e-01 7.61681724e-03 1.33906069e+02] [-2.47324535e-01 9.68931246e-01 -1.67784118e-03 -1.58467317e+01] [-7.79515283e-03 -2.58163214e-04 9.99969584e-01 -3.75150854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984203822 meters 0.0438457349060204 Centerline is valid? [True, True] Translation: X:133.93, Y:-15.84, Z:-3.75 [[ 9.68472711e-01 2.48984439e-01 8.20711048e-03 1.33934787e+02] [-2.48978080e-01 9.68507440e-01 -1.80404385e-03 -1.58437829e+01] [-8.39782641e-03 -2.96223364e-04 9.99964694e-01 -3.75292625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.014203822 meters 0.04123859979405738 Centerline is valid? [True, True] Translation: X:133.96, Y:-15.85, Z:-3.75 [[ 9.68286760e-01 2.49655651e-01 9.63362103e-03 1.33962954e+02] [-2.49646909e-01 9.68334617e-01 -2.11884566e-03 -1.58468420e+01] [-9.85755053e-03 -3.53353517e-04 9.99951351e-01 -3.74967601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04420382200001 meters 0.039302014011697306 Centerline is valid? [True, True] Translation: X:133.99, Y:-15.85, Z:-3.75 [[ 9.68625899e-01 2.48300780e-01 1.05161955e-02 1.33990891e+02] [-2.48290340e-01 9.68682911e-01 -2.30767393e-03 -1.58524942e+01] [-1.07598561e-02 -3.75797036e-04 9.99942040e-01 -3.74902316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07420382200002 meters 0.03725031327273566 Centerline is valid? [True, True] Translation: X:134.02, Y:-15.86, Z:-3.75 [[ 9.69960601e-01 2.42978477e-01 1.17427372e-02 1.34020624e+02] [-2.42965088e-01 9.70031615e-01 -2.57534917e-03 -1.58558047e+01] [-1.20165807e-02 -3.55087939e-04 9.99927735e-01 -3.75014954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10420382200002 meters 0.030548858723277686 Centerline is valid? [True, True] Translation: X:134.05, Y:-15.87, Z:-3.75 [[ 9.70862685e-01 2.39350655e-01 1.17008694e-02 1.34048458e+02] [-2.39337094e-01 9.70933143e-01 -2.56651443e-03 -1.58694928e+01] [-1.19750588e-02 -3.08718990e-04 9.99928249e-01 -3.74915992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13420382200002 meters 0.029527764764198237 Centerline is valid? [True, True] Translation: X:134.08, Y:-15.88, Z:-3.75 [[ 9.71833790e-01 2.35382188e-01 1.15892470e-02 1.34076723e+02] [-2.35368608e-01 9.71902855e-01 -2.54151757e-03 -1.58763094e+01] [-1.18618502e-02 -2.57812275e-04 9.99929613e-01 -3.75302409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164203822 meters 0.023292630544157606 Centerline is valid? [True, True] Translation: X:134.10, Y:-15.89, Z:-3.75 [[ 9.72749654e-01 2.31568461e-01 1.15827236e-02 1.34103404e+02] [-2.31554624e-01 9.72818587e-01 -2.54020496e-03 -1.58879988e+01] [-1.18561201e-02 -2.11049709e-04 9.99929691e-01 -3.75139903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194203822 meters 0.017214821563373534 Centerline is valid? [True, True] Translation: X:134.13, Y:-15.90, Z:-3.75 [[ 9.74423467e-01 2.24442057e-01 1.11655992e-02 1.34131381e+02] [-2.24428741e-01 9.74487429e-01 -2.44778060e-03 -1.58993441e+01] [-1.14301209e-02 -1.20706513e-04 9.99934667e-01 -3.75332838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224203822 meters 0.014953318978941608 Centerline is valid? [True, True] Translation: X:134.16, Y:-15.91, Z:-3.75 [[ 9.75158268e-01 2.21192416e-01 1.18434700e-02 1.34157831e+02] [-2.21177191e-01 9.75230182e-01 -2.59664464e-03 -1.59086554e+01] [-1.21244675e-02 -8.73659412e-05 9.99926492e-01 -3.75370566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254203822 meters 0.012315971948096659 Centerline is valid? [True, True] Translation: X:134.18, Y:-15.92, Z:-3.75 [[ 9.76306754e-01 2.15943364e-01 1.39135184e-02 1.34184080e+02] [-2.15921835e-01 9.76405890e-01 -3.04929167e-03 -1.59184851e+01] [-1.42437156e-02 -2.71883801e-05 9.99898553e-01 -3.75175913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284203822 meters 0.011768036954771292 Centerline is valid? [True, True] Translation: X:134.21, Y:-15.93, Z:-3.75 [[ 9.76901120e-01 2.13233644e-01 1.39862585e-02 1.34211534e+02] [-2.13211628e-01 9.77001235e-01 -3.06414456e-03 -1.59258573e+01] [-1.43179705e-02 1.13333150e-05 9.99897493e-01 -3.75115224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314203822 meters 0.012324715399984138 Centerline is valid? [True, True] Translation: X:134.24, Y:-15.93, Z:-3.75 [[ 9.77558156e-01 2.10263351e-01 1.30143847e-02 1.34239152e+02] [-2.10244031e-01 9.77644783e-01 -2.85069771e-03 -1.59339200e+01] [-1.33228425e-02 5.05261043e-05 9.99911246e-01 -3.75166794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344203822 meters 0.01450174595165344 Centerline is valid? [True, True] Translation: X:134.27, Y:-15.94, Z:-3.76 [[ 9.78231667e-01 2.07178933e-01 1.18192935e-02 1.34265310e+02] [-2.07162772e-01 9.78303063e-01 -2.58914742e-03 -1.59435969e+01] [-1.20992678e-02 8.42684088e-05 9.99926798e-01 -3.75600745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.374203822 meters 0.019018519202466864 Centerline is valid? [True, True] Translation: X:134.29, Y:-15.96, Z:-3.76 [[ 9.79463423e-01 2.01357404e-01 1.03246738e-02 1.34292324e+02] [-2.01344765e-01 9.79517829e-01 -2.26007473e-03 -1.59569049e+01] [-1.05682849e-02 1.34841497e-04 9.99944145e-01 -3.75957447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404203822 meters 0.021096716576039575 Centerline is valid? [True, True] Translation: X:134.32, Y:-15.97, Z:-3.76 [[ 9.79941429e-01 1.98997468e-01 1.07146720e-02 1.34318998e+02] [-1.98983715e-01 9.79999990e-01 -2.34542097e-03 -1.59653004e+01] [-1.09671113e-02 1.66329936e-04 9.99939846e-01 -3.76060289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.434203822 meters 0.02278724683000772 Centerline is valid? [True, True] Translation: X:134.35, Y:-15.97, Z:-3.76 [[ 9.80284442e-01 1.97269835e-01 1.12705744e-02 1.34345511e+02] [-1.97254513e-01 9.80349210e-01 -2.46629566e-03 -1.59734836e+01] [-1.15356244e-02 1.94499601e-04 9.99933444e-01 -3.76049096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464203822 meters 0.02288427465000036 Centerline is valid? [True, True] Translation: X:134.37, Y:-15.98, Z:-3.76 [[ 9.80651933e-01 1.95475479e-01 1.05415237e-02 1.34373418e+02] [-1.95461979e-01 9.80708569e-01 -2.30604699e-03 -1.59809668e+01] [-1.07889383e-02 2.00962356e-04 9.99941778e-01 -3.75944552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.494203822 meters 0.02312570239335961 Centerline is valid? [True, True] Translation: X:134.40, Y:-15.99, Z:-3.76 [[ 9.80608129e-01 1.95725329e-01 9.96460699e-03 1.34401196e+02] [-1.95713281e-01 9.80658738e-01 -2.17963059e-03 -1.59857147e+01] [-1.01984878e-02 1.87157543e-04 9.99947977e-01 -3.76135272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524203822 meters 0.022056315925335083 Centerline is valid? [True, True] Translation: X:134.43, Y:-15.99, Z:-3.76 [[ 9.80278393e-01 1.97348670e-01 1.03814093e-02 1.34429212e+02] [-1.97335693e-01 9.80333347e-01 -2.27005339e-03 -1.59875619e+01] [-1.06252337e-02 1.76661702e-04 9.99943535e-01 -3.76259971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.554203822 meters 0.022208215761066318 Centerline is valid? [True, True] Translation: X:134.46, Y:-15.99, Z:-3.77 [[ 9.80086762e-01 1.98306504e-01 1.02210318e-02 1.34456211e+02] [-1.98293983e-01 9.80140043e-01 -2.23434691e-03 -1.59932977e+01] [-1.04611281e-02 1.63084724e-04 9.99945268e-01 -3.76546350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584203822 meters 0.019469572732082926 Centerline is valid? [True, True] Translation: X:134.49, Y:-16.00, Z:-3.76 [[ 9.79854978e-01 1.99458987e-01 1.00166625e-02 1.34485171e+02] [-1.99447031e-01 9.79906164e-01 -2.18888446e-03 -1.59951983e+01] [-1.02519820e-02 1.46995747e-04 9.99947436e-01 -3.76418567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.614203822 meters 0.01831019258805386 Centerline is valid? [True, True] Translation: X:134.51, Y:-15.99, Z:-3.77 [[ 9.79177478e-01 2.02745070e-01 1.02909640e-02 1.34514175e+02] [-2.02732637e-01 9.79231547e-01 -2.24825716e-03 -1.59942964e+01] [-1.05330597e-02 1.15128502e-04 9.99944519e-01 -3.76747391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644203822 meters 0.01641260898884414 Centerline is valid? [True, True] Translation: X:134.54, Y:-16.00, Z:-3.77 [[ 9.78903459e-01 2.04081996e-01 9.92756380e-03 1.34543082e+02] [-2.04070499e-01 9.78953793e-01 -2.16840250e-03 -1.59957850e+01] [-1.01611582e-02 9.67338087e-05 9.99948369e-01 -3.76738564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.674203822 meters 0.01675565450866187 Centerline is valid? [True, True] Translation: X:134.57, Y:-16.00, Z:-3.77 [[ 9.78646436e-01 2.05347307e-01 9.14526156e-03 1.34570788e+02] [-2.05337607e-01 9.78689163e-01 -1.99740729e-03 -1.59999208e+01] [-9.36053059e-03 7.68894028e-05 9.99956186e-01 -3.77215363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704203822 meters 0.015024401529388862 Centerline is valid? [True, True] Translation: X:134.60, Y:-16.00, Z:-3.77 [[ 9.78290468e-01 2.07025765e-01 9.38579990e-03 1.34599890e+02] [-2.07015611e-01 9.78335489e-01 -2.05137874e-03 -1.60000623e+01] [-9.60714939e-03 6.38371665e-05 9.99953848e-01 -3.77093496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.734203822 meters 0.014096934134732439 Centerline is valid? [True, True] Translation: X:134.63, Y:-16.00, Z:-3.77 [[ 9.78147234e-01 2.07670132e-01 1.00551119e-02 1.34629281e+02] [-2.07658534e-01 9.78198913e-01 -2.19558995e-03 -1.60026678e+01] [-1.02918580e-02 5.95804526e-05 9.99947036e-01 -3.77014506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764203822 meters 0.01725068243404265 Centerline is valid? [True, True] Translation: X:134.66, Y:-16.01, Z:-3.77 [[ 9.78037703e-01 2.08155578e-01 1.06539390e-02 1.34657312e+02] [-2.08142632e-01 9.78095728e-01 -2.32220550e-03 -1.60065771e+01] [-1.09039522e-02 5.36656363e-05 9.99940549e-01 -3.77248965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79420382200001 meters 0.014173610877697411 Centerline is valid? [True, True] Translation: X:134.68, Y:-16.01, Z:-3.77 [[ 9.78158825e-01 2.07564664e-01 1.10554552e-02 1.34684617e+02] [-2.07550669e-01 9.78221297e-01 -2.41121476e-03 -1.60133091e+01] [-1.13151647e-02 6.39838771e-05 9.99935979e-01 -3.77281608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82420382200002 meters 0.01497271449414416 Centerline is valid? [True, True] Translation: X:134.71, Y:-16.02, Z:-3.77 [[ 9.78423773e-01 2.06295014e-01 1.13704292e-02 1.34710497e+02] [-2.06280164e-01 9.78489837e-01 -2.47644977e-03 -1.60206889e+01] [-1.16367286e-02 7.75233264e-05 9.99932288e-01 -3.77351858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85420382200002 meters 0.016513656709923063 Centerline is valid? [True, True] Translation: X:134.74, Y:-16.03, Z:-3.77 [[ 9.79004709e-01 2.03512223e-01 1.15132184e-02 1.34738110e+02] [-2.03496817e-01 9.79072399e-01 -2.50654338e-03 -1.60275507e+01] [-1.17823866e-02 1.11014477e-04 9.99930579e-01 -3.77332354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88420382200002 meters 0.01784403577021745 Centerline is valid? [True, True] Translation: X:134.77, Y:-16.04, Z:-3.78 [[ 9.79361271e-01 2.01816911e-01 1.10197958e-02 1.34765934e+02] [-2.01802709e-01 9.79423258e-01 -2.39744527e-03 -1.60356241e+01] [-1.12768893e-02 1.24140403e-04 9.99936406e-01 -3.77525863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91420382200002 meters 0.01784403577021745 Centerline is valid? [True, True] Translation: X:134.79, Y:-16.04, Z:-3.78 [[ 9.79398984e-01 2.01633793e-01 1.10201027e-02 1.34792816e+02] [-2.01619595e-01 9.79460973e-01 -2.39603304e-03 -1.60412646e+01] [-1.12768818e-02 1.24803668e-04 9.99936406e-01 -3.77603878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944203822 meters 0.01770006808653767 Centerline is valid? [True, True] Translation: X:134.82, Y:-16.05, Z:-3.77 [[ 9.79754212e-01 1.99918703e-01 1.06862411e-02 1.34820627e+02] [-1.99905298e-01 9.79812479e-01 -2.31906031e-03 -1.60485372e+01] [-1.09341359e-02 1.35872895e-04 9.99940211e-01 -3.77469722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974203822 meters 0.018096458049964688 Centerline is valid? [True, True] Translation: X:134.85, Y:-16.06, Z:-3.77 [[ 9.80072308e-01 1.98351779e-01 1.07164657e-02 1.34848569e+02] [-1.98338210e-01 9.80130883e-01 -2.32508175e-03 -1.60563507e+01] [-1.09647231e-02 1.53263608e-04 9.99939874e-01 -3.77416124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004203822 meters 0.020997841060619884 Centerline is valid? [True, True] Translation: X:134.87, Y:-16.07, Z:-3.78 [[ 9.80597298e-01 1.95693659e-01 1.15296102e-02 1.34873892e+02] [-1.95677766e-01 9.80665057e-01 -2.50179153e-03 -1.60681678e+01] [-1.17962706e-02 1.97161652e-04 9.99930402e-01 -3.77521353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034203822 meters 0.02190172702570299 Centerline is valid? [True, True] Translation: X:134.90, Y:-16.08, Z:-3.78 [[ 9.80734561e-01 1.94974887e-01 1.20214456e-02 1.34900630e+02] [-1.94957584e-01 9.80808212e-01 -2.60617338e-03 -1.60764807e+01] [-1.22988709e-02 2.12292312e-04 9.99924343e-01 -3.77552922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064203822 meters 0.023879763646173377 Centerline is valid? [True, True] Translation: X:134.93, Y:-16.09, Z:-3.78 [[ 9.80595892e-01 1.95580341e-01 1.34174381e-02 1.34926743e+02] [-1.95558857e-01 9.80687656e-01 -2.90776104e-03 -1.60856258e+01] [-1.37270168e-02 2.27439673e-04 9.99905754e-01 -3.77619090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094203822 meters 0.019908647157987784 Centerline is valid? [True, True] Translation: X:134.96, Y:-16.09, Z:-3.77 [[ 9.80380465e-01 1.96662824e-01 1.33370791e-02 1.34955818e+02] [-1.96641710e-01 9.80471157e-01 -2.88934714e-03 -1.60868556e+01] [-1.36448485e-02 2.10033451e-04 9.99906883e-01 -3.77365820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124203822 meters 0.021208625644468557 Centerline is valid? [True, True] Translation: X:134.98, Y:-16.09, Z:-3.78 [[ 9.80092082e-01 1.98134973e-01 1.27296012e-02 1.34982660e+02] [-1.98115862e-01 9.80174729e-01 -2.75781569e-03 -1.60947182e+01] [-1.30236531e-02 1.80977410e-04 9.99915172e-01 -3.77851394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154203822 meters 0.016349538963844605 Centerline is valid? [True, True] Translation: X:135.01, Y:-16.10, Z:-3.78 [[ 9.79422630e-01 2.01436390e-01 1.24375766e-02 1.35012062e+02] [-2.01418434e-01 9.79501589e-01 -2.69277072e-03 -1.60956503e+01] [-1.27250481e-02 1.32203376e-04 9.99919025e-01 -3.77666074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184203822 meters 0.01570784248415194 Centerline is valid? [True, True] Translation: X:135.04, Y:-16.10, Z:-3.78 [[ 9.79081680e-01 2.03083541e-01 1.24955598e-02 1.35040080e+02] [-2.03065559e-01 9.79161408e-01 -2.70468382e-03 -1.60999279e+01] [-1.27844467e-02 1.10688547e-04 9.99918269e-01 -3.77871829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214203822 meters 0.01401196308916766 Centerline is valid? [True, True] Translation: X:135.07, Y:-16.10, Z:-3.78 [[ 9.78770828e-01 2.04582073e-01 1.24032542e-02 1.35068659e+02] [-2.04564484e-01 9.78849410e-01 -2.68410120e-03 -1.61033456e+01] [-1.26900370e-02 8.98546639e-05 9.99919474e-01 -3.77771363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244203822 meters 0.012947178957274819 Centerline is valid? [True, True] Translation: X:135.10, Y:-16.11, Z:-3.78 [[ 9.78107639e-01 2.07698634e-01 1.29121414e-02 1.35095916e+02] [-2.07679851e-01 9.78192862e-01 -2.79369702e-03 -1.61082203e+01] [-1.32108116e-02 5.09447965e-05 9.99912732e-01 -3.77968099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.274203822 meters 0.011759315589696211 Centerline is valid? [True, True] Translation: X:135.12, Y:-16.11, Z:-3.78 [[ 9.77820798e-01 2.08994107e-01 1.37094996e-02 1.35124028e+02] [-2.08973051e-01 9.77916899e-01 -2.96683351e-03 -1.61138465e+01] [-1.40268021e-02 3.61155363e-05 9.99901619e-01 -3.77759437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304203822 meters 0.011232683933641623 Centerline is valid? [True, True] Translation: X:135.15, Y:-16.12, Z:-3.78 [[ 9.77212852e-01 2.11761470e-01 1.45643721e-02 1.35152127e+02] [-2.11738056e-01 9.77321380e-01 -3.14896460e-03 -1.61190069e+01] [-1.49009016e-02 -6.62315185e-06 9.99888975e-01 -3.77697239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334203822 meters 0.011405640454461956 Centerline is valid? [True, True] Translation: X:135.18, Y:-16.12, Z:-3.78 [[ 9.76967681e-01 2.12880311e-01 1.47011656e-02 1.35179272e+02] [-2.12856617e-01 9.77078284e-01 -3.17618939e-03 -1.61244376e+01] [-1.50403378e-02 -2.62059925e-05 9.99886887e-01 -3.77763178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364203822 meters 0.011624849668567163 Centerline is valid? [True, True] Translation: X:135.21, Y:-16.13, Z:-3.78 [[ 9.76732565e-01 2.13921561e-01 1.52007224e-02 1.35206888e+02] [-2.13896406e-01 9.76850840e-01 -3.28082800e-03 -1.61300915e+01] [-1.55506783e-02 -4.68883420e-05 9.99879080e-01 -3.77770434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394203822 meters 0.011959520905860322 Centerline is valid? [True, True] Translation: X:135.23, Y:-16.13, Z:-3.78 [[ 9.76520430e-01 2.14850341e-01 1.57219788e-02 1.35233052e+02] [-2.14823630e-01 9.76646981e-01 -3.38849395e-03 -1.61349291e+01] [-1.60828422e-02 -6.85189813e-05 9.99870660e-01 -3.77764895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424203822 meters 0.013057335440414255 Centerline is valid? [True, True] Translation: X:135.26, Y:-16.14, Z:-3.78 [[ 9.76160088e-01 2.16456670e-01 1.60621395e-02 1.35260716e+02] [-2.16429038e-01 9.76292221e-01 -3.46000004e-03 -1.61386242e+01] [-1.64302820e-02 -9.87994553e-05 9.99865009e-01 -3.77815606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454203822 meters 0.013476744357983452 Centerline is valid? [True, True] Translation: X:135.29, Y:-16.15, Z:-3.78 [[ 9.76153109e-01 2.16517715e-01 1.56584329e-02 1.35287362e+02] [-2.16491477e-01 9.76278684e-01 -3.37208465e-03 -1.61456418e+01] [-1.60171103e-02 -9.82463428e-05 9.99871713e-01 -3.78021640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484203822 meters 0.01230863217955729 Centerline is valid? [True, True] Translation: X:135.31, Y:-16.16, Z:-3.78 [[ 9.76500399e-01 2.15037567e-01 1.43462421e-02 1.35313638e+02] [-2.15015396e-01 9.76605775e-01 -3.08861315e-03 -1.61615798e+01] [-1.46747907e-02 -6.86309477e-05 9.99892317e-01 -3.78175182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514203822 meters 0.01246026162676831 Centerline is valid? [True, True] Translation: X:135.34, Y:-16.17, Z:-3.79 [[ 9.76803123e-01 2.13694648e-01 1.37933264e-02 1.35339752e+02] [-2.13674025e-01 9.76900504e-01 -2.96909330e-03 -1.61725306e+01] [-1.41091868e-02 -4.70559619e-05 9.99900459e-01 -3.78571241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54420382200001 meters 0.012095947164853117 Centerline is valid? [True, True] Translation: X:135.37, Y:-16.18, Z:-3.79 [[ 9.77151457e-01 2.12118846e-01 1.34396513e-02 1.35366219e+02] [-2.12099128e-01 9.77243877e-01 -2.89229574e-03 -1.61838144e+01] [-1.37473274e-02 -2.43273316e-05 9.99905501e-01 -3.78690165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57420382200002 meters 0.011860796238328296 Centerline is valid? [True, True] Translation: X:135.39, Y:-16.19, Z:-3.79 [[ 9.77432740e-01 2.10789972e-01 1.38862179e-02 1.35392501e+02] [-2.10768806e-01 9.77531374e-01 -2.98710996e-03 -1.61940933e+01] [-1.42038665e-02 -7.08248817e-06 9.99899120e-01 -3.78727213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60420382200002 meters 0.010916548179757233 Centerline is valid? [True, True] Translation: X:135.42, Y:-16.21, Z:-3.78 [[ 9.77912564e-01 2.08412149e-01 1.58553990e-02 1.35418564e+02] [-2.08384263e-01 9.78041091e-01 -3.40934171e-03 -1.62088150e+01] [-1.62177800e-02 3.00224484e-05 9.99868483e-01 -3.78321469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63420382200002 meters 0.011146532511925334 Centerline is valid? [True, True] Translation: X:135.44, Y:-16.22, Z:-3.78 [[ 9.78189348e-01 2.07090283e-01 1.61000980e-02 1.35444541e+02] [-2.07061360e-01 9.78321834e-01 -3.46140186e-03 -1.62198148e+01] [-1.64679001e-02 5.21982364e-05 9.99864394e-01 -3.78362253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66420382200002 meters 0.013178314824672386 Centerline is valid? [True, True] Translation: X:135.47, Y:-16.24, Z:-3.79 [[ 9.78695142e-01 2.04803233e-01 1.45414647e-02 1.35469476e+02] [-2.04779403e-01 9.78803162e-01 -3.12522474e-03 -1.62374277e+01] [-1.48732878e-02 8.08498116e-05 9.99889383e-01 -3.78893423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694203822 meters 0.013821723298373728 Centerline is valid? [True, True] Translation: X:135.50, Y:-16.25, Z:-3.79 [[ 9.78862070e-01 2.04012135e-01 1.44255437e-02 1.35495667e+02] [-2.03988611e-01 9.78968355e-01 -3.09937392e-03 -1.62490603e+01] [-1.47544606e-02 9.12129516e-05 9.99891143e-01 -3.79107309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724203822 meters 0.013933609275804615 Centerline is valid? [True, True] Translation: X:135.52, Y:-16.26, Z:-3.79 [[ 9.78938237e-01 2.03647366e-01 1.44110420e-02 1.35523189e+02] [-2.03623865e-01 9.79044300e-01 -3.09522862e-03 -1.62603579e+01] [-1.47393837e-02 9.56055882e-05 9.99891365e-01 -3.79141346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754203822 meters 0.013985139341434662 Centerline is valid? [True, True] Translation: X:135.55, Y:-16.27, Z:-3.79 [[ 9.78861732e-01 2.04039360e-01 1.40587573e-02 1.35548326e+02] [-2.04017039e-01 9.78962682e-01 -3.01920833e-03 -1.62744955e+01] [-1.43790361e-02 8.71614550e-05 9.99896613e-01 -3.79326530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784203822 meters 0.013328043684428399 Centerline is valid? [True, True] Translation: X:135.58, Y:-16.28, Z:-3.79 [[ 9.78783960e-01 2.04406426e-01 1.41411512e-02 1.35576052e+02] [-2.04383900e-01 9.78886105e-01 -3.03560166e-03 -1.62828170e+01] [-1.44630729e-02 8.09745717e-05 9.99895401e-01 -3.79250074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814203822 meters 0.012439519862489716 Centerline is valid? [True, True] Translation: X:135.60, Y:-16.29, Z:-3.79 [[ 9.78618278e-01 2.05148631e-01 1.48426799e-02 1.35604278e+02] [-2.05123912e-01 9.78730828e-01 -3.18540048e-03 -1.62907818e+01] [-1.51804690e-02 7.27025684e-05 9.99884767e-01 -3.79165993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844203822 meters 0.018800681847537182 Centerline is valid? [True, True] Translation: X:135.63, Y:-16.30, Z:-3.79 [[ 9.78414766e-01 2.06081136e-01 1.53333223e-02 1.35630874e+02] [-2.06054881e-01 9.78534906e-01 -3.29002452e-03 -1.62996901e+01] [-1.56822031e-02 5.95026733e-05 9.99877025e-01 -3.79348714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874203822 meters 0.011770454830409664 Centerline is valid? [True, True] Translation: X:135.66, Y:-16.31, Z:-3.79 [[ 9.77927705e-01 2.08363408e-01 1.55593735e-02 1.35657076e+02] [-2.08336678e-01 9.78051476e-01 -3.33748178e-03 -1.63092810e+01] [-1.59132773e-02 2.22277134e-05 9.99873376e-01 -3.79405123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904203822 meters 0.01110903902356138 Centerline is valid? [True, True] Translation: X:135.69, Y:-16.32, Z:-3.79 [[ 9.77664089e-01 2.09598248e-01 1.55403707e-02 1.35685539e+02] [-2.09571756e-01 9.77787592e-01 -3.33236935e-03 -1.63166393e+01] [-1.58936404e-02 1.11507429e-06 9.99873688e-01 -3.79239592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934203822 meters 0.012149861967121827 Centerline is valid? [True, True] Translation: X:135.71, Y:-16.33, Z:-3.79 [[ 9.77103476e-01 2.12196825e-01 1.55340054e-02 1.35711794e+02] [-2.12170692e-01 9.77226947e-01 -3.33043387e-03 -1.63253111e+01] [-1.58869561e-02 -4.16821571e-05 9.99873793e-01 -3.79498004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964203822 meters 0.011888773707201561 Centerline is valid? [True, True] Translation: X:135.74, Y:-16.33, Z:-3.79 [[ 9.76827320e-01 2.13451344e-01 1.57133625e-02 1.35739250e+02] [-2.13424788e-01 9.76953694e-01 -3.36755707e-03 -1.63329819e+01] [-1.60700371e-02 -6.40993080e-05 9.99870867e-01 -3.79323808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.994203822 meters 0.012781269630239976 Centerline is valid? [True, True] Translation: X:135.77, Y:-16.34, Z:-3.79 [[ 9.76566857e-01 2.14622465e-01 1.59490314e-02 1.35766260e+02] [-2.14595273e-01 9.76697082e-01 -3.41737073e-03 -1.63390867e+01] [-1.63108170e-02 -8.52957554e-05 9.99866966e-01 -3.79456784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024203822 meters 0.014304318349606977 Centerline is valid? [True, True] Translation: X:135.79, Y:-16.34, Z:-3.80 [[ 9.76361425e-01 2.15560594e-01 1.58744316e-02 1.35793095e+02] [-2.15533796e-01 9.76490461e-01 -3.40036230e-03 -1.63443725e+01] [-1.62342152e-02 -1.01493934e-04 9.99868211e-01 -3.79798409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.054203822 meters 0.014042390756930824 Centerline is valid? [True, True] Translation: X:135.82, Y:-16.35, Z:-3.80 [[ 9.76090425e-01 2.16857601e-01 1.48412741e-02 1.35820341e+02] [-2.16834343e-01 9.76203241e-01 -3.17811799e-03 -1.63543924e+01] [-1.51772989e-02 -1.15967373e-04 9.99884811e-01 -3.79797393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084203822 meters 0.015284842833979153 Centerline is valid? [True, True] Translation: X:135.85, Y:-16.36, Z:-3.80 [[ 9.75996959e-01 2.17279641e-01 1.48153451e-02 1.35847317e+02] [-2.17256522e-01 9.76109391e-01 -3.17196992e-03 -1.63609452e+01] [-1.51506019e-02 -1.22897349e-04 9.99885215e-01 -3.80056872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.114203822 meters 0.01498602008882036 Centerline is valid? [True, True] Translation: X:135.87, Y:-16.37, Z:-3.80 [[ 9.76038516e-01 2.17109202e-01 1.45742749e-02 1.35874854e+02] [-2.17086826e-01 9.76147315e-01 -3.11927411e-03 -1.63706309e+01] [-1.49038624e-02 -1.19351398e-04 9.99888924e-01 -3.80104289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144203822 meters 0.01469833416936726 Centerline is valid? [True, True] Translation: X:135.90, Y:-16.38, Z:-3.80 [[ 9.76191687e-01 2.16439243e-01 1.42774159e-02 1.35901104e+02] [-2.16417705e-01 9.76296084e-01 -3.05522471e-03 -1.63784604e+01] [-1.46002558e-02 -1.07400619e-04 9.99893405e-01 -3.80267659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.174203822 meters 0.01352223853064666 Centerline is valid? [True, True] Translation: X:135.93, Y:-16.39, Z:-3.80 [[ 9.76398276e-01 2.15513901e-01 1.41479957e-02 1.35928521e+02] [-2.15492669e-01 9.76500768e-01 -3.02652743e-03 -1.63881082e+01] [-1.44677874e-02 -9.36931973e-05 9.99895332e-01 -3.80209381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204203822 meters 0.013610101101885218 Centerline is valid? [True, True] Translation: X:135.96, Y:-16.40, Z:-3.80 [[ 9.76628275e-01 2.14450114e-01 1.44346930e-02 1.35955208e+02] [-2.14427905e-01 9.76734940e-01 -3.08725657e-03 -1.63969434e+01] [-1.47609315e-02 -8.00989224e-05 9.99891048e-01 -3.80436326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.234203822 meters 0.01209301145233568 Centerline is valid? [True, True] Translation: X:135.98, Y:-16.41, Z:-3.80 [[ 9.77090842e-01 2.12270918e-01 1.53147931e-02 1.35982323e+02] [-2.12245673e-01 9.77210855e-01 -3.27406493e-03 -1.64104359e+01] [-1.56607709e-02 -5.14397232e-05 9.99877361e-01 -3.80309771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264203822 meters 0.011410495667721574 Centerline is valid? [True, True] Translation: X:136.01, Y:-16.42, Z:-3.80 [[ 9.77269530e-01 2.11437089e-01 1.54474079e-02 1.36010405e+02] [-2.11411312e-01 9.77391608e-01 -3.30169913e-03 -1.64191193e+01] [-1.57962685e-02 -3.91068197e-05 9.99875230e-01 -3.80223064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29420382200001 meters 0.011209745930515777 Centerline is valid? [True, True] Translation: X:136.04, Y:-16.43, Z:-3.80 [[ 9.77337890e-01 2.11100353e-01 1.57254540e-02 1.36038654e+02] [-2.11073603e-01 9.77464393e-01 -3.36071436e-03 -1.64270672e+01] [-1.60805193e-02 -3.46747586e-05 9.99870699e-01 -3.80276669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32420382200002 meters 0.011324144469037232 Centerline is valid? [True, True] Translation: X:136.07, Y:-16.44, Z:-3.80 [[ 9.77420028e-01 2.10743242e-01 1.54069891e-02 1.36066704e+02] [-2.10717533e-01 9.77541449e-01 -3.29179144e-03 -1.64385607e+01] [-1.57546932e-02 -2.90598559e-05 9.99875887e-01 -3.80432715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35420382200002 meters 0.01184704116393401 Centerline is valid? [True, True] Translation: X:136.09, Y:-16.45, Z:-3.81 [[ 9.77419614e-01 2.10787530e-01 1.48160527e-02 1.36094233e+02] [-2.10763749e-01 9.77531900e-01 -3.16637725e-03 -1.64459947e+01] [-1.51505970e-02 -2.78075779e-05 9.99885223e-01 -3.80723145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38420382200002 meters 0.012075901080275609 Centerline is valid? [True, True] Translation: X:136.12, Y:-16.46, Z:-3.81 [[ 9.77643105e-01 2.09860964e-01 1.31276234e-02 1.36122502e+02] [-2.09842218e-01 9.77731239e-01 -2.80497332e-03 -1.64552408e+01] [-1.34239419e-02 -1.24667801e-05 9.99909895e-01 -3.81047257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41420382200002 meters 0.01251285449222023 Centerline is valid? [True, True] Translation: X:136.15, Y:-16.47, Z:-3.81 [[ 9.77883053e-01 2.08753242e-01 1.29158441e-02 1.36149576e+02] [-2.08735001e-01 9.77968345e-01 -2.75959402e-03 -1.64650228e+01] [-1.32073609e-02 2.57149576e-06 9.99912779e-01 -3.81305468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444203822 meters 0.01212778347443877 Centerline is valid? [True, True] Translation: X:136.18, Y:-16.48, Z:-3.81 [[ 9.78516427e-01 2.05687067e-01 1.40866103e-02 1.36178418e+02] [-2.05665073e-01 9.78617815e-01 -3.00823994e-03 -1.64814888e+01] [-1.44041639e-02 4.64884571e-05 9.99896254e-01 -3.80966954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474203822 meters 0.021816181924882473 Centerline is valid? [True, True] Translation: X:136.21, Y:-16.49, Z:-3.81 [[ 9.78902436e-01 2.03803641e-01 1.46320194e-02 1.36209879e+02] [-2.03779731e-01 9.79011783e-01 -3.12268065e-03 -1.64932798e+01] [-1.49613331e-02 7.50907254e-05 9.99888070e-01 -3.80946521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504203822 meters 0.028967262167956153 Centerline is valid? [True, True] Translation: X:136.24, Y:-16.51, Z:-3.81 [[ 9.79361517e-01 2.01580444e-01 1.47086503e-02 1.36238894e+02] [-2.01555976e-01 9.79471956e-01 -3.14270079e-03 -1.65065224e+01] [-1.50402175e-02 1.13223853e-04 9.99886883e-01 -3.81164296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534203822 meters 0.015818984203608083 Centerline is valid? [True, True] Translation: X:136.27, Y:-16.52, Z:-3.81 [[ 9.79797105e-01 1.99464499e-01 1.45446725e-02 1.36269304e+02] [-1.99440307e-01 9.79905042e-01 -3.10996853e-03 -1.65200581e+01] [-1.48727262e-02 1.46344209e-04 9.99889384e-01 -3.81203463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564203822 meters 0.018602321016334737 Centerline is valid? [True, True] Translation: X:136.30, Y:-16.54, Z:-3.81 [[ 9.80461952e-01 1.96141507e-01 1.49288353e-02 1.36297997e+02] [-1.96115591e-01 9.80575580e-01 -3.19494524e-03 -1.65390128e+01] [-1.52655127e-02 2.04744890e-04 9.99883454e-01 -3.81208786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.594203822 meters 0.018887820868768477 Centerline is valid? [True, True] Translation: X:136.33, Y:-16.55, Z:-3.81 [[ 9.80482171e-01 1.95964939e-01 1.58888053e-02 1.36327848e+02] [-1.95935492e-01 9.80610877e-01 -3.40454568e-03 -1.65481335e+01] [-1.62479069e-02 2.24915459e-04 9.99867969e-01 -3.81162655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624203822 meters 0.01840071955640575 Centerline is valid? [True, True] Translation: X:136.36, Y:-16.56, Z:-3.81 [[ 9.80256130e-01 1.97052037e-01 1.63833217e-02 1.36357720e+02] [-1.97020865e-01 9.80393007e-01 -3.51142267e-03 -1.65558901e+01] [-1.67540270e-02 2.14237388e-04 9.99859618e-01 -3.81212686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.654203822 meters 0.01551097923445236 Centerline is valid? [True, True] Translation: X:136.39, Y:-16.56, Z:-3.82 [[ 9.79405196e-01 2.01359298e-01 1.48288265e-02 1.36388179e+02] [-2.01334219e-01 9.79517440e-01 -3.18059106e-03 -1.65607704e+01] [-1.51655358e-02 1.29537209e-04 9.99884988e-01 -3.81519213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684203822 meters 0.013915472218380428 Centerline is valid? [True, True] Translation: X:136.42, Y:-16.56, Z:-3.82 [[ 9.78754901e-01 2.04518216e-01 1.45307845e-02 1.36418973e+02] [-2.04494448e-01 9.78862755e-01 -3.11898926e-03 -1.65649306e+01] [-1.48615338e-02 8.12612827e-05 9.99889558e-01 -3.81796184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.714203822 meters 0.011693588773049763 Centerline is valid? [True, True] Translation: X:136.45, Y:-16.57, Z:-3.82 [[ 9.78097660e-01 2.07629174e-01 1.46660514e-02 1.36451810e+02] [-2.07605255e-01 9.78207608e-01 -3.15173143e-03 -1.65677242e+01] [-1.50008344e-02 3.79518048e-05 9.99887480e-01 -3.81691349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744203822 meters 0.011740717875810063 Centerline is valid? [True, True] Translation: X:136.48, Y:-16.57, Z:-3.82 [[ 9.76879775e-01 2.13334715e-01 1.39357583e-02 1.36483932e+02] [-2.13313694e-01 9.76979169e-01 -2.99511130e-03 -1.65688563e+01] [-1.42539068e-02 -4.68244393e-05 9.99898407e-01 -3.81876798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.774203822 meters 0.014396314817880852 Centerline is valid? [True, True] Translation: X:136.51, Y:-16.57, Z:-3.82 [[ 9.76327513e-01 2.15866747e-01 1.36431193e-02 1.36514608e+02] [-2.15846842e-01 9.76422829e-01 -2.93257363e-03 -1.65715798e+01] [-1.39544983e-02 -8.16719065e-05 9.99902628e-01 -3.82458805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804203822 meters 0.014522771955567369 Centerline is valid? [True, True] Translation: X:136.55, Y:-16.58, Z:-3.82 [[ 9.75656247e-01 2.18818298e-01 1.46095706e-02 1.36545387e+02] [-2.18795734e-01 9.75765615e-01 -3.14496658e-03 -1.65766579e+01] [-1.49436929e-02 -1.28105439e-04 9.99888329e-01 -3.82042816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.834203822 meters 0.014522771955567369 Centerline is valid? [True, True] Translation: X:136.58, Y:-16.58, Z:-3.82 [[ 9.75618938e-01 2.18984561e-01 1.46099075e-02 1.36576303e+02] [-2.18962039e-01 9.75728315e-01 -3.14340324e-03 -1.65834612e+01] [-1.49436572e-02 -1.32251401e-04 9.99888329e-01 -3.82132707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864203822 meters 0.015373870663908969 Centerline is valid? [True, True] Translation: X:136.61, Y:-16.59, Z:-3.82 [[ 9.75480351e-01 2.19578977e-01 1.49384316e-02 1.36606645e+02] [-2.19555455e-01 9.75594717e-01 -3.21703795e-03 -1.65889219e+01] [-1.52802489e-02 -1.41656844e-04 9.99883240e-01 -3.82314112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.894203822 meters 0.014982878252269332 Centerline is valid? [True, True] Translation: X:136.64, Y:-16.60, Z:-3.82 [[ 9.75427439e-01 2.19849709e-01 1.44020038e-02 1.36637288e+02] [-2.19827843e-01 9.75533744e-01 -3.10373208e-03 -1.65970150e+01] [-1.47319952e-02 -1.38495985e-04 9.99891469e-01 -3.82383176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924203822 meters 0.01455613554549223 Centerline is valid? [True, True] Translation: X:136.67, Y:-16.61, Z:-3.83 [[ 9.75461006e-01 2.19738757e-01 1.38095387e-02 1.36669038e+02] [-2.19718621e-01 9.75558743e-01 -2.97754947e-03 -1.66063511e+01] [-1.41262992e-02 -1.29729396e-04 9.99900210e-01 -3.82528214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.954203822 meters 0.014968843592540528 Centerline is valid? [True, True] Translation: X:136.70, Y:-16.61, Z:-3.83 [[ 9.75403499e-01 2.20011776e-01 1.35215626e-02 1.36699683e+02] [-2.19992458e-01 9.75497208e-01 -2.91831797e-03 -1.66146234e+01] [-1.38323109e-02 -1.28104245e-04 9.99904321e-01 -3.82682673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984203822 meters 0.0160161100873393 Centerline is valid? [True, True] Translation: X:136.73, Y:-16.62, Z:-3.83 [[ 9.75317459e-01 2.20366643e-01 1.39426204e-02 1.36730127e+02] [-2.20346092e-01 9.75417103e-01 -3.01243912e-03 -1.66196820e+01] [-1.42637115e-02 -1.34117455e-04 9.99898259e-01 -3.82980659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.014203822 meters 0.015157736479983603 Centerline is valid? [True, True] Translation: X:136.76, Y:-16.63, Z:-3.83 [[ 9.75273124e-01 2.20571594e-01 1.38023825e-02 1.36761624e+02] [-2.20551446e-01 9.75370778e-01 -2.98420491e-03 -1.66280834e+01] [-1.41206714e-02 -1.33720585e-04 9.99900289e-01 -3.82916161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04420382200001 meters 0.01604506797677795 Centerline is valid? [True, True] Translation: X:136.79, Y:-16.64, Z:-3.83 [[ 9.75231312e-01 2.20694453e-01 1.47595950e-02 1.36791634e+02] [-2.20671380e-01 9.75342985e-01 -3.19429397e-03 -1.66353419e+01] [-1.51006304e-02 -1.41844710e-04 9.99885969e-01 -3.82998014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07420382200002 meters 0.015068182706019336 Centerline is valid? [True, True] Translation: X:136.82, Y:-16.64, Z:-3.83 [[ 9.75342450e-01 2.20157709e-01 1.54171516e-02 1.36822417e+02] [-2.20132397e-01 9.75464282e-01 -3.34105852e-03 -1.66431687e+01] [-1.57744405e-02 -1.35138329e-04 9.99875567e-01 -3.82858022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10420382200002 meters 0.014195688471566313 Centerline is valid? [True, True] Translation: X:136.85, Y:-16.65, Z:-3.83 [[ 9.75419741e-01 2.19731424e-01 1.65659584e-02 1.36853917e+02] [-2.19702159e-01 9.75560394e-01 -3.58882320e-03 -1.66505090e+01] [-1.69496701e-02 -1.38967828e-04 9.99856334e-01 -3.82757623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13420382200002 meters 0.013113000748160068 Centerline is valid? [True, True] Translation: X:136.89, Y:-16.66, Z:-3.83 [[ 9.75781702e-01 2.18140391e-01 1.62739057e-02 1.36885005e+02] [-2.18111881e-01 9.75917393e-01 -3.52827689e-03 -1.66604715e+01] [-1.66516473e-02 -1.06704162e-04 9.99861346e-01 -3.82932993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16420382200002 meters 0.012442896951448816 Centerline is valid? [True, True] Translation: X:136.92, Y:-16.67, Z:-3.83 [[ 9.75985831e-01 2.17300869e-01 1.52312305e-02 1.36916988e+02] [-2.17275764e-01 9.76104669e-01 -3.30412875e-03 -1.66697548e+01] [-1.55852652e-02 -8.45943880e-05 9.99878539e-01 -3.83115889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194203822 meters 0.011802523214030379 Centerline is valid? [True, True] Translation: X:136.95, Y:-16.68, Z:-3.83 [[ 9.76391563e-01 2.15506778e-01 1.47086322e-02 1.36948564e+02] [-2.15483121e-01 9.76502343e-01 -3.19354275e-03 -1.66778879e+01] [-1.50512439e-02 -5.13137642e-05 9.99886722e-01 -3.83347548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224203822 meters 0.01180329933747375 Centerline is valid? [True, True] Translation: X:136.98, Y:-16.69, Z:-3.84 [[ 9.76613403e-01 2.14497616e-01 1.47320504e-02 1.36979657e+02] [-2.14473708e-01 9.76724512e-01 -3.20265604e-03 -1.66867721e+01] [-1.50761168e-02 -3.18806499e-05 9.99886348e-01 -3.83583698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254203822 meters 0.011842287544301736 Centerline is valid? [True, True] Translation: X:137.01, Y:-16.70, Z:-3.84 [[ 9.76829518e-01 2.13554032e-01 1.40985171e-02 1.37011344e+02] [-2.13532029e-01 9.76931254e-01 -3.06558386e-03 -1.66964068e+01] [-1.44279498e-02 -1.59321607e-05 9.99895912e-01 -3.83715393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284203822 meters 0.01177282763754899 Centerline is valid? [True, True] Translation: X:137.04, Y:-16.71, Z:-3.84 [[ 9.76993899e-01 2.12818301e-01 1.38308283e-02 1.37043108e+02] [-2.12797014e-01 9.77091792e-01 -3.01000306e-03 -1.67051991e+01] [-1.41545726e-02 -2.40434370e-06 9.99899819e-01 -3.83796028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314203822 meters 0.012942934483324953 Centerline is valid? [True, True] Translation: X:137.07, Y:-16.71, Z:-3.84 [[ 9.77300921e-01 2.11491145e-01 1.24259673e-02 1.37073183e+02] [-2.11473826e-01 9.77379913e-01 -2.70663419e-03 -1.67123501e+01] [-1.27173200e-02 1.74292341e-05 9.99919131e-01 -3.84277922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344203822 meters 0.012973775835560216 Centerline is valid? [True, True] Translation: X:137.10, Y:-16.72, Z:-3.84 [[ 9.77428637e-01 2.10950934e-01 1.15309865e-02 1.37104763e+02] [-2.10935962e-01 9.77496651e-01 -2.51333413e-03 -1.67194332e+01] [-1.18016908e-02 2.43050330e-05 9.99930357e-01 -3.84391899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.374203822 meters 0.013554694892102658 Centerline is valid? [True, True] Translation: X:137.14, Y:-16.73, Z:-3.85 [[ 9.77612454e-01 2.10135979e-01 1.08055485e-02 1.37136015e+02] [-2.10122764e-01 9.77672169e-01 -2.35684795e-03 -1.67273807e+01] [-1.10595426e-02 3.35921758e-05 9.99938841e-01 -3.84670272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404203822 meters 0.014866398024581498 Centerline is valid? [True, True] Translation: X:137.17, Y:-16.74, Z:-3.85 [[ 9.78056533e-01 2.08076601e-01 1.04664922e-02 1.37165059e+02] [-2.08064063e-01 9.78112532e-01 -2.28485266e-03 -1.67385701e+01] [-1.07128316e-02 5.70141770e-05 9.99942614e-01 -3.84950037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.434203822 meters 0.015093306403032376 Centerline is valid? [True, True] Translation: X:137.20, Y:-16.75, Z:-3.85 [[ 9.78195622e-01 2.07394901e-01 1.09854235e-02 1.37197025e+02] [-2.07381030e-01 9.78257303e-01 -2.39954302e-03 -1.67479437e+01] [-1.12442238e-02 6.90540307e-05 9.99936779e-01 -3.84938617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464203822 meters 0.025000642206635705 Centerline is valid? [True, True] Translation: X:137.23, Y:-16.76, Z:-3.85 [[ 9.78528804e-01 2.05815903e-01 1.10088313e-02 1.37227948e+02] [-2.05801843e-01 9.78590725e-01 -2.40729530e-03 -1.67574295e+01] [-1.12685999e-02 8.99700089e-05 9.99936503e-01 -3.85001064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.494203822 meters 0.016761283782802294 Centerline is valid? [True, True] Translation: X:137.26, Y:-16.77, Z:-3.85 [[ 9.78615384e-01 2.05433764e-01 1.04354908e-02 1.37257753e+02] [-2.05421077e-01 9.78671017e-01 -2.28498511e-03 -1.67651561e+01] [-1.06823255e-02 9.24518155e-05 9.99942938e-01 -3.85199981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524203822 meters 0.01689581426851039 Centerline is valid? [True, True] Translation: X:137.29, Y:-16.77, Z:-3.85 [[ 9.78661563e-01 2.05201427e-01 1.06732631e-02 1.37289662e+02] [-2.05188149e-01 9.78719758e-01 -2.33634802e-03 -1.67726285e+01] [-1.09255555e-02 9.64668986e-05 9.99940310e-01 -3.85262905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.554203822 meters 0.016786948714492905 Centerline is valid? [True, True] Translation: X:137.32, Y:-16.78, Z:-3.85 [[ 9.78659136e-01 2.05161439e-01 1.16223986e-02 1.37320419e+02] [-2.05145652e-01 9.78728140e-01 -2.54741803e-03 -1.67804808e+01] [-1.18978005e-02 1.08769383e-04 9.99929213e-01 -3.85210641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584203822 meters 0.016773968302382255 Centerline is valid? [True, True] Translation: X:137.35, Y:-16.79, Z:-3.85 [[ 9.78630578e-01 2.05191967e-01 1.33584457e-02 1.37349504e+02] [-2.05171068e-01 9.78721738e-01 -2.93125335e-03 -1.67921205e+01] [-1.36756708e-02 1.27847594e-04 9.99906475e-01 -3.84989411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.614203822 meters 0.016727824483344787 Centerline is valid? [True, True] Translation: X:137.38, Y:-16.80, Z:-3.85 [[ 9.78588324e-01 2.05378498e-01 1.35854232e-02 1.37381451e+02] [-2.05356876e-01 9.78682612e-01 -2.98287404e-03 -1.68008385e+01] [-1.39084356e-02 1.29145647e-04 9.99903265e-01 -3.84971124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644203822 meters 0.016557151608210127 Centerline is valid? [True, True] Translation: X:137.41, Y:-16.81, Z:-3.85 [[ 9.78499501e-01 2.05793760e-01 1.36987100e-02 1.37412564e+02] [-2.05771775e-01 9.78595377e-01 -3.01074118e-03 -1.68074035e+01] [-1.40250861e-02 1.27200862e-04 9.99901636e-01 -3.85061427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.674203822 meters 0.016239840978297976 Centerline is valid? [True, True] Translation: X:137.44, Y:-16.81, Z:-3.85 [[ 9.78450376e-01 2.05956667e-01 1.47211901e-02 1.37443784e+02] [-2.05931246e-01 9.78561103e-01 -3.23877741e-03 -1.68138471e+01] [-1.50726318e-02 1.37429959e-04 9.99886392e-01 -3.85039423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704203822 meters 0.01696184258295752 Centerline is valid? [True, True] Translation: X:137.47, Y:-16.82, Z:-3.85 [[ 9.78540652e-01 2.05521342e-01 1.48043946e-02 1.37474456e+02] [-2.05495533e-01 9.78652623e-01 -3.26034012e-03 -1.68240627e+01] [-1.51584291e-02 1.48138392e-04 9.99885093e-01 -3.85179562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.734203822 meters 0.01929529404043788 Centerline is valid? [True, True] Translation: X:137.50, Y:-16.84, Z:-3.85 [[ 9.78978734e-01 2.03467017e-01 1.42059927e-02 1.37503972e+02] [-2.03443023e-01 9.79081785e-01 -3.12951218e-03 -1.68398113e+01] [-1.45455812e-02 1.73615775e-04 9.99894192e-01 -3.85369515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764203822 meters 0.019318162590540477 Centerline is valid? [True, True] Translation: X:137.53, Y:-16.85, Z:-3.85 [[ 9.79225616e-01 2.02305606e-01 1.37708147e-02 1.37534688e+02] [-2.02282914e-01 9.79322422e-01 -3.03576354e-03 -1.68503119e+01] [-1.41002196e-02 1.87096884e-04 9.99900569e-01 -3.85394429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79420382200001 meters 0.021505843491903036 Centerline is valid? [True, True] Translation: X:137.56, Y:-16.86, Z:-3.86 [[ 9.79407167e-01 2.01468907e-01 1.31103278e-02 1.37563579e+02] [-2.01448220e-01 9.79494891e-01 -2.89350968e-03 -1.68637457e+01] [-1.34244514e-02 1.92871909e-04 9.99909869e-01 -3.85741636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82420382200002 meters 0.02040203981735507 Centerline is valid? [True, True] Translation: X:137.59, Y:-16.87, Z:-3.86 [[ 9.79412838e-01 2.01502709e-01 1.21305881e-02 1.37594419e+02] [-2.01485005e-01 9.79487941e-01 -2.67690686e-03 -1.68746218e+01] [-1.24211687e-02 1.77665346e-04 9.99922839e-01 -3.85739595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85420382200002 meters 0.021465912642173575 Centerline is valid? [True, True] Translation: X:137.63, Y:-16.88, Z:-3.86 [[ 9.79154062e-01 2.02775989e-01 1.17991584e-02 1.37625807e+02] [-2.02759309e-01 9.79225139e-01 -2.60574331e-03 -1.68800219e+01] [-1.20824147e-02 1.59034952e-04 9.99926992e-01 -3.85853060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88420382200002 meters 0.019152577146816962 Centerline is valid? [True, True] Translation: X:137.66, Y:-16.89, Z:-3.86 [[ 9.78691949e-01 2.05000969e-01 1.16906518e-02 1.37655821e+02] [-2.04984711e-01 9.78761761e-01 -2.58518883e-03 -1.68875485e+01] [-1.19723291e-02 1.33698617e-04 9.99928320e-01 -3.86301198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91420382200002 meters 0.014626699206934525 Centerline is valid? [True, True] Translation: X:137.69, Y:-16.89, Z:-3.86 [[ 9.77781661e-01 2.09332508e-01 1.10871591e-02 1.37687474e+02] [-2.09318167e-01 9.77844515e-01 -2.45142233e-03 -1.68938097e+01] [-1.13546801e-02 7.62119788e-05 9.99935531e-01 -3.86039773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944203822 meters 0.014004618066021506 Centerline is valid? [True, True] Translation: X:137.72, Y:-16.90, Z:-3.86 [[ 9.77219285e-01 2.11870523e-01 1.23834685e-02 1.37717545e+02] [-2.11852797e-01 9.77297743e-01 -2.74116892e-03 -1.69016179e+01] [-1.26831087e-02 5.52506967e-05 9.99919565e-01 -3.86178519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974203822 meters 0.012578979209739558 Centerline is valid? [True, True] Translation: X:137.75, Y:-16.91, Z:-3.86 [[ 9.76699215e-01 2.14202246e-01 1.32680805e-02 1.37749704e+02] [-2.14182055e-01 9.76789331e-01 -2.94116140e-03 -1.69077243e+01] [-1.35901228e-02 3.08452835e-05 9.99907650e-01 -3.86015067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004203822 meters 0.012557833000287018 Centerline is valid? [True, True] Translation: X:137.78, Y:-16.91, Z:-3.86 [[ 9.76112839e-01 2.16840570e-01 1.35607272e-02 1.37779855e+02] [-2.16819740e-01 9.76207031e-01 -3.00551682e-03 -1.69135567e+01] [-1.38897952e-02 -6.50978003e-06 9.99903532e-01 -3.86209803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034203822 meters 0.014002151991021016 Centerline is valid? [True, True] Translation: X:137.81, Y:-16.92, Z:-3.86 [[ 9.74873916e-01 2.22396895e-01 1.26676356e-02 1.37811964e+02] [-2.22379166e-01 9.74956212e-01 -2.80921372e-03 -1.69172625e+01] [-1.29751504e-02 -7.83890476e-05 9.99915816e-01 -3.86250753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064203822 meters 0.016276050437725186 Centerline is valid? [True, True] Translation: X:137.84, Y:-16.92, Z:-3.86 [[ 9.74068406e-01 2.25865524e-01 1.32478837e-02 1.37843474e+02] [-2.25846417e-01 9.74158482e-01 -2.94060208e-03 -1.69205511e+01] [-1.35697190e-02 -1.27639491e-04 9.99907919e-01 -3.86345344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.094203822 meters 0.018525370904568076 Centerline is valid? [True, True] Translation: X:137.88, Y:-16.92, Z:-3.86 [[ 9.73160798e-01 2.29693126e-01 1.41113045e-02 1.37875279e+02] [-2.29671815e-01 9.73263084e-01 -3.13458412e-03 -1.69243551e+01] [-1.44540041e-02 -1.90514525e-04 9.99895517e-01 -3.86223724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124203822 meters 0.021639282767608594 Centerline is valid? [True, True] Translation: X:137.91, Y:-16.93, Z:-3.86 [[ 9.72262088e-01 2.33449121e-01 1.44201428e-02 1.37906934e+02] [-2.33427239e-01 9.72368987e-01 -3.20595711e-03 -1.69276209e+01] [-1.47701275e-02 -2.49023564e-04 9.99890885e-01 -3.86210035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.154203822 meters 0.025739818869917795 Centerline is valid? [True, True] Translation: X:137.94, Y:-16.93, Z:-3.86 [[ 9.70713297e-01 2.39856730e-01 1.35810532e-02 1.37938152e+02] [-2.39837890e-01 9.70808243e-01 -3.02342557e-03 -1.69302628e+01] [-1.39097874e-02 -3.22371737e-04 9.99903202e-01 -3.86162876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184203822 meters 0.03088639986802434 Centerline is valid? [True, True] Translation: X:137.97, Y:-16.93, Z:-3.87 [[ 9.70052779e-01 2.42554074e-01 1.28501803e-02 1.37969638e+02] [-2.42537473e-01 9.70137827e-01 -2.85856257e-03 -1.69306941e+01] [-1.31598020e-02 -3.43693689e-04 9.99913347e-01 -3.86577172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.214203822 meters 0.03686436540303305 Centerline is valid? [True, True] Translation: X:138.00, Y:-16.93, Z:-3.87 [[ 9.69154039e-01 2.46156822e-01 1.21353560e-02 1.38000820e+02] [-2.46142255e-01 9.69229944e-01 -2.70307158e-03 -1.69287208e+01] [-1.24273299e-02 -3.67331146e-04 9.99922710e-01 -3.86978582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244203822 meters 0.03573045406790113 Centerline is valid? [True, True] Translation: X:138.03, Y:-16.94, Z:-3.87 [[ 9.68901389e-01 2.47177374e-01 1.15518341e-02 1.38031027e+02] [-2.47164234e-01 9.68970183e-01 -2.57417645e-03 -1.69368679e+01] [-1.18296610e-02 -3.61077096e-04 9.99929962e-01 -3.87001576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.274203822 meters 0.03672313202396272 Centerline is valid? [True, True] Translation: X:138.06, Y:-16.94, Z:-3.87 [[ 9.68760801e-01 2.47755501e-01 1.09418034e-02 1.38060561e+02] [-2.47743743e-01 9.68822528e-01 -2.43867879e-03 -1.69431507e+01] [-1.12048617e-02 -3.48266917e-04 9.99937163e-01 -3.87176267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304203822 meters 0.03614251591914828 Centerline is valid? [True, True] Translation: X:138.09, Y:-16.95, Z:-3.87 [[ 9.69006430e-01 2.46809556e-01 1.05632639e-02 1.38090597e+02] [-2.46798543e-01 9.69063949e-01 -2.35422094e-03 -1.69518523e+01] [-1.08175225e-02 -3.25742911e-04 9.99941436e-01 -3.87305870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.334203822 meters 0.034515012787764435 Centerline is valid? [True, True] Translation: X:138.12, Y:-16.96, Z:-3.87 [[ 9.69229182e-01 2.45942150e-01 1.03562680e-02 1.38120919e+02] [-2.45931512e-01 9.69284459e-01 -2.30832243e-03 -1.69600450e+01] [-1.06058834e-02 -3.09639197e-04 9.99943708e-01 -3.87355166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364203822 meters 0.030287558464978156 Centerline is valid? [True, True] Translation: X:138.15, Y:-16.97, Z:-3.87 [[ 9.69764507e-01 2.43802463e-01 1.08240962e-02 1.38150531e+02] [-2.43790706e-01 9.69824866e-01 -2.41288067e-03 -1.69701504e+01] [-1.10857439e-02 -2.98888024e-04 9.99938507e-01 -3.87246643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.394203822 meters 0.029972746703046924 Centerline is valid? [True, True] Translation: X:138.18, Y:-16.98, Z:-3.87 [[ 9.70065640e-01 2.42590715e-01 1.10634152e-02 1.38180478e+02] [-2.42578376e-01 9.70128682e-01 -2.46422094e-03 -1.69773682e+01] [-1.13307335e-02 -2.93289220e-04 9.99935762e-01 -3.87338831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424203822 meters 0.02781435374500951 Centerline is valid? [True, True] Translation: X:138.21, Y:-16.99, Z:-3.87 [[ 9.70394897e-01 2.41263887e-01 1.12018128e-02 1.38210779e+02] [-2.41251130e-01 9.70459509e-01 -2.49672525e-03 -1.69876325e+01] [-1.14732754e-02 -2.79640550e-04 9.99934141e-01 -3.87304707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.454203822 meters 0.027638018842957177 Centerline is valid? [True, True] Translation: X:138.24, Y:-17.00, Z:-3.87 [[ 9.70806740e-01 2.39581499e-01 1.16180473e-02 1.38241150e+02] [-2.39567627e-01 9.70876220e-01 -2.59195343e-03 -1.69954602e+01] [-1.19006700e-02 -2.67022169e-04 9.99929149e-01 -3.87478467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484203822 meters 0.02424356536900673 Centerline is valid? [True, True] Translation: X:138.27, Y:-17.01, Z:-3.88 [[ 9.71849032e-01 2.35311238e-01 1.17507859e-02 1.38269422e+02] [-2.35296681e-01 9.71920046e-01 -2.62595954e-03 -1.70075521e+01] [-1.20387422e-02 -2.12884693e-04 9.99927509e-01 -3.87602983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.514203822 meters 0.020867030469895506 Centerline is valid? [True, True] Translation: X:138.30, Y:-17.02, Z:-3.87 [[ 9.72380096e-01 2.33068032e-01 1.24996744e-02 1.38299864e+02] [-2.33051404e-01 9.72460412e-01 -2.79105936e-03 -1.70199016e+01] [-1.28059452e-02 -1.99096107e-04 9.99917981e-01 -3.87481091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54420382200001 meters 0.01620071869786192 Centerline is valid? [True, True] Translation: X:138.33, Y:-17.03, Z:-3.87 [[ 9.73438169e-01 2.28533238e-01 1.38090956e-02 1.38328713e+02] [-2.28512418e-01 9.73536099e-01 -3.08835828e-03 -1.70334378e+01] [-1.41494456e-02 -1.49223996e-04 9.99899880e-01 -3.87210141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57420382200002 meters 0.013971099107295394 Centerline is valid? [True, True] Translation: X:138.36, Y:-17.04, Z:-3.87 [[ 9.73916018e-01 2.26481433e-01 1.39194308e-02 1.38359530e+02] [-2.26460095e-01 9.74015475e-01 -3.11123854e-03 -1.70442303e+01] [-1.42623788e-02 -1.22110573e-04 9.99898280e-01 -3.87165865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60420382200002 meters 0.01334224594766654 Centerline is valid? [True, True] Translation: X:138.39, Y:-17.05, Z:-3.87 [[ 9.74361622e-01 2.24581463e-01 1.35128321e-02 1.38389725e+02] [-2.24561136e-01 9.74455314e-01 -3.02285911e-03 -1.70538767e+01] [-1.38465292e-02 -8.90990299e-05 9.99904128e-01 -3.87385277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63420382200002 meters 0.013047188543237168 Centerline is valid? [True, True] Translation: X:138.42, Y:-17.06, Z:-3.88 [[ 9.74636417e-01 2.23434879e-01 1.26771363e-02 1.38421095e+02] [-2.23416875e-01 9.74718857e-01 -2.83722893e-03 -1.70640266e+01] [-1.29905797e-02 -6.70195416e-05 9.99915617e-01 -3.87615478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66420382200002 meters 0.01396423793490774 Centerline is valid? [True, True] Translation: X:138.45, Y:-17.07, Z:-3.88 [[ 9.74618431e-01 2.23623361e-01 1.05597108e-02 1.38450943e+02] [-2.23610859e-01 9.74675633e-01 -2.36518879e-03 -1.70728362e+01] [-1.08212042e-02 -5.61094092e-05 9.99941447e-01 -3.88109100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694203822 meters 0.01396423793490774 Centerline is valid? [True, True] Translation: X:138.48, Y:-17.08, Z:-3.88 [[ 9.74575929e-01 2.23808526e-01 1.05594722e-02 1.38482592e+02] [-2.23796024e-01 9.74633131e-01 -2.36625326e-03 -1.70801302e+01] [-1.08211991e-02 -5.70744358e-05 9.99941447e-01 -3.88201394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724203822 meters 0.014633868419435044 Centerline is valid? [True, True] Translation: X:138.51, Y:-17.09, Z:-3.88 [[ 9.74358640e-01 2.24773412e-01 1.01071201e-02 1.38512839e+02] [-2.24761984e-01 9.74411058e-01 -2.26734233e-03 -1.70856160e+01] [-1.03581278e-02 -6.24917736e-05 9.99946351e-01 -3.88436331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754203822 meters 0.015997342642248277 Centerline is valid? [True, True] Translation: X:138.55, Y:-17.09, Z:-3.88 [[ 9.73578214e-01 2.28112686e-01 1.04911025e-02 1.38545716e+02] [-2.28100551e-01 9.73634733e-01 -2.35508298e-03 -1.70880958e+01] [-1.07517261e-02 -1.00168776e-04 9.99942194e-01 -3.88339344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784203822 meters 0.018086908738184075 Centerline is valid? [True, True] Translation: X:138.58, Y:-17.09, Z:-3.88 [[ 9.72993730e-01 2.30567384e-01 1.10400864e-02 1.38577499e+02] [-2.30554076e-01 9.73056352e-01 -2.48073882e-03 -1.70906697e+01] [-1.13146037e-02 -1.31593600e-04 9.99935979e-01 -3.88419082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814203822 meters 0.019588342714580053 Centerline is valid? [True, True] Translation: X:138.61, Y:-17.09, Z:-3.88 [[ 9.72337381e-01 2.33273214e-01 1.19843350e-02 1.38609372e+02] [-2.33257708e-01 9.72411218e-01 -2.69528710e-03 -1.70935147e+01] [-1.22824401e-02 -1.74710109e-04 9.99924553e-01 -3.88240373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844203822 meters 0.022230134423080566 Centerline is valid? [True, True] Translation: X:138.64, Y:-17.09, Z:-3.88 [[ 9.71645375e-01 2.36112715e-01 1.24920600e-02 1.38640627e+02] [-2.36096073e-01 9.71725650e-01 -2.81169595e-03 -1.70949392e+01] [-1.28027323e-02 -2.17354935e-04 9.99918018e-01 -3.88238300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.874203822 meters 0.02824044373638464 Centerline is valid? [True, True] Translation: X:138.67, Y:-17.09, Z:-3.88 [[ 9.70407852e-01 2.41166876e-01 1.21301104e-02 1.38673042e+02] [-2.41151527e-01 9.70483624e-01 -2.73435030e-03 -1.70897782e+01] [-1.24315082e-02 -2.71759651e-04 9.99922689e-01 -3.88427041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904203822 meters 0.029113683527580404 Centerline is valid? [True, True] Translation: X:138.70, Y:-17.09, Z:-3.88 [[ 9.69772295e-01 2.43709403e-01 1.21418166e-02 1.38704839e+02] [-2.43694251e-01 9.69848252e-01 -2.73481825e-03 -1.70933105e+01] [-1.24422205e-02 -3.06739932e-04 9.99922546e-01 -3.88397069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.934203822 meters 0.03448242509053424 Centerline is valid? [True, True] Translation: X:138.74, Y:-17.09, Z:-3.88 [[ 9.68553334e-01 2.48480374e-01 1.27257044e-02 1.38736360e+02] [-2.48464075e-01 9.68636856e-01 -2.87138422e-03 -1.70867982e+01] [-1.30400690e-02 -3.80791624e-04 9.99914902e-01 -3.88406130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964203822 meters 0.039055091110119095 Centerline is valid? [True, True] Translation: X:138.77, Y:-17.08, Z:-3.89 [[ 9.68137682e-01 2.50072680e-01 1.31561059e-02 1.38766591e+02] [-2.50055411e-01 9.68226978e-01 -2.96814880e-03 -1.70839884e+01] [-1.34803496e-02 -4.16178779e-04 9.99909049e-01 -3.88600455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.994203822 meters 0.03774477503146805 Centerline is valid? [True, True] Translation: X:138.80, Y:-17.09, Z:-3.89 [[ 9.67836269e-01 2.51225787e-01 1.33626576e-02 1.38796046e+02] [-2.51208085e-01 9.67928412e-01 -3.01441409e-03 -1.70892794e+01] [-1.36913945e-02 -4.39348356e-04 9.99906172e-01 -3.88513468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024203822 meters 0.03702905031090246 Centerline is valid? [True, True] Translation: X:138.82, Y:-17.09, Z:-3.89 [[ 9.68002017e-01 2.50598178e-01 1.31395480e-02 1.38824449e+02] [-2.50581005e-01 9.68091098e-01 -2.96412730e-03 -1.70923948e+01] [-1.34630844e-02 -4.23239939e-04 9.99909279e-01 -3.88696608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.054203822 meters 0.03469925537127795 Centerline is valid? [True, True] Translation: X:138.85, Y:-17.10, Z:-3.89 [[ 9.68476040e-01 2.48801729e-01 1.23231434e-02 1.38852988e+02] [-2.48786489e-01 9.68554366e-01 -2.77906693e-03 -1.70999807e+01] [-1.26270710e-02 -3.74371847e-04 9.99920205e-01 -3.88899944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084203822 meters 0.03279559608385662 Centerline is valid? [True, True] Translation: X:138.88, Y:-17.11, Z:-3.89 [[ 9.69177333e-01 2.46100223e-01 1.14007531e-02 1.38881309e+02] [-2.46086995e-01 9.69244335e-01 -2.57082319e-03 -1.71070868e+01] [-1.16827956e-02 -3.13993515e-04 9.99931705e-01 -3.89228231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.114203822 meters 0.030057114220566568 Centerline is valid? [True, True] Translation: X:138.91, Y:-17.12, Z:-3.90 [[ 9.69963921e-01 2.43037452e-01 1.01385254e-02 1.38909366e+02] [-2.43026826e-01 9.70016874e-01 -2.28601892e-03 -1.71152328e+01] [-1.03901289e-02 -2.46577757e-04 9.99945991e-01 -3.89535257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144203822 meters 0.024311924347797453 Centerline is valid? [True, True] Translation: X:138.94, Y:-17.12, Z:-3.89 [[ 9.71196850e-01 2.38060728e-01 1.01867059e-02 1.38938585e+02] [-2.38049734e-01 9.71250252e-01 -2.29620471e-03 -1.71241668e+01] [-1.04404768e-02 -1.94875847e-04 9.99945478e-01 -3.89481706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.174203822 meters 0.02526190452757927 Centerline is valid? [True, True] Translation: X:138.97, Y:-17.13, Z:-3.90 [[ 9.71785268e-01 2.35626510e-01 1.06555419e-02 1.38967537e+02] [-2.35614329e-01 9.71843669e-01 -2.40230791e-03 -1.71272127e+01] [-1.09215684e-02 -1.76070923e-04 9.99940342e-01 -3.89927099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204203822 meters 0.017271755414576383 Centerline is valid? [True, True] Translation: X:139.00, Y:-17.14, Z:-3.90 [[ 9.73017198e-01 2.30497988e-01 1.04024263e-02 1.38995907e+02] [-2.30486097e-01 9.73072795e-01 -2.34413124e-03 -1.71438199e+01] [-1.06626355e-02 -1.16734617e-04 9.99943146e-01 -3.89501148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.234203822 meters 0.015930474260982933 Centerline is valid? [True, True] Translation: X:139.03, Y:-17.15, Z:-3.90 [[ 9.73677476e-01 2.27669857e-01 1.08908193e-02 1.39025954e+02] [-2.27656672e-01 9.73738378e-01 -2.45194006e-03 -1.71542097e+01] [-1.11630416e-02 -9.19688694e-05 9.99937687e-01 -3.89717684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264203822 meters 0.014455176241487063 Centerline is valid? [True, True] Translation: X:139.06, Y:-17.17, Z:-3.90 [[ 9.74367508e-01 2.24676839e-01 1.13259821e-02 1.39055014e+02] [-2.24662348e-01 9.74433330e-01 -2.55243742e-03 -1.71656980e+01] [-1.16098880e-02 -5.75096491e-05 9.99932601e-01 -3.89840607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29420382200001 meters 0.01322907829434354 Centerline is valid? [True, True] Translation: X:139.08, Y:-17.18, Z:-3.90 [[ 9.75999010e-01 2.17444852e-01 1.19861678e-02 1.39084133e+02] [-2.17428053e-01 9.76072608e-01 -2.70309108e-03 -1.71835543e+01] [-1.22871433e-02 3.20850916e-05 9.99924510e-01 -3.89653286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32420382200002 meters 0.015223243644826879 Centerline is valid? [True, True] Translation: X:139.11, Y:-17.20, Z:-3.90 [[ 9.76744223e-01 2.14070397e-01 1.20244917e-02 1.39113160e+02] [-2.14053205e-01 9.76818232e-01 -2.71408862e-03 -1.71954598e+01] [-1.23267487e-02 7.70893979e-05 9.99924020e-01 -3.89880596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35420382200002 meters 0.016350049215408162 Centerline is valid? [True, True] Translation: X:139.14, Y:-17.21, Z:-3.90 [[ 9.77333808e-01 2.11390221e-01 1.15239937e-02 1.39143617e+02] [-2.11374227e-01 9.77401741e-01 -2.60250217e-03 -1.72054763e+01] [-1.18137150e-02 1.07638098e-04 9.99930210e-01 -3.89915659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38420382200002 meters 0.019217429336914033 Centerline is valid? [True, True] Translation: X:139.17, Y:-17.22, Z:-3.90 [[ 9.77868127e-01 2.08930199e-01 1.10498228e-02 1.39172953e+02] [-2.08915314e-01 9.77930547e-01 -2.49745720e-03 -1.72177543e+01] [-1.13277535e-02 1.33706589e-04 9.99935830e-01 -3.90270285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41420382200002 meters 0.018952034173939036 Centerline is valid? [True, True] Translation: X:139.21, Y:-17.23, Z:-3.90 [[ 9.77708780e-01 2.09707082e-01 1.04153834e-02 1.39205139e+02] [-2.09693892e-01 9.77764248e-01 -2.35498413e-03 -1.72259684e+01] [-1.06776463e-02 1.18446385e-04 9.99942985e-01 -3.90378771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444203822 meters 0.018459011882134984 Centerline is valid? [True, True] Translation: X:139.24, Y:-17.23, Z:-3.91 [[ 9.77322029e-01 2.11517513e-01 1.00991452e-02 1.39235308e+02] [-2.11505181e-01 9.77374203e-01 -2.28604861e-03 -1.72324810e+01] [-1.03541833e-02 9.81841250e-05 9.99946389e-01 -3.90630370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474203822 meters 0.014998370232367553 Centerline is valid? [True, True] Translation: X:139.27, Y:-17.23, Z:-3.91 [[ 9.76035138e-01 2.17431002e-01 8.89765582e-03 1.39268214e+02] [-2.17421669e-01 9.76075693e-01 -2.01479768e-03 -1.72311320e+01] [-9.12286505e-03 3.19701553e-05 9.99958385e-01 -3.90779727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504203822 meters 0.013833894332160783 Centerline is valid? [True, True] Translation: X:139.30, Y:-17.23, Z:-3.91 [[ 9.75282116e-01 2.20805916e-01 8.33919485e-03 1.39301406e+02] [-2.20797837e-01 9.75317767e-01 -1.88887665e-03 -1.72333510e+01] [-8.55044005e-03 9.11427680e-07 9.99963444e-01 -3.90787865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534203822 meters 0.014901172299391379 Centerline is valid? [True, True] Translation: X:139.33, Y:-17.23, Z:-3.91 [[ 9.74455226e-01 2.24418668e-01 8.56005251e-03 1.39333566e+02] [-2.24410274e-01 9.74492822e-01 -1.94111286e-03 -1.72345950e+01] [-8.77733170e-03 -2.94361600e-05 9.99961478e-01 -3.91155846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564203822 meters 0.016438831975285197 Centerline is valid? [True, True] Translation: X:139.37, Y:-17.23, Z:-3.91 [[ 9.73202153e-01 2.29733160e-01 1.00121974e-02 1.39365745e+02] [-2.29721895e-01 9.73253650e-01 -2.27665938e-03 -1.72320877e+01] [-1.02674318e-02 -8.43711371e-05 9.99947285e-01 -3.90971930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.594203822 meters 0.01670348076137373 Centerline is valid? [True, True] Translation: X:139.40, Y:-17.24, Z:-3.91 [[ 9.72828258e-01 2.31319885e-01 9.81275899e-03 1.39396919e+02] [-2.31309149e-01 9.72877742e-01 -2.23085437e-03 -1.72380009e+01] [-1.00626558e-02 -9.95427608e-05 9.99949365e-01 -3.90883348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624203822 meters 0.017633567812903244 Centerline is valid? [True, True] Translation: X:139.43, Y:-17.24, Z:-3.91 [[ 9.72664618e-01 2.32012760e-01 9.67577241e-03 1.39426622e+02] [-2.32002351e-01 9.72712737e-01 -2.20017854e-03 -1.72433270e+01] [-9.92221656e-03 -1.04766127e-04 9.99950768e-01 -3.91108883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.654203822 meters 0.017679482694771268 Centerline is valid? [True, True] Translation: X:139.46, Y:-17.25, Z:-3.91 [[ 9.72566621e-01 2.32393328e-01 1.03686886e-02 1.39456815e+02] [-2.32381392e-01 9.72621883e-01 -2.35811705e-03 -1.72484836e+01] [-1.06328241e-02 -1.16064353e-04 9.99943463e-01 -3.91086665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684203822 meters 0.017411081220428896 Centerline is valid? [True, True] Translation: X:139.49, Y:-17.26, Z:-3.91 [[ 9.72553149e-01 2.32441837e-01 1.05434469e-02 1.39487912e+02] [-2.32429503e-01 9.72610291e-01 -2.39742857e-03 -1.72551179e+01] [-1.08119276e-02 -1.18981408e-04 9.99941542e-01 -3.91142396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.714203822 meters 0.018150267344190424 Centerline is valid? [True, True] Translation: X:139.52, Y:-17.26, Z:-3.91 [[ 9.72499868e-01 2.32685204e-01 1.00798368e-02 1.39518137e+02] [-2.32673948e-01 9.72552097e-01 -2.29168687e-03 -1.72607029e+01] [-1.03364081e-02 -1.16650250e-04 9.99946571e-01 -3.91393441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744203822 meters 0.01942274123613069 Centerline is valid? [True, True] Translation: X:139.55, Y:-17.27, Z:-3.92 [[ 9.72324535e-01 2.33450111e-01 9.27600418e-03 1.39547313e+02] [-2.33440598e-01 9.72368774e-01 -2.11059757e-03 -1.72660850e+01] [-9.51241605e-03 -1.13210160e-04 9.99954750e-01 -3.91752246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.774203822 meters 0.01965125843662067 Centerline is valid? [True, True] Translation: X:139.58, Y:-17.27, Z:-3.92 [[ 9.72218888e-01 2.33879647e-01 9.52598743e-03 1.39575901e+02] [-2.33869634e-01 9.72265548e-01 -2.16757068e-03 -1.72723218e+01] [-9.76874006e-03 -1.20486040e-04 9.99952277e-01 -3.91839065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804203822 meters 0.01949406875547015 Centerline is valid? [True, True] Translation: X:139.60, Y:-17.28, Z:-3.92 [[ 9.72155521e-01 2.34157334e-01 9.16436063e-03 1.39604995e+02] [-2.34148083e-01 9.72198708e-01 -2.08486173e-03 -1.72797329e+01] [-9.39776524e-03 -1.19007633e-04 9.99955833e-01 -3.91873939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.834203822 meters 0.020628397515849026 Centerline is valid? [True, True] Translation: X:139.63, Y:-17.28, Z:-3.92 [[ 9.72124782e-01 2.34321129e-01 8.18634203e-03 1.39634373e+02] [-2.34313753e-01 9.72159245e-01 -1.86229995e-03 -1.72849015e+01] [-8.39480431e-03 -1.07784593e-04 9.99964757e-01 -3.92249632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864203822 meters 0.02022999045514001 Centerline is valid? [True, True] Translation: X:139.66, Y:-17.29, Z:-3.92 [[ 9.72159531e-01 2.34189172e-01 7.82799835e-03 1.39663978e+02] [-2.34182422e-01 9.72191042e-01 -1.78094283e-03 -1.72906144e+01] [-8.02738740e-03 -1.01819068e-04 9.99967775e-01 -3.92333428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.894203822 meters 0.02079803633545416 Centerline is valid? [True, True] Translation: X:139.69, Y:-17.30, Z:-3.93 [[ 9.72214505e-01 2.33962774e-01 7.77031043e-03 1.39691955e+02] [-2.33956115e-01 9.72245551e-01 -1.76787239e-03 -1.72954462e+01] [-7.96826607e-03 -9.91604595e-05 9.99968248e-01 -3.92594796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924203822 meters 0.018117379017099824 Centerline is valid? [True, True] Translation: X:139.72, Y:-17.31, Z:-3.92 [[ 9.72631395e-01 2.32221397e-01 7.83531324e-03 1.39720528e+02] [-2.32214578e-01 9.72662951e-01 -1.78163055e-03 -1.73088549e+01] [-8.03485163e-03 -8.66041502e-05 9.99967716e-01 -3.92290189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.954203822 meters 0.017816187855910447 Centerline is valid? [True, True] Translation: X:139.75, Y:-17.32, Z:-3.92 [[ 9.72879821e-01 2.31127479e-01 9.21638373e-03 1.39749963e+02] [-2.31117998e-01 9.72923471e-01 -2.09543220e-03 -1.73174340e+01] [-9.45114801e-03 -9.14684532e-05 9.99955333e-01 -3.92302467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984203822 meters 0.01570118782187557 Centerline is valid? [True, True] Translation: X:139.78, Y:-17.33, Z:-3.92 [[ 9.73238860e-01 2.29579456e-01 9.96966731e-03 1.39780336e+02] [-2.29568281e-01 9.73289919e-01 -2.26662738e-03 -1.73259516e+01] [-1.02237478e-02 -8.27495411e-05 9.99947733e-01 -3.92063604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.014203822 meters 0.015137123485634991 Centerline is valid? [True, True] Translation: X:139.81, Y:-17.33, Z:-3.92 [[ 9.73347460e-01 2.29141867e-01 9.41950510e-03 1.39811610e+02] [-2.29131896e-01 9.73393034e-01 -2.13891070e-03 -1.73337317e+01] [-9.65899464e-03 -7.64057700e-05 9.99953348e-01 -3.92190070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04420382200001 meters 0.01562652939153184 Centerline is valid? [True, True] Translation: X:139.84, Y:-17.34, Z:-3.93 [[ 9.73419051e-01 2.28855245e-01 8.97935130e-03 1.39841663e+02] [-2.28846158e-01 9.73460462e-01 -2.04061100e-03 -1.73408261e+01] [-9.20804800e-03 -6.85204220e-05 9.99957603e-01 -3.92531805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07420382200002 meters 0.015454844973196618 Centerline is valid? [True, True] Translation: X:139.87, Y:-17.35, Z:-3.93 [[ 9.73556714e-01 2.28244771e-01 9.57337071e-03 1.39871289e+02] [-2.28234392e-01 9.73603780e-01 -2.17758298e-03 -1.73526738e+01] [-9.81769184e-03 -6.49719172e-05 9.99951803e-01 -3.92610491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10420382200002 meters 0.014440848328869325 Centerline is valid? [True, True] Translation: X:139.90, Y:-17.36, Z:-3.92 [[ 9.73534086e-01 2.28338542e-01 9.63816897e-03 1.39902588e+02] [-2.28328020e-01 9.73581792e-01 -2.19311193e-03 -1.73629860e+01] [-9.88431780e-03 -6.55948205e-05 9.99951147e-01 -3.92408553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13420382200002 meters 0.015072484591850554 Centerline is valid? [True, True] Translation: X:139.93, Y:-17.37, Z:-3.93 [[ 9.73393191e-01 2.28959554e-01 9.12245275e-03 1.39932597e+02] [-2.28950132e-01 9.73435934e-01 -2.07809556e-03 -1.73695021e+01] [-9.35592315e-03 -6.57826987e-05 9.99956230e-01 -3.92598069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16420382200002 meters 0.016986192865664596 Centerline is valid? [True, True] Translation: X:139.96, Y:-17.37, Z:-3.93 [[ 9.73102279e-01 2.30224241e-01 8.29172421e-03 1.39963787e+02] [-2.30216484e-01 9.73137603e-01 -1.89115219e-03 -1.73730086e+01] [-8.50437770e-03 -6.86070840e-05 9.99963835e-01 -3.92995365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194203822 meters 0.019049737032850383 Centerline is valid? [True, True] Translation: X:139.99, Y:-17.37, Z:-3.93 [[ 9.72231082e-01 2.33868611e-01 8.49679091e-03 1.39994892e+02] [-2.33860576e-01 9.72268205e-01 -1.94120991e-03 -1.73714302e+01] [-8.71514771e-03 -9.97598080e-05 9.99962017e-01 -3.92987636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224203822 meters 0.02038224072953747 Centerline is valid? [True, True] Translation: X:140.02, Y:-17.37, Z:-3.93 [[ 9.71752075e-01 2.35826731e-01 9.14642661e-03 1.40024867e+02] [-2.35817510e-01 9.71795110e-01 -2.08934617e-03 -1.73744863e+01] [-9.38117634e-03 -1.26561076e-04 9.99955988e-01 -3.92970016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254203822 meters 0.02307423431984308 Centerline is valid? [True, True] Translation: X:140.06, Y:-17.38, Z:-3.93 [[ 9.71039981e-01 2.38729555e-01 9.46335715e-03 1.40055160e+02] [-2.38719823e-01 9.71086080e-01 -2.16148202e-03 -1.73762001e+01] [-9.70574404e-03 -1.60205486e-04 9.99952885e-01 -3.93047447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284203822 meters 0.02442148479891184 Centerline is valid? [True, True] Translation: X:140.08, Y:-17.38, Z:-3.93 [[ 9.70798431e-01 2.39700039e-01 9.71070178e-03 1.40082700e+02] [-2.39689836e-01 9.70846981e-01 -2.21837791e-03 -1.73805254e+01] [-9.95935078e-03 -1.73958724e-04 9.99950389e-01 -3.93206892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314203822 meters 0.02399761731262304 Centerline is valid? [True, True] Translation: X:140.11, Y:-17.39, Z:-3.93 [[ 9.70709530e-01 2.40051117e-01 9.92317312e-03 1.40111624e+02] [-2.40040495e-01 9.70760232e-01 -2.26561800e-03 -1.73879663e+01] [-1.01768860e-02 -1.82706402e-04 9.99948197e-01 -3.93153485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344203822 meters 0.0247063689067621 Centerline is valid? [True, True] Translation: X:140.14, Y:-17.39, Z:-3.93 [[ 9.70669581e-01 2.40149659e-01 1.13448763e-02 1.40139952e+02] [-2.40135787e-01 9.70735853e-01 -2.58980038e-03 -1.73918888e+01] [-1.16348179e-02 -2.10470345e-04 9.99932291e-01 -3.93019312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.374203822 meters 0.02359609799140615 Centerline is valid? [True, True] Translation: X:140.17, Y:-17.40, Z:-3.93 [[ 9.70734516e-01 2.39856459e-01 1.19740496e-02 1.40169203e+02] [-2.39840984e-01 9.70808339e-01 -2.73334694e-03 -1.73958102e+01] [-1.22801181e-02 -2.18513624e-04 9.99924573e-01 -3.92884889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404203822 meters 0.02215645769715116 Centerline is valid? [True, True] Translation: X:140.20, Y:-17.40, Z:-3.93 [[ 9.70799922e-01 2.39556651e-01 1.26539293e-02 1.40198963e+02] [-2.39539352e-01 9.70882361e-01 -2.88784451e-03 -1.74005636e+01] [-1.29772791e-02 -2.27594783e-04 9.99915766e-01 -3.92806068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.434203822 meters 0.021671470266604303 Centerline is valid? [True, True] Translation: X:140.23, Y:-17.41, Z:-3.93 [[ 9.70908529e-01 2.39121030e-01 1.25602790e-02 1.40227524e+02] [-2.39103954e-01 9.70989745e-01 -2.86615763e-03 -1.74073301e+01] [-1.28812607e-02 -2.20435489e-04 9.99917009e-01 -3.92860544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464203822 meters 0.02469895739497283 Centerline is valid? [True, True] Translation: X:140.26, Y:-17.41, Z:-3.93 [[ 9.70970045e-01 2.38901871e-01 1.19611222e-02 1.40255753e+02] [-2.38886370e-01 9.71043693e-01 -2.72935967e-03 -1.74111291e+01] [-1.22668214e-02 -2.07222587e-04 9.99924738e-01 -3.93360900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.494203822 meters 0.02425179166649587 Centerline is valid? [True, True] Translation: X:140.28, Y:-17.42, Z:-3.93 [[ 9.71063699e-01 2.38538242e-01 1.16103728e-02 1.40283373e+02] [-2.38523613e-01 9.71133085e-01 -2.64906246e-03 -1.74174217e+01] [-1.19071198e-02 -1.96939671e-04 9.99929088e-01 -3.93482455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524203822 meters 0.021246275985782263 Centerline is valid? [True, True] Translation: X:140.31, Y:-17.42, Z:-3.93 [[ 9.71130802e-01 2.38252030e-01 1.18715994e-02 1.40312397e+02] [-2.38236725e-01 9.71203342e-01 -2.70772688e-03 -1.74238784e+01] [-1.21748584e-02 -1.98693977e-04 9.99925864e-01 -3.93212378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.554203822 meters 0.024002272869070217 Centerline is valid? [True, True] Translation: X:140.34, Y:-17.42, Z:-3.94 [[ 9.71228649e-01 2.37850094e-01 1.19266513e-02 1.40341191e+02] [-2.37834618e-01 9.71301856e-01 -2.72017418e-03 -1.74243317e+01] [-1.22313722e-02 -1.94659463e-04 9.99925175e-01 -3.93686272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584203822 meters 0.020119570966784968 Centerline is valid? [True, True] Translation: X:140.37, Y:-17.43, Z:-3.94 [[ 9.71752225e-01 2.35748325e-01 1.09699624e-02 1.40369163e+02] [-2.35735100e-01 9.71814130e-01 -2.50184230e-03 -1.74323577e+01] [-1.12505696e-02 -1.54834364e-04 9.99936698e-01 -3.93743765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.614203822 meters 0.018676994800283696 Centerline is valid? [True, True] Translation: X:140.40, Y:-17.44, Z:-3.94 [[ 9.72187113e-01 2.33973344e-01 1.04255241e-02 1.40397709e+02] [-2.33961306e-01 9.72243004e-01 -2.37679748e-03 -1.74413782e+01] [-1.06922501e-02 -1.28477349e-04 9.99942828e-01 -3.93907912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644203822 meters 0.018676994800283696 Centerline is valid? [True, True] Translation: X:140.43, Y:-17.45, Z:-3.94 [[ 9.72192688e-01 2.33950177e-01 1.04255805e-02 1.40426151e+02] [-2.33938141e-01 9.72248578e-01 -2.37654984e-03 -1.74478153e+01] [-1.06922501e-02 -1.28476545e-04 9.99942828e-01 -3.93990707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.674203822 meters 0.016889959469887573 Centerline is valid? [True, True] Translation: X:140.45, Y:-17.46, Z:-3.94 [[ 9.72739345e-01 2.31666784e-01 1.04244030e-02 1.40454389e+02] [-2.31654622e-01 9.72795195e-01 -2.37602207e-03 -1.74579756e+01] [-1.06912545e-02 -1.03610988e-04 9.99942842e-01 -3.94094176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704203822 meters 0.015727002308414503 Centerline is valid? [True, True] Translation: X:140.48, Y:-17.47, Z:-3.94 [[ 9.73291564e-01 2.29335491e-01 1.04289898e-02 1.40482106e+02] [-2.29323188e-01 9.73347434e-01 -2.37680361e-03 -1.74673416e+01] [-1.06961159e-02 -7.82862839e-05 9.99942792e-01 -3.94185683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.734203822 meters 0.014598980783774612 Centerline is valid? [True, True] Translation: X:140.51, Y:-17.48, Z:-3.95 [[ 9.74280995e-01 2.25091167e-01 1.05123414e-02 1.40509506e+02] [-2.25078424e-01 9.74337706e-01 -2.39531139e-03 -1.74782015e+01] [-1.07817340e-02 -3.23948726e-05 9.99941875e-01 -3.94538579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764203822 meters 0.012990403364367931 Centerline is valid? [True, True] Translation: X:140.54, Y:-17.49, Z:-3.94 [[ 9.74707945e-01 2.23232473e-01 1.05680882e-02 1.40540183e+02] [-2.23219522e-01 9.74765235e-01 -2.40459074e-03 -1.74881537e+01] [-1.08381877e-02 -1.52299030e-05 9.99941265e-01 -3.94219511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79420382200001 meters 0.01274377057694608 Centerline is valid? [True, True] Translation: X:140.57, Y:-17.50, Z:-3.94 [[ 9.75373188e-01 2.20261823e-01 1.14835991e-02 1.40570466e+02] [-2.20246297e-01 9.75440787e-01 -2.61536569e-03 -1.74986076e+01] [-1.17776362e-02 2.17374024e-05 9.99930641e-01 -3.94125218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82420382200002 meters 0.013206788869415911 Centerline is valid? [True, True] Translation: X:140.60, Y:-17.51, Z:-3.94 [[ 9.75625900e-01 2.19092389e-01 1.23543213e-02 1.40599856e+02] [-2.19074288e-01 9.75704117e-01 -2.81651583e-03 -1.75078992e+01] [-1.26712393e-02 4.13516504e-05 9.99919716e-01 -3.94183478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85420382200002 meters 0.013030605919478525 Centerline is valid? [True, True] Translation: X:140.63, Y:-17.52, Z:-3.94 [[ 9.75744413e-01 2.18522504e-01 1.30673735e-02 1.40630792e+02] [-2.18502172e-01 9.75831908e-01 -2.98134417e-03 -1.75164008e+01] [-1.34030508e-02 5.37804132e-05 9.99910174e-01 -3.94060358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88420382200002 meters 0.012817754938611654 Centerline is valid? [True, True] Translation: X:140.66, Y:-17.52, Z:-3.94 [[ 9.75551569e-01 2.19396811e-01 1.28131032e-02 1.40663633e+02] [-2.19377314e-01 9.75635710e-01 -2.92517171e-03 -1.75228977e+01] [-1.31426944e-02 4.27516951e-05 9.99913630e-01 -3.94184458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91420382200002 meters 0.012510661389408708 Centerline is valid? [True, True] Translation: X:140.70, Y:-17.53, Z:-3.94 [[ 9.75138028e-01 2.21261058e-01 1.22217194e-02 1.40696284e+02] [-2.21243437e-01 9.75214614e-01 -2.79244436e-03 -1.75276478e+01] [-1.25366586e-02 1.90434665e-05 9.99921413e-01 -3.94362570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944203822 meters 0.012824412650223004 Centerline is valid? [True, True] Translation: X:140.73, Y:-17.53, Z:-3.95 [[ 9.74603143e-01 2.23625676e-01 1.18436325e-02 1.40727045e+02] [-2.23609237e-01 9.74675103e-01 -2.71144366e-03 -1.75306849e+01] [-1.21500422e-02 -5.76412809e-06 9.99926185e-01 -3.94706477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974203822 meters 0.014216294635848163 Centerline is valid? [True, True] Translation: X:140.76, Y:-17.53, Z:-3.95 [[ 9.73280470e-01 2.29339312e-01 1.13404488e-02 1.40757717e+02] [-2.29324619e-01 9.73346534e-01 -2.59700954e-03 -1.75284763e+01] [-1.16337829e-02 -7.30254270e-05 9.99932323e-01 -3.94777700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004203822 meters 0.029407970087838412 Centerline is valid? [True, True] Translation: X:140.79, Y:-17.52, Z:-3.95 [[ 9.71789272e-01 2.35592574e-01 1.10340308e-02 1.40789084e+02] [-2.35579069e-01 9.71851902e-01 -2.52657089e-03 -1.75231945e+01] [-1.13186851e-02 -1.44092217e-04 9.99935931e-01 -3.95010990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034203822 meters 0.02258489314850965 Centerline is valid? [True, True] Translation: X:140.82, Y:-17.52, Z:-3.95 [[ 9.71099071e-01 2.38405962e-01 1.13662087e-02 1.40818161e+02] [-2.38391822e-01 9.71165570e-01 -2.60293798e-03 -1.75215688e+01] [-1.16590265e-02 -1.81900538e-04 9.99932015e-01 -3.95162126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064203822 meters 0.02378335727676505 Centerline is valid? [True, True] Translation: X:140.85, Y:-17.52, Z:-3.95 [[ 9.70455484e-01 2.40968148e-01 1.22680675e-02 1.40847169e+02] [-2.40951893e-01 9.70532997e-01 -2.80834431e-03 -1.75234410e+01] [-1.25832858e-02 -2.30640943e-04 9.99920801e-01 -3.94966523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.094203822 meters 0.02845495528737394 Centerline is valid? [True, True] Translation: X:140.88, Y:-17.52, Z:-3.95 [[ 9.69451298e-01 2.44963701e-01 1.25285907e-02 1.40877338e+02] [-2.44947092e-01 9.69532208e-01 -2.86712892e-03 -1.75206631e+01] [-1.28492147e-02 -2.89300004e-04 9.99917404e-01 -3.95055559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124203822 meters 0.03090488463658522 Centerline is valid? [True, True] Translation: X:140.90, Y:-17.52, Z:-3.95 [[ 9.69150915e-01 2.46169659e-01 1.21244697e-02 1.40904967e+02] [-2.46154197e-01 9.69226708e-01 -2.77478421e-03 -1.75225900e+01] [-1.24344275e-02 -2.95304454e-04 9.99922646e-01 -3.95285791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.154203822 meters 0.030697959422341718 Centerline is valid? [True, True] Translation: X:140.93, Y:-17.53, Z:-3.95 [[ 9.68939168e-01 2.46998451e-01 1.21923617e-02 1.40933666e+02] [-2.46982897e-01 9.69015825e-01 -2.78904587e-03 -1.75278952e+01] [-1.25034814e-02 -3.08889034e-04 9.99921781e-01 -3.95298509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184203822 meters 0.029117450652557577 Centerline is valid? [True, True] Translation: X:140.96, Y:-17.53, Z:-3.95 [[ 9.68839568e-01 2.47367443e-01 1.26190135e-02 1.40961856e+02] [-2.47350821e-01 9.68921691e-01 -2.88600111e-03 -1.75340107e+01] [-1.29407386e-02 -3.25251288e-04 9.99916212e-01 -3.95169672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.214203822 meters 0.03198186929626446 Centerline is valid? [True, True] Translation: X:140.99, Y:-17.53, Z:-3.95 [[ 9.68837103e-01 2.47373207e-01 1.26950262e-02 1.40989366e+02] [-2.47356386e-01 9.68920218e-01 -2.90329533e-03 -1.75336384e+01] [-1.30186650e-02 -3.27375568e-04 9.99915200e-01 -3.95455938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244203822 meters 0.028541904476614494 Centerline is valid? [True, True] Translation: X:141.02, Y:-17.54, Z:-3.96 [[ 9.69036247e-01 2.46636457e-01 1.17987000e-02 1.41017085e+02] [-2.46621886e-01 9.69108028e-01 -2.69723749e-03 -1.75388410e+01] [-1.20994520e-02 -2.96096750e-04 9.99926755e-01 -3.95520536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.274203822 meters 0.031116065327629776 Centerline is valid? [True, True] Translation: X:141.05, Y:-17.54, Z:-3.96 [[ 9.69334257e-01 2.45490120e-01 1.12115509e-02 1.41045593e+02] [-2.45476898e-01 9.69399055e-01 -2.56204373e-03 -1.75401696e+01] [-1.14974233e-02 -2.68699984e-04 9.99933866e-01 -3.96037951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304203822 meters 0.026749886979705633 Centerline is valid? [True, True] Translation: X:141.07, Y:-17.55, Z:-3.96 [[ 9.69769959e-01 2.43778360e-01 1.08782866e-02 1.41073238e+02] [-2.43765816e-01 9.69830940e-01 -2.48481511e-03 -1.75506818e+01] [-1.11558431e-02 -2.42055373e-04 9.99937742e-01 -3.95926791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.334203822 meters 0.031742660594281734 Centerline is valid? [True, True] Translation: X:141.10, Y:-17.56, Z:-3.96 [[ 9.70890884e-01 2.39228932e-01 1.18494522e-02 1.41102232e+02] [-2.39213721e-01 9.70963169e-01 -2.70570901e-03 -1.75599951e+01] [-1.21526655e-02 -2.07603330e-04 9.99926132e-01 -3.96025925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364203822 meters 0.02065233774493171 Centerline is valid? [True, True] Translation: X:141.13, Y:-17.57, Z:-3.96 [[ 9.71620707e-01 2.36223759e-01 1.23100676e-02 1.41129027e+02] [-2.36207093e-01 9.71698670e-01 -2.81149731e-03 -1.75671805e+01] [-1.26258188e-02 -1.76016272e-04 9.99920276e-01 -3.96068553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.394203822 meters 0.015107350477731622 Centerline is valid? [True, True] Translation: X:141.16, Y:-17.58, Z:-3.96 [[ 9.73082922e-01 2.30068956e-01 1.33379903e-02 1.41157168e+02] [-2.30048835e-01 9.73174324e-01 -3.04453316e-03 -1.75796293e+01] [-1.36806423e-02 -1.05805918e-04 9.99906410e-01 -3.95970586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424203822 meters 0.01327429002857364 Centerline is valid? [True, True] Translation: X:141.18, Y:-17.59, Z:-3.96 [[ 9.73724614e-01 2.27314222e-01 1.37339582e-02 1.41184650e+02] [-2.27292609e-01 9.73821462e-01 -3.13526104e-03 -1.75886074e+01] [-1.40871126e-02 -6.87463387e-05 9.99900769e-01 -3.96011360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.454203822 meters 0.012272566380787048 Centerline is valid? [True, True] Translation: X:141.21, Y:-17.60, Z:-3.96 [[ 9.74339336e-01 2.24649730e-01 1.39770377e-02 1.41211256e+02] [-2.24627080e-01 9.74439581e-01 -3.19019865e-03 -1.75980663e+01] [-1.43364560e-02 -3.12851253e-05 9.99897227e-01 -3.96075189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484203822 meters 0.025514676859769717 Centerline is valid? [True, True] Translation: X:141.24, Y:-17.61, Z:-3.96 [[ 9.75353010e-01 2.20236528e-01 1.35046938e-02 1.41239340e+02] [-2.20214982e-01 9.75446498e-01 -3.08072478e-03 -1.76105834e+01] [-1.38515944e-02 3.08582883e-05 9.99904062e-01 -3.96029255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.514203822 meters 0.012872450572341623 Centerline is valid? [True, True] Translation: X:141.27, Y:-17.62, Z:-3.96 [[ 9.75733962e-01 2.18548604e-01 1.34068601e-02 1.41267364e+02] [-2.18527207e-01 9.75826063e-01 -3.05859850e-03 -1.76200420e+01] [-1.37512159e-02 5.46147366e-05 9.99905446e-01 -3.96250097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54420382200001 meters 0.013399331774178834 Centerline is valid? [True, True] Translation: X:141.30, Y:-17.63, Z:-3.96 [[ 9.76041117e-01 2.17171385e-01 1.34285956e-02 1.41296101e+02] [-2.17149789e-01 9.76133487e-01 -3.06355110e-03 -1.76286579e+01] [-1.37734174e-02 7.41351447e-05 9.99905139e-01 -3.96284567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57420382200002 meters 0.014554054713186272 Centerline is valid? [True, True] Translation: X:141.32, Y:-17.64, Z:-3.97 [[ 9.76332914e-01 2.15902025e-01 1.26632093e-02 1.41323760e+02] [-2.15882729e-01 9.76415029e-01 -2.88769132e-03 -1.76374397e+01] [-1.29880063e-02 8.55798941e-05 9.99915649e-01 -3.96516814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60420382200002 meters 0.014895936240511937 Centerline is valid? [True, True] Translation: X:141.35, Y:-17.64, Z:-3.97 [[ 9.76381892e-01 2.15725927e-01 1.18627710e-02 1.41352792e+02] [-2.15708964e-01 9.76453950e-01 -2.70655900e-03 -1.76427432e+01] [-1.21673246e-02 8.37291552e-05 9.99925972e-01 -3.96734324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63420382200002 meters 0.01513802440772961 Centerline is valid? [True, True] Translation: X:141.38, Y:-17.65, Z:-3.97 [[ 9.76312830e-01 2.16061935e-01 1.14236084e-02 1.41381372e+02] [-2.16046228e-01 9.76379657e-01 -2.60629976e-03 -1.76477695e+01] [-1.17169010e-02 7.65363765e-05 9.99931352e-01 -3.97033905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66420382200002 meters 0.014090250361505876 Centerline is valid? [True, True] Translation: X:141.41, Y:-17.65, Z:-3.97 [[ 9.76217992e-01 2.16491130e-01 1.14027383e-02 1.41411033e+02] [-2.16475518e-01 9.76284582e-01 -2.60091518e-03 -1.76527227e+01] [-1.16953927e-02 7.06465102e-05 9.99931604e-01 -3.96977387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694203822 meters 0.014459467624179096 Centerline is valid? [True, True] Translation: X:141.44, Y:-17.66, Z:-3.97 [[ 9.75924119e-01 2.17773937e-01 1.21089069e-02 1.41439173e+02] [-2.17756431e-01 9.75999236e-01 -2.76182664e-03 -1.76585488e+01] [-1.24197378e-02 5.85408732e-05 9.99922870e-01 -3.97332635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724203822 meters 0.014087409001875729 Centerline is valid? [True, True] Translation: X:141.47, Y:-17.66, Z:-3.97 [[ 9.75868189e-01 2.18028251e-01 1.20398916e-02 1.41467760e+02] [-2.18010967e-01 9.75942457e-01 -2.74577228e-03 -1.76641588e+01] [-1.23488973e-02 5.46834184e-05 9.99923748e-01 -3.97307017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754203822 meters 0.013789204800406298 Centerline is valid? [True, True] Translation: X:141.50, Y:-17.67, Z:-3.97 [[ 9.76047813e-01 2.17239967e-01 1.17244606e-02 1.41497268e+02] [-2.17223531e-01 9.76118227e-01 -2.67292360e-03 -1.76703739e+01] [-1.20251255e-02 6.20725011e-05 9.99927694e-01 -3.97263610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784203822 meters 0.014962761765168165 Centerline is valid? [True, True] Translation: X:141.53, Y:-17.68, Z:-3.98 [[ 9.76176470e-01 2.16667096e-01 1.16133347e-02 1.41525093e+02] [-2.16650931e-01 9.76245545e-01 -2.64750079e-03 -1.76778793e+01] [-1.19110926e-02 6.83881896e-05 9.99929058e-01 -3.97644039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814203822 meters 0.02424280004621348 Centerline is valid? [True, True] Translation: X:141.55, Y:-17.68, Z:-3.98 [[ 9.76318014e-01 2.16043796e-01 1.13231316e-02 1.41554196e+02] [-2.16028394e-01 9.76383671e-01 -2.58071915e-03 -1.76842471e+01] [-1.16132692e-02 7.34846539e-05 9.99932561e-01 -3.97721099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844203822 meters 0.015483228503557446 Centerline is valid? [True, True] Translation: X:141.58, Y:-17.69, Z:-3.98 [[ 9.76556274e-01 2.15017126e-01 1.02703067e-02 1.41582434e+02] [-2.15004399e-01 9.76610275e-01 -2.34079151e-03 -1.76915250e+01] [-1.05333974e-02 7.77535117e-05 9.99944519e-01 -3.97856900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.874203822 meters 0.015485273834016952 Centerline is valid? [True, True] Translation: X:141.61, Y:-17.70, Z:-3.98 [[ 9.76531553e-01 2.15142765e-01 9.98578790e-03 1.41610868e+02] [-2.15130741e-01 9.76582605e-01 -2.27581424e-03 -1.76976187e+01] [-1.02415717e-02 7.41544655e-05 9.99947551e-01 -3.98007613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904203822 meters 0.015216002668335848 Centerline is valid? [True, True] Translation: X:141.64, Y:-17.70, Z:-3.98 [[ 9.76286812e-01 2.16250091e-01 9.99794851e-03 1.41638240e+02] [-2.16238101e-01 9.76338002e-01 -2.27806688e-03 -1.77048833e+01] [-1.02540092e-02 6.21092543e-05 9.99947424e-01 -3.98118806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.934203822 meters 0.014934715093331354 Centerline is valid? [True, True] Translation: X:141.67, Y:-17.71, Z:-3.98 [[ 9.76024629e-01 2.17431113e-01 9.98166118e-03 1.41665402e+02] [-2.17419227e-01 9.76075667e-01 -2.27405955e-03 -1.77106506e+01] [-1.02373079e-02 4.93330691e-05 9.99947596e-01 -3.98274432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964203822 meters 0.013576039925164598 Centerline is valid? [True, True] Translation: X:141.69, Y:-17.72, Z:-3.98 [[ 9.75711767e-01 2.18823760e-01 1.01345517e-02 1.41693844e+02] [-2.18811591e-01 9.75764398e-01 -2.30802988e-03 -1.77152980e+01] [-1.03939865e-02 3.44145349e-05 9.99945980e-01 -3.98073132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.994203822 meters 0.012755931413191491 Centerline is valid? [True, True] Translation: X:141.72, Y:-17.72, Z:-3.98 [[ 9.75064143e-01 2.21636464e-01 1.12780606e-02 1.41722374e+02] [-2.21621590e-01 9.75129365e-01 -2.56769779e-03 -1.77195136e+01] [-1.15666635e-02 4.20831877e-06 9.99933104e-01 -3.98066419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024203822 meters 0.013085675369880118 Centerline is valid? [True, True] Translation: X:141.75, Y:-17.72, Z:-3.98 [[ 9.74745956e-01 2.23005059e-01 1.17926038e-02 1.41749633e+02] [-2.22988903e-01 9.74817287e-01 -2.68436847e-03 -1.77245525e+01] [-1.20942618e-02 -1.30424646e-05 9.99926862e-01 -3.98258957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.054203822 meters 0.013102624607582622 Centerline is valid? [True, True] Translation: X:141.78, Y:-17.73, Z:-3.98 [[ 9.74443946e-01 2.24320558e-01 1.18018145e-02 1.41778364e+02] [-2.24304485e-01 9.74515411e-01 -2.68547625e-03 -1.77298931e+01] [-1.21034576e-02 -3.03538395e-05 9.99926750e-01 -3.98280129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084203822 meters 0.013143902792415766 Centerline is valid? [True, True] Translation: X:141.81, Y:-17.74, Z:-3.98 [[ 9.74186889e-01 2.25466800e-01 1.11636883e-02 1.41806828e+02] [-2.25452498e-01 9.74250851e-01 -2.53981433e-03 -1.77354728e+01] [-1.14488767e-02 -4.26275963e-05 9.99934459e-01 -3.98287754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.114203822 meters 0.01512193858486348 Centerline is valid? [True, True] Translation: X:141.83, Y:-17.74, Z:-3.99 [[ 9.73526789e-01 2.28366728e-01 9.70713707e-03 1.41834577e+02] [-2.28356058e-01 9.73575181e-01 -2.20853877e-03 -1.77381527e+01] [-9.95498450e-03 -6.66119067e-05 9.99950446e-01 -3.98704615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144203822 meters 0.01843384699907278 Centerline is valid? [True, True] Translation: X:141.86, Y:-17.74, Z:-3.99 [[ 9.73059865e-01 2.30357527e-01 9.48205576e-03 1.41862410e+02] [-2.30347448e-01 9.73106059e-01 -2.15660715e-03 -1.77400155e+01] [-9.72383661e-03 -8.56594831e-05 9.99952719e-01 -3.99284663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.174203822 meters 0.01855726388870264 Centerline is valid? [True, True] Translation: X:141.89, Y:-17.75, Z:-3.99 [[ 9.72602553e-01 2.32296927e-01 9.07809823e-03 1.41890544e+02] [-2.32287782e-01 9.72644913e-01 -2.06373121e-03 -1.77452555e+01] [-9.30916448e-03 -1.01541060e-04 9.99956664e-01 -3.99100248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204203822 meters 0.023295165952429447 Centerline is valid? [True, True] Translation: X:141.92, Y:-17.74, Z:-3.99 [[ 9.71538441e-01 2.36683795e-01 9.68708445e-03 1.41919877e+02] [-2.36673603e-01 9.71586722e-01 -2.20181392e-03 -1.77425976e+01] [-9.93297630e-03 -1.53530323e-04 9.99950655e-01 -3.99303202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.234203822 meters 0.023115472632079564 Centerline is valid? [True, True] Translation: X:141.95, Y:-17.75, Z:-3.99 [[ 9.70976597e-01 2.38984140e-01 9.54091680e-03 1.41948399e+02] [-2.38974371e-01 9.71023455e-01 -2.16782066e-03 -1.77474104e+01] [-9.78252875e-03 -1.75131466e-04 9.99952135e-01 -3.99085339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264203822 meters 0.02814212297886605 Centerline is valid? [True, True] Translation: X:141.98, Y:-17.74, Z:-3.99 [[ 9.69910674e-01 2.43309119e-01 8.59978743e-03 1.41978367e+02] [-2.43301355e-01 9.69948779e-01 -1.95367133e-03 -1.77436697e+01] [-8.81669937e-03 -1.97453264e-04 9.99961113e-01 -3.99421429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29420382200001 meters 0.02946115205477709 Centerline is valid? [True, True] Translation: X:142.01, Y:-17.75, Z:-3.99 [[ 9.69512693e-01 2.44900721e-01 8.29303226e-03 1.42007696e+02] [-2.44893562e-01 9.69548140e-01 -1.88360799e-03 -1.77455582e+01] [-8.50179095e-03 -2.04728352e-04 9.99963838e-01 -3.99492483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32420382200002 meters 0.03771117321209822 Centerline is valid? [True, True] Translation: X:142.04, Y:-17.75, Z:-4.00 [[ 9.69160730e-01 2.46310263e-01 7.66382566e-03 1.42037184e+02] [-2.46304196e-01 9.69191010e-01 -1.74041611e-03 -1.77456095e+01] [-7.85639328e-03 -2.00889467e-04 9.99969118e-01 -3.99781350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35420382200002 meters 0.032618087753742774 Centerline is valid? [True, True] Translation: X:142.07, Y:-17.75, Z:-4.00 [[ 9.69403072e-01 2.45365576e-01 7.30882419e-03 1.42065305e+02] [-2.45360034e-01 9.69430606e-01 -1.65948212e-03 -1.77493772e+01] [-7.49257765e-03 -1.84586286e-04 9.99971913e-01 -4.00172447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38420382200002 meters 0.029382070614462734 Centerline is valid? [True, True] Translation: X:142.09, Y:-17.76, Z:-4.00 [[ 9.69918482e-01 2.43327436e-01 7.06374084e-03 1.42092502e+02] [-2.43322207e-01 9.69944190e-01 -1.60350167e-03 -1.77598315e+01] [-7.24161034e-03 -1.63499106e-04 9.99973766e-01 -4.00184609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41420382200002 meters 0.02498969952855437 Centerline is valid? [True, True] Translation: X:142.12, Y:-17.77, Z:-4.00 [[ 9.70704255e-01 2.40152356e-01 7.75212615e-03 1.42120678e+02] [-2.40145967e-01 9.70735197e-01 -1.75851019e-03 -1.77718637e+01] [-7.94757206e-03 -1.54648512e-04 9.99968406e-01 -3.99959540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444203822 meters 0.01611423778392722 Centerline is valid? [True, True] Translation: X:142.15, Y:-17.79, Z:-3.99 [[ 9.72884004e-01 2.31040334e-01 1.08203056e-02 1.42148037e+02] [-2.31027326e-01 9.72944167e-01 -2.45421541e-03 -1.77902018e+01] [-1.10945759e-02 -1.12119357e-04 9.99938447e-01 -3.99441902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474203822 meters 0.014689732013839364 Centerline is valid? [True, True] Translation: X:142.17, Y:-17.80, Z:-4.00 [[ 9.74055950e-01 2.26029059e-01 1.12192379e-02 1.42173563e+02] [-2.26014734e-01 9.74120558e-01 -2.54540907e-03 -1.78023770e+01] [-1.15042267e-02 -5.63422080e-05 9.99933823e-01 -3.99846807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504203822 meters 0.014689732013839364 Centerline is valid? [True, True] Translation: X:142.20, Y:-17.81, Z:-4.00 [[ 9.74071870e-01 2.25960433e-01 1.12193604e-02 1.42200404e+02] [-2.25946109e-01 9.74136479e-01 -2.54486893e-03 -1.78083212e+01] [-1.15042279e-02 -5.60855746e-05 9.99933823e-01 -3.99924856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534203822 meters 0.013593969056798787 Centerline is valid? [True, True] Translation: X:142.23, Y:-17.82, Z:-4.00 [[ 9.75212112e-01 2.21002279e-01 1.09238066e-02 1.42226879e+02] [-2.20988401e-01 9.75273291e-01 -2.47666139e-03 -1.78235475e+01] [-1.12010446e-02 1.23563488e-06 9.99937266e-01 -4.00005944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564203822 meters 0.014475687133807707 Centerline is valid? [True, True] Translation: X:142.25, Y:-17.84, Z:-4.00 [[ 9.76192819e-01 2.16619230e-01 1.11215994e-02 1.42253464e+02] [-2.16604567e-01 9.76256168e-01 -2.52093633e-03 -1.78372449e+01] [-1.14036133e-02 5.19307255e-05 9.99934975e-01 -4.00031340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.594203822 meters 0.016693303872730582 Centerline is valid? [True, True] Translation: X:142.28, Y:-17.85, Z:-4.00 [[ 9.77510592e-01 2.10558151e-01 1.17604508e-02 1.42281339e+02] [-2.10541336e-01 9.77581326e-01 -2.66407561e-03 -1.78538625e+01] [-1.20577399e-02 1.28101108e-04 9.99927295e-01 -3.99744836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624203822 meters 0.01846093932486066 Centerline is valid? [True, True] Translation: X:142.31, Y:-17.87, Z:-4.00 [[ 9.77843665e-01 2.09015632e-01 1.15859002e-02 1.42309205e+02] [-2.08999200e-01 9.77912289e-01 -2.62489708e-03 -1.78655595e+01] [-1.18786387e-02 1.45295115e-04 9.99929436e-01 -3.99919515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.654203822 meters 0.018805829882473573 Centerline is valid? [True, True] Translation: X:142.34, Y:-17.88, Z:-4.00 [[ 9.77862036e-01 2.09030495e-01 9.59641433e-03 1.42338489e+02] [-2.09019224e-01 9.77909115e-01 -2.17392414e-03 -1.78752903e+01] [-9.83883749e-03 1.19962801e-04 9.99951590e-01 -4.00250877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684203822 meters 0.017839414995927307 Centerline is valid? [True, True] Translation: X:142.37, Y:-17.88, Z:-4.00 [[ 9.77508786e-01 2.10690907e-01 9.26898664e-03 1.42369096e+02] [-2.10680464e-01 9.77552726e-01 -2.10009893e-03 -1.78800254e+01] [-9.50339490e-03 1.00070748e-04 9.99954837e-01 -4.00453033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.714203822 meters 0.01707110960250894 Centerline is valid? [True, True] Translation: X:142.40, Y:-17.88, Z:-4.01 [[ 9.76994683e-01 2.13052972e-01 9.47734736e-03 1.42397529e+02] [-2.13042159e-01 9.77040646e-01 -2.14801190e-03 -1.78839134e+01] [-9.71739391e-03 7.95216647e-05 9.99952782e-01 -4.00736870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744203822 meters 0.014205837526613016 Centerline is valid? [True, True] Translation: X:142.43, Y:-17.88, Z:-4.01 [[ 9.75636478e-01 2.19209089e-01 8.99105579e-03 1.42427318e+02] [-2.19199618e-01 9.75677905e-01 -2.03773773e-03 -1.78827680e+01] [-9.21906511e-03 1.72552713e-05 9.99957503e-01 -4.00780380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.774203822 meters 0.014091061006928732 Centerline is valid? [True, True] Translation: X:142.46, Y:-17.88, Z:-4.01 [[ 9.74790471e-01 2.22939354e-01 9.03223905e-03 1.42456091e+02] [-2.22929960e-01 9.74832316e-01 -2.04660238e-03 -1.78840351e+01] [-9.26118672e-03 -1.85481965e-05 9.99957114e-01 -4.00808074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804203822 meters 0.020949153773719215 Centerline is valid? [True, True] Translation: X:142.49, Y:-17.88, Z:-4.01 [[ 9.73860896e-01 2.26951355e-01 9.38285231e-03 1.42486151e+02] [-2.26941410e-01 9.73906093e-01 -2.12550503e-03 -1.78837848e+01] [-9.62040329e-03 -5.94115004e-05 9.99953721e-01 -4.00879909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.834203822 meters 0.019455435381905292 Centerline is valid? [True, True] Translation: X:142.52, Y:-17.88, Z:-4.01 [[ 9.72311981e-01 2.33510185e-01 9.07774285e-03 1.42517268e+02] [-2.33501169e-01 9.72354348e-01 -2.05550388e-03 -1.78809330e+01] [-9.30676383e-03 -1.21072521e-04 9.99956684e-01 -4.00851883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864203822 meters 0.02332413992234851 Centerline is valid? [True, True] Translation: X:142.55, Y:-17.88, Z:-4.01 [[ 9.71606922e-01 2.36437314e-01 8.79693601e-03 1.42545835e+02] [-2.36428958e-01 9.71646734e-01 -1.99291293e-03 -1.78819097e+01] [-9.01871312e-03 -1.43522419e-04 9.99959320e-01 -4.01140308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.894203822 meters 0.026303062826695253 Centerline is valid? [True, True] Translation: X:142.57, Y:-17.88, Z:-4.01 [[ 9.70925352e-01 2.39214778e-01 8.95829169e-03 1.42574283e+02] [-2.39206243e-01 9.70966663e-01 -2.02810413e-03 -1.78833701e+01] [-9.18335506e-03 -1.73741585e-04 9.99957817e-01 -4.01199022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924203822 meters 0.02897588732710468 Centerline is valid? [True, True] Translation: X:142.60, Y:-17.88, Z:-4.01 [[ 9.69665850e-01 2.44224210e-01 1.01328363e-02 1.42604242e+02] [-2.44213577e-01 9.69718759e-01 -2.29275641e-03 -1.78830346e+01] [-1.03859481e-02 -2.51368606e-04 9.99946033e-01 -4.00884827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.954203822 meters 0.030469652899403288 Centerline is valid? [True, True] Translation: X:142.63, Y:-17.89, Z:-4.01 [[ 9.69108259e-01 2.46412539e-01 1.04901620e-02 1.42633272e+02] [-2.46401273e-01 9.69164991e-01 -2.37339183e-03 -1.78864053e+01] [-1.07515312e-02 -2.84715630e-04 9.99942160e-01 -4.00817259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984203822 meters 0.0369509662245349 Centerline is valid? [True, True] Translation: X:142.66, Y:-17.88, Z:-4.01 [[ 9.68302015e-01 2.49561342e-01 1.05044481e-02 1.42663597e+02] [-2.49550236e-01 9.68358938e-01 -2.37614244e-03 -1.78811275e+01] [-1.07650695e-02 -3.20563982e-04 9.99942004e-01 -4.01068074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.014203822 meters 0.041245557929434414 Centerline is valid? [True, True] Translation: X:142.69, Y:-17.88, Z:-4.01 [[ 9.68020667e-01 2.50676342e-01 9.86707463e-03 1.42692325e+02] [-2.50666606e-01 9.68070903e-01 -2.23142661e-03 -1.78838132e+01] [-1.01113937e-02 -3.13279026e-04 9.99948829e-01 -4.01323427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04420382200001 meters 0.04308036903779585 Centerline is valid? [True, True] Translation: X:142.72, Y:-17.88, Z:-4.02 [[ 9.68008906e-01 2.50741936e-01 9.34021623e-03 1.42721661e+02] [-2.50733217e-01 9.68053921e-01 -2.11210884e-03 -1.78801412e+01] [-9.57142720e-03 -2.97362296e-04 9.99954149e-01 -4.01908510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07420382200002 meters 0.03654036142925673 Centerline is valid? [True, True] Translation: X:142.75, Y:-17.89, Z:-4.02 [[ 9.68177589e-01 2.50100569e-01 9.04772920e-03 1.42747846e+02] [-2.50092366e-01 9.68219823e-01 -2.04523778e-03 -1.78937792e+01] [-9.27170590e-03 -2.82614618e-04 9.99956977e-01 -4.01626634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10420382200002 meters 0.03163021069948514 Centerline is valid? [True, True] Translation: X:142.78, Y:-17.91, Z:-4.01 [[ 9.69015192e-01 2.46798319e-01 1.00073507e-02 1.42775534e+02] [-2.46788119e-01 9.69066825e-01 -2.26108446e-03 -1.79061762e+01] [-1.02558235e-02 -2.78670066e-04 9.99947369e-01 -4.01475907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13420382200002 meters 0.03255639814919906 Centerline is valid? [True, True] Translation: X:142.80, Y:-17.91, Z:-4.02 [[ 9.69560474e-01 2.44634908e-01 1.03077295e-02 1.42803472e+02] [-2.44623962e-01 9.69615229e-01 -2.32910606e-03 -1.79103154e+01] [-1.05643121e-02 -2.63308448e-04 9.99944161e-01 -4.01782913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16420382200002 meters 0.02769418349036381 Centerline is valid? [True, True] Translation: X:142.83, Y:-17.92, Z:-4.02 [[ 9.70173717e-01 2.42181766e-01 1.05333147e-02 1.42830186e+02] [-2.42170197e-01 9.70230866e-01 -2.37951034e-03 -1.79218417e+01] [-1.07960210e-02 -2.42316495e-04 9.99941692e-01 -4.01613769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194203822 meters 0.02265582653945656 Centerline is valid? [True, True] Translation: X:142.86, Y:-17.93, Z:-4.02 [[ 9.71507500e-01 2.36770368e-01 1.06287719e-02 1.42858392e+02] [-2.36758277e-01 9.71565622e-01 -2.39987459e-03 -1.79338218e+01] [-1.08947686e-02 -1.84953564e-04 9.99940633e-01 -4.01689457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224203822 meters 0.019248110589824004 Centerline is valid? [True, True] Translation: X:142.89, Y:-17.94, Z:-4.02 [[ 9.72167106e-01 2.34052160e-01 1.05215924e-02 1.42886293e+02] [-2.34040147e-01 9.72224029e-01 -2.37623451e-03 -1.79426908e+01] [-1.07855078e-02 -1.52378003e-04 9.99941823e-01 -4.01633293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254203822 meters 0.0175445244591331 Centerline is valid? [True, True] Translation: X:142.91, Y:-17.95, Z:-4.02 [[ 9.73374342e-01 2.28981054e-01 1.04912864e-02 1.42912652e+02] [-2.28968819e-01 9.73430875e-01 -2.36906209e-03 -1.79513605e+01] [-1.07550124e-02 -9.61932084e-05 9.99942159e-01 -4.02183332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284203822 meters 0.015621734887105778 Centerline is valid? [True, True] Translation: X:142.94, Y:-17.96, Z:-4.02 [[ 9.73991776e-01 2.26398802e-01 9.14344705e-03 1.42939762e+02] [-2.26389401e-01 9.74034691e-01 -2.06406309e-03 -1.79636071e+01] [-9.37333604e-03 -5.95990252e-05 9.99956068e-01 -4.02234386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314203822 meters 0.01591875289170621 Centerline is valid? [True, True] Translation: X:142.97, Y:-17.97, Z:-4.03 [[ 9.74515661e-01 2.24170199e-01 8.18221222e-03 1.42966421e+02] [-2.24162592e-01 9.74550009e-01 -1.84704448e-03 -1.79733157e+01] [-8.38802732e-03 -3.41721303e-05 9.99964819e-01 -4.02691548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344203822 meters 0.014533199855333205 Centerline is valid? [True, True] Translation: X:142.99, Y:-17.98, Z:-4.03 [[ 9.75383092e-01 2.20329799e-01 9.08869207e-03 1.42993217e+02] [-2.20320256e-01 9.75425435e-01 -2.05063741e-03 -1.79838519e+01] [-9.31715795e-03 -2.26590726e-06 9.99956594e-01 -4.02521575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.374203822 meters 0.01384001505416742 Centerline is valid? [True, True] Translation: X:143.02, Y:-17.99, Z:-4.02 [[ 9.75720766e-01 2.18807349e-01 9.60889091e-03 1.43021019e+02] [-2.18796613e-01 9.75768079e-01 -2.16749020e-03 -1.79911130e+01] [-9.85031181e-03 1.24724049e-05 9.99951484e-01 -4.02267880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404203822 meters 0.014320106669552662 Centerline is valid? [True, True] Translation: X:143.05, Y:-18.00, Z:-4.02 [[ 9.75938087e-01 2.17819347e-01 9.97904844e-03 1.43047919e+02] [-2.17807721e-01 9.75989104e-01 -2.25064067e-03 -1.79977448e+01] [-1.02296756e-02 2.29721538e-05 9.99947675e-01 -4.02406214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.434203822 meters 0.014194706139096453 Centerline is valid? [True, True] Translation: X:143.08, Y:-18.00, Z:-4.02 [[ 9.76291659e-01 2.16155777e-01 1.14575660e-02 1.43076241e+02] [-2.16140350e-01 9.76358888e-01 -2.58287305e-03 -1.80047480e+01] [-1.17449993e-02 4.51950950e-05 9.99931024e-01 -4.02219935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464203822 meters 0.013822969686163911 Centerline is valid? [True, True] Translation: X:143.10, Y:-18.01, Z:-4.02 [[ 9.76486864e-01 2.15227725e-01 1.22650546e-02 1.43104546e+02] [-2.15209982e-01 9.76563886e-01 -2.76422210e-03 -1.80120769e+01] [-1.25725466e-02 5.96644022e-05 9.99920961e-01 -4.02034739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.494203822 meters 0.014767219881852603 Centerline is valid? [True, True] Translation: X:143.13, Y:-18.02, Z:-4.02 [[ 9.76726958e-01 2.14118159e-01 1.25643635e-02 1.43130750e+02] [-2.14099454e-01 9.76807764e-01 -2.83118330e-03 -1.80211727e+01] [-1.28791755e-02 7.52696892e-05 9.99917057e-01 -4.02250073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524203822 meters 0.01728515248447111 Centerline is valid? [True, True] Translation: X:143.16, Y:-18.03, Z:-4.02 [[ 9.76972808e-01 2.13029541e-01 1.19392943e-02 1.43158749e+02] [-2.13012580e-01 9.77045755e-01 -2.68944672e-03 -1.80296145e+01] [-1.22381684e-02 8.42964407e-05 9.99925107e-01 -4.02364162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.554203822 meters 0.01646040148157077 Centerline is valid? [True, True] Translation: X:143.19, Y:-18.04, Z:-4.02 [[ 9.77342187e-01 2.11321616e-01 1.20592137e-02 1.43185105e+02] [-2.11304188e-01 9.77416576e-01 -2.71602294e-03 -1.80407660e+01] [-1.23608297e-02 1.06321436e-04 9.99923596e-01 -4.02450987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584203822 meters 0.015891460374601644 Centerline is valid? [True, True] Translation: X:143.21, Y:-18.05, Z:-4.02 [[ 9.77370626e-01 2.11177444e-01 1.22778692e-02 1.43214358e+02] [-2.11159384e-01 9.77447735e-01 -2.76388459e-03 -1.80474144e+01] [-1.25846456e-02 1.08752313e-04 9.99920804e-01 -4.02381914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.614203822 meters 0.014729177768546957 Centerline is valid? [True, True] Translation: X:143.24, Y:-18.05, Z:-4.02 [[ 9.76998027e-01 2.12836122e-01 1.32529147e-02 1.43242302e+02] [-2.12815230e-01 9.77087906e-01 -2.98353291e-03 -1.80512057e+01] [-1.35842662e-02 9.44836815e-05 9.99907725e-01 -4.02341515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644203822 meters 0.013747759401140827 Centerline is valid? [True, True] Translation: X:143.27, Y:-18.06, Z:-4.02 [[ 9.76606296e-01 2.14629946e-01 1.31958128e-02 1.43271112e+02] [-2.14609412e-01 9.76695439e-01 -2.96965197e-03 -1.80550795e+01] [-1.35256664e-02 6.82351835e-05 9.99908522e-01 -4.02423288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.674203822 meters 0.013372918605808795 Centerline is valid? [True, True] Translation: X:143.30, Y:-18.06, Z:-4.03 [[ 9.76048737e-01 2.17179339e-01 1.27278456e-02 1.43299411e+02] [-2.17160457e-01 9.76131720e-01 -2.86391926e-03 -1.80576812e+01] [-1.30460379e-02 3.13399997e-05 9.99914896e-01 -4.02695575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704203822 meters 0.01381554937056052 Centerline is valid? [True, True] Translation: X:143.33, Y:-18.05, Z:-4.03 [[ 9.74826684e-01 2.22688294e-01 1.10842328e-02 1.43329393e+02] [-2.22674333e-01 9.74889698e-01 -2.49377706e-03 -1.80530122e+01] [-1.13612393e-02 -3.71737293e-05 9.99935458e-01 -4.02964786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.734203822 meters 0.015039441073446841 Centerline is valid? [True, True] Translation: X:143.36, Y:-18.05, Z:-4.03 [[ 9.74274415e-01 2.25128974e-01 1.03106329e-02 1.43358862e+02] [-2.25117041e-01 9.74328970e-01 -2.31871077e-03 -1.80547961e+01] [-1.05679573e-02 -6.20385975e-05 9.99944156e-01 -4.03173643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764203822 meters 0.017797889907726617 Centerline is valid? [True, True] Translation: X:143.39, Y:-18.06, Z:-4.04 [[ 9.73844660e-01 2.26977306e-01 1.03866125e-02 1.43386687e+02] [-2.26965305e-01 9.73900044e-01 -2.33546903e-03 -1.80561296e+01] [-1.06456208e-02 -8.30166255e-05 9.99943330e-01 -4.03685985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79420382200001 meters 0.017046058315550377 Centerline is valid? [True, True] Translation: X:143.41, Y:-18.06, Z:-4.03 [[ 9.73572963e-01 2.28122916e-01 1.07526783e-02 1.43414931e+02] [-2.28110136e-01 9.73632336e-01 -2.41678501e-03 -1.80620165e+01] [-1.10204793e-02 -9.98783648e-05 9.99939268e-01 -4.03350612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82420382200002 meters 0.017161160046356285 Centerline is valid? [True, True] Translation: X:143.44, Y:-18.07, Z:-4.03 [[ 9.73420868e-01 2.28751459e-01 1.11617047e-02 1.43442734e+02] [-2.28737731e-01 9.73484852e-01 -2.50853422e-03 -1.80654539e+01] [-1.14395813e-02 -1.11243454e-04 9.99934560e-01 -4.03274926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85420382200002 meters 0.01646989467307794 Centerline is valid? [True, True] Translation: X:143.47, Y:-18.07, Z:-4.03 [[ 9.73609223e-01 2.27930525e-01 1.15219722e-02 1.43470317e+02] [-2.27915855e-01 9.73677392e-01 -2.58814695e-03 -1.80723687e+01] [-1.18086016e-02 -1.06196415e-04 9.99930270e-01 -4.03268631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88420382200002 meters 0.017795375535081388 Centerline is valid? [True, True] Translation: X:143.50, Y:-18.08, Z:-4.03 [[ 9.74338923e-01 2.24772178e-01 1.18798557e-02 1.43497179e+02] [-2.24756355e-01 9.74411342e-01 -2.66788563e-03 -1.80839883e+01] [-1.21755326e-02 -7.06482672e-05 9.99925873e-01 -4.03294433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91420382200002 meters 0.013788044928026388 Centerline is valid? [True, True] Translation: X:143.53, Y:-18.09, Z:-4.03 [[ 9.74737094e-01 2.23013196e-01 1.23576845e-02 1.43525065e+02] [-2.22995943e-01 9.74815424e-01 -2.77451099e-03 -1.80932829e+01] [-1.26652141e-02 -5.12947358e-05 9.99919792e-01 -4.03309341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944203822 meters 0.013584344351579082 Centerline is valid? [True, True] Translation: X:143.55, Y:-18.10, Z:-4.04 [[ 9.75059434e-01 2.21580064e-01 1.27033690e-02 1.43552070e+02] [-2.21561716e-01 9.75142182e-01 -2.85161980e-03 -1.81015915e+01] [-1.30194531e-02 -3.40814513e-05 9.99915243e-01 -4.03513161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974203822 meters 0.012867441585285392 Centerline is valid? [True, True] Translation: X:143.58, Y:-18.11, Z:-4.03 [[ 9.75772403e-01 2.18350554e-01 1.38294440e-02 1.43579034e+02] [-2.18328503e-01 9.75870399e-01 -3.10315368e-03 -1.81147601e+01] [-1.41733203e-02 8.60992700e-06 9.99899553e-01 -4.03396032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004203822 meters 0.012671278218830403 Centerline is valid? [True, True] Translation: X:143.61, Y:-18.12, Z:-4.03 [[ 9.76089354e-01 2.16854000e-01 1.49637871e-02 1.43606356e+02] [-2.16828020e-01 9.76204047e-01 -3.35683860e-03 -1.81240372e+01] [-1.53356534e-02 3.20061058e-05 9.99882401e-01 -4.03278044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034203822 meters 0.013412772784140442 Centerline is valid? [True, True] Translation: X:143.63, Y:-18.14, Z:-4.03 [[ 9.76511991e-01 2.14913979e-01 1.53724704e-02 1.43631849e+02] [-2.14886330e-01 9.76632980e-01 -3.44786578e-03 -1.81354223e+01] [-1.57542561e-02 6.35485257e-05 9.99875892e-01 -4.03303957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064203822 meters 0.013564494121450955 Centerline is valid? [True, True] Translation: X:143.66, Y:-18.14, Z:-4.03 [[ 9.76543074e-01 2.14801012e-01 1.49716069e-02 1.43659440e+02] [-2.14774789e-01 9.76657832e-01 -3.35690863e-03 -1.81437302e+01] [-1.53432045e-02 6.26421527e-05 9.99882284e-01 -4.03471033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.094203822 meters 0.013197958769454335 Centerline is valid? [True, True] Translation: X:143.69, Y:-18.15, Z:-4.04 [[ 9.76477343e-01 2.15164924e-01 1.40019587e-02 1.43687819e+02] [-2.15142038e-01 9.76577725e-01 -3.13858557e-03 -1.81508728e+01] [-1.43493145e-02 5.23477620e-05 9.99897042e-01 -4.03575695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124203822 meters 0.013107895726878356 Centerline is valid? [True, True] Translation: X:143.72, Y:-18.16, Z:-4.04 [[ 9.76293990e-01 2.16025836e-01 1.35234355e-02 1.43715423e+02] [-2.16004566e-01 9.76387647e-01 -3.03162195e-03 -1.81568580e+01] [-1.38590240e-02 3.86304786e-05 9.99903958e-01 -4.03790654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.154203822 meters 0.01331663288828832 Centerline is valid? [True, True] Translation: X:143.74, Y:-18.16, Z:-4.04 [[ 9.75538978e-01 2.19446110e-01 1.29270031e-02 1.43743116e+02] [-2.19426987e-01 9.75624623e-01 -2.89700873e-03 -1.81582333e+01] [-1.32476399e-02 -1.03884086e-05 9.99912246e-01 -4.04063004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184203822 meters 0.013876473622518449 Centerline is valid? [True, True] Translation: X:143.77, Y:-18.16, Z:-4.04 [[ 9.75090203e-01 2.21460126e-01 1.24301388e-02 1.43772146e+02] [-2.21442620e-01 9.75169427e-01 -2.78473020e-03 -1.81610950e+01] [-1.27381980e-02 -3.71993630e-05 9.99918865e-01 -4.04184204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.214203822 meters 0.015641530764443277 Centerline is valid? [True, True] Translation: X:143.80, Y:-18.17, Z:-4.04 [[ 9.74244385e-01 2.25233643e-01 1.08482501e-02 1.43800200e+02] [-2.25220545e-01 9.74304778e-01 -2.43021513e-03 -1.81650203e+01] [-1.11168681e-02 -7.56253562e-05 9.99938203e-01 -4.04464993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244203822 meters 0.016150810326328275 Centerline is valid? [True, True] Translation: X:143.83, Y:-18.17, Z:-4.05 [[ 9.74018712e-01 2.26213710e-01 1.07194746e-02 1.43828186e+02] [-2.26200989e-01 9.74077692e-01 -2.40049724e-03 -1.81717174e+01] [-1.09846265e-02 -8.66265252e-05 9.99939663e-01 -4.04538486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.274203822 meters 0.016019810885276032 Centerline is valid? [True, True] Translation: X:143.86, Y:-18.18, Z:-4.04 [[ 9.73936980e-01 2.26539946e-01 1.12432676e-02 1.43856267e+02] [-2.26525981e-01 9.74001870e-01 -2.51715928e-03 -1.81786731e+01] [-1.15212008e-02 -9.53377172e-05 9.99933624e-01 -4.04472754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304203822 meters 0.01628563322910078 Centerline is valid? [True, True] Translation: X:143.88, Y:-18.19, Z:-4.05 [[ 9.74085744e-01 2.25868087e-01 1.18562666e-02 1.43883572e+02] [-2.25852513e-01 9.74157892e-01 -2.65395197e-03 -1.81853838e+01] [-1.21493187e-02 -9.25908218e-05 9.99926190e-01 -4.04623776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.334203822 meters 0.014205700781393138 Centerline is valid? [True, True] Translation: X:143.91, Y:-18.20, Z:-4.05 [[ 9.74650630e-01 2.23404976e-01 1.20982115e-02 1.43910357e+02] [-2.23388584e-01 9.74725712e-01 -2.70700753e-03 -1.81977811e+01] [-1.23971967e-02 -6.42157396e-05 9.99923150e-01 -4.04513483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364203822 meters 0.026537283038881573 Centerline is valid? [True, True] Translation: X:143.94, Y:-18.21, Z:-4.05 [[ 9.75045001e-01 2.21712984e-01 1.14279677e-02 1.43937971e+02] [-2.21698247e-01 9.75111969e-01 -2.55654037e-03 -1.82071272e+01] [-1.17103663e-02 -4.08185061e-05 9.99931430e-01 -4.04722913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.394203822 meters 0.013825225932943379 Centerline is valid? [True, True] Translation: X:143.96, Y:-18.22, Z:-4.05 [[ 9.75832823e-01 2.18157554e-01 1.25531804e-02 1.43964583e+02] [-2.18139494e-01 9.75913563e-01 -2.80707566e-03 -1.82211916e+01] [-1.28632038e-02 8.92150172e-07 9.99917266e-01 -4.04953832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424203822 meters 0.012773321481459226 Centerline is valid? [True, True] Translation: X:143.99, Y:-18.23, Z:-4.05 [[ 9.76118352e-01 2.16853769e-01 1.29385467e-02 1.43993496e+02] [-2.16834475e-01 9.76204099e-01 -2.89270360e-03 -1.82307073e+01] [-1.32579560e-02 1.80980796e-05 9.99912109e-01 -4.04589443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.454203822 meters 0.012773321481459226 Centerline is valid? [True, True] Translation: X:144.02, Y:-18.24, Z:-4.05 [[ 9.76123726e-01 2.16829578e-01 1.29385417e-02 1.44021962e+02] [-2.16810282e-01 9.76209472e-01 -2.89272620e-03 -1.82370252e+01] [-1.32579555e-02 1.84498106e-05 9.99912109e-01 -4.04672231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484203822 meters 0.013190088120156129 Centerline is valid? [True, True] Translation: X:144.05, Y:-18.25, Z:-4.05 [[ 9.76258169e-01 2.16199858e-01 1.33269666e-02 1.44050332e+02] [-2.16179335e-01 9.76349128e-01 -2.97901153e-03 -1.82464904e+01] [-1.36558341e-02 2.72695725e-05 9.99906754e-01 -4.04862796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.514203822 meters 0.01311410739216165 Centerline is valid? [True, True] Translation: X:144.08, Y:-18.26, Z:-4.05 [[ 9.76317464e-01 2.15960718e-01 1.28521217e-02 1.44079242e+02] [-2.15941621e-01 9.76402052e-01 -2.87213730e-03 -1.82587880e+01] [-1.31691068e-02 2.88098217e-05 9.99913283e-01 -4.04913803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54420382200001 meters 0.012965235491308314 Centerline is valid? [True, True] Translation: X:144.11, Y:-18.27, Z:-4.05 [[ 9.76226269e-01 2.16375421e-01 1.28042366e-02 1.44109309e+02] [-2.16356497e-01 9.76310236e-01 -2.86176435e-03 -1.82672538e+01] [-1.31201227e-02 2.34497634e-05 9.99913927e-01 -4.04987698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57420382200002 meters 0.012994413636424404 Centerline is valid? [True, True] Translation: X:144.14, Y:-18.27, Z:-4.05 [[ 9.75602688e-01 2.19156262e-01 1.30356781e-02 1.44138121e+02] [-2.19136880e-01 9.75689773e-01 -2.91460555e-03 -1.82718976e+01] [-1.33575319e-02 -1.31008390e-05 9.99910784e-01 -4.05136599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60420382200002 meters 0.020042461038472705 Centerline is valid? [True, True] Translation: X:144.17, Y:-18.28, Z:-4.05 [[ 9.75180264e-01 2.21075453e-01 1.22105152e-02 1.44167829e+02] [-2.21058601e-01 9.75256706e-01 -2.72983077e-03 -1.82767764e+01] [-1.25118854e-02 -3.71623122e-05 9.99921723e-01 -4.05419923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63420382200002 meters 0.022774024430358746 Centerline is valid? [True, True] Translation: X:144.20, Y:-18.28, Z:-4.05 [[ 9.74680683e-01 2.23306706e-01 1.14752504e-02 1.44196864e+02] [-2.23291980e-01 9.74748230e-01 -2.56521405e-03 -1.82815424e+01] [-1.17583095e-02 -6.20668021e-05 9.99930867e-01 -4.05491697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66420382200002 meters 0.016425485807256068 Centerline is valid? [True, True] Translation: X:144.22, Y:-18.28, Z:-4.06 [[ 9.74145603e-01 2.25636067e-01 1.13450367e-02 1.44224550e+02] [-2.25621828e-01 9.74211659e-01 -2.53645208e-03 -1.82843485e+01] [-1.16247821e-02 -8.88142699e-05 9.99932426e-01 -4.05739103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694203822 meters 0.020591670458855536 Centerline is valid? [True, True] Translation: X:144.25, Y:-18.28, Z:-4.06 [[ 9.73034404e-01 2.30427715e-01 1.03497184e-02 1.44254102e+02] [-2.30416146e-01 9.73089436e-01 -2.31292787e-03 -1.82833616e+01] [-1.06041643e-02 -1.34183833e-04 9.99943765e-01 -4.06063242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724203822 meters 0.021958926621258628 Centerline is valid? [True, True] Translation: X:144.28, Y:-18.29, Z:-4.06 [[ 9.72582325e-01 2.32325548e-01 1.04144273e-02 1.44282641e+02] [-2.32313944e-01 9.72638070e-01 -2.32721516e-03 -1.82867956e+01] [-1.06701400e-02 -1.56008347e-04 9.99943060e-01 -4.06099130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754203822 meters 0.024208935693463298 Centerline is valid? [True, True] Translation: X:144.31, Y:-18.29, Z:-4.06 [[ 9.71981665e-01 2.34868922e-01 9.39323383e-03 1.44311758e+02] [-2.34859606e-01 9.72027038e-01 -2.09847255e-03 -1.82899331e+01] [-9.62334324e-03 -1.66414348e-04 9.99953681e-01 -4.06346246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784203822 meters 0.02550810893088795 Centerline is valid? [True, True] Translation: X:144.34, Y:-18.30, Z:-4.07 [[ 9.71862021e-01 2.35367353e-01 9.29633405e-03 1.44338799e+02] [-2.35358250e-01 9.71906467e-01 -2.07694095e-03 -1.82950163e+01] [-9.52401128e-03 -1.69468882e-04 9.99954631e-01 -4.06596049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814203822 meters 0.024268720498240005 Centerline is valid? [True, True] Translation: X:144.37, Y:-18.30, Z:-4.06 [[ 9.71890677e-01 2.35227772e-01 9.81876456e-03 1.44366413e+02] [-2.35217619e-01 9.71940257e-01 -2.19274320e-03 -1.83035165e+01] [-1.00590467e-02 -1.78439745e-04 9.99949391e-01 -4.06423571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844203822 meters 0.024091803437449127 Centerline is valid? [True, True] Translation: X:144.39, Y:-18.31, Z:-4.06 [[ 9.71914432e-01 2.35049316e-01 1.15825254e-02 1.44393986e+02] [-2.35035183e-01 9.71983423e-01 -2.58599720e-03 -1.83094519e+01] [-1.18658596e-02 -2.08932984e-04 9.99929576e-01 -4.06176649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.874203822 meters 0.02267990255307085 Centerline is valid? [True, True] Translation: X:144.42, Y:-18.32, Z:-4.06 [[ 9.71956947e-01 2.34882622e-01 1.13950286e-02 1.44422417e+02] [-2.34868942e-01 9.72023720e-01 -2.54327098e-03 -1.83168700e+01] [-1.16736083e-02 -2.04388417e-04 9.99931840e-01 -4.06076274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904203822 meters 0.02458132358724833 Centerline is valid? [True, True] Translation: X:144.45, Y:-18.32, Z:-4.06 [[ 9.71939320e-01 2.34963690e-01 1.12259955e-02 1.44450563e+02] [-2.34950421e-01 9.72004127e-01 -2.50528625e-03 -1.83198764e+01] [-1.15003653e-02 -2.02566165e-04 9.99933848e-01 -4.06375334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.934203822 meters 0.025655233065853263 Centerline is valid? [True, True] Translation: X:144.48, Y:-18.32, Z:-4.06 [[ 9.71770849e-01 2.35647355e-01 1.14778860e-02 1.44478669e+02] [-2.35633541e-01 9.71838607e-01 -2.56069948e-03 -1.83220780e+01] [-1.17580748e-02 -2.16161822e-04 9.99930848e-01 -4.06388231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964203822 meters 0.034627116810014666 Centerline is valid? [True, True] Translation: X:144.51, Y:-18.33, Z:-4.06 [[ 9.71657892e-01 2.36113043e-01 1.14704702e-02 1.44506715e+02] [-2.36099293e-01 9.71725569e-01 -2.55788623e-03 -1.83277175e+01] [-1.17500995e-02 -2.22779565e-04 9.99930940e-01 -4.06383102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.994203822 meters 0.025971223746324497 Centerline is valid? [True, True] Translation: X:144.53, Y:-18.33, Z:-4.06 [[ 9.71527947e-01 2.36589357e-01 1.26064964e-02 1.44534831e+02] [-2.36572794e-01 9.71609702e-01 -2.81077233e-03 -1.83287790e+01] [-1.29135930e-02 -2.51610205e-04 9.99916584e-01 -4.06351322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024203822 meters 0.025611593557037717 Centerline is valid? [True, True] Translation: X:144.56, Y:-18.33, Z:-4.06 [[ 9.71543687e-01 2.36535823e-01 1.23963400e-02 1.44563228e+02] [-2.36519818e-01 9.71622737e-01 -2.76270708e-03 -1.83337909e+01] [-1.26980450e-02 -2.47889460e-04 9.99919346e-01 -4.06421959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.054203822 meters 0.02596099060496313 Centerline is valid? [True, True] Translation: X:144.59, Y:-18.34, Z:-4.07 [[ 9.71661166e-01 2.36055659e-01 1.23411768e-02 1.44590799e+02] [-2.36039763e-01 9.71739506e-01 -2.74999284e-03 -1.83377831e+01] [-1.26415604e-02 -2.40947196e-04 9.99920063e-01 -4.06587161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084203822 meters 0.023527156935325477 Centerline is valid? [True, True] Translation: X:144.62, Y:-18.35, Z:-4.07 [[ 9.72076383e-01 2.34361708e-01 1.19203709e-02 1.44618935e+02] [-2.34346761e-01 9.72149446e-01 -2.65535836e-03 -1.83454120e+01] [-1.22106962e-02 -2.12289148e-04 9.99925424e-01 -4.06560574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.114203822 meters 0.02192442119816216 Centerline is valid? [True, True] Translation: X:144.65, Y:-18.35, Z:-4.07 [[ 9.72433046e-01 2.32894030e-01 1.15905810e-02 1.44647375e+02] [-2.32879801e-01 9.72502100e-01 -2.58136642e-03 -1.83520674e+01] [-1.18730492e-02 -1.89006177e-04 9.99929495e-01 -4.06662195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144203822 meters 0.020152696857928684 Centerline is valid? [True, True] Translation: X:144.68, Y:-18.36, Z:-4.07 [[ 9.72867681e-01 2.31077150e-01 1.14815739e-02 1.44675354e+02] [-2.31063067e-01 9.72935416e-01 -2.55653032e-03 -1.83585618e+01] [-1.17615857e-02 -1.65801955e-04 9.99930816e-01 -4.06740567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.174203822 meters 0.01814451098753201 Centerline is valid? [True, True] Translation: X:144.70, Y:-18.37, Z:-4.07 [[ 9.73415252e-01 2.28754885e-01 1.15736450e-02 1.44703101e+02] [-2.28740418e-01 9.73484044e-01 -2.57643402e-03 -1.83658428e+01] [-1.18561306e-02 -1.39420233e-04 9.99929704e-01 -4.06763571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204203822 meters 0.01457482233740038 Centerline is valid? [True, True] Translation: X:144.73, Y:-18.38, Z:-4.07 [[ 9.74681975e-01 2.23259266e-01 1.22616322e-02 1.44729869e+02] [-2.23242604e-01 9.74759095e-01 -2.72867779e-03 -1.83776641e+01] [-1.25613401e-02 -7.77256551e-05 9.99921100e-01 -4.06757768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.234203822 meters 0.012912926378007774 Centerline is valid? [True, True] Translation: X:144.76, Y:-18.39, Z:-4.07 [[ 9.76143040e-01 2.16759830e-01 1.26467744e-02 1.44756490e+02] [-2.16741565e-01 9.76224962e-01 -2.81387055e-03 -1.83913310e+01] [-1.29560310e-02 5.65847115e-06 9.99916067e-01 -4.06742386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264203822 meters 0.013787171161171648 Centerline is valid? [True, True] Translation: X:144.78, Y:-18.40, Z:-4.07 [[ 9.76827084e-01 2.13635120e-01 1.29955371e-02 1.44783072e+02] [-2.13615564e-01 9.76913524e-01 -2.89094116e-03 -1.84017653e+01] [-1.33131225e-02 4.79006409e-05 9.99911375e-01 -4.06834930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29420382200001 meters 0.015000813671765971 Centerline is valid? [True, True] Translation: X:144.81, Y:-18.41, Z:-4.07 [[ 9.77499314e-01 2.10534706e-01 1.30471650e-02 1.44811354e+02] [-2.10514730e-01 9.77586380e-01 -2.90155400e-03 -1.84127176e+01] [-1.33656086e-02 8.96466279e-05 9.99910672e-01 -4.06834902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32420382200002 meters 0.01731534340588564 Centerline is valid? [True, True] Translation: X:144.84, Y:-18.42, Z:-4.07 [[ 9.78102877e-01 2.07728972e-01 1.27842118e-02 1.44839545e+02] [-2.07709560e-01 9.78186413e-01 -2.84254384e-03 -1.84241846e+01] [-1.30958210e-02 1.24897296e-04 9.99914238e-01 -4.07054842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35420382200002 meters 0.027292414722440816 Centerline is valid? [True, True] Translation: X:144.87, Y:-18.44, Z:-4.07 [[ 9.79069774e-01 2.03206350e-01 1.13822953e-02 1.44869895e+02] [-2.03190662e-01 9.79135921e-01 -2.53030879e-03 -1.84357774e+01] [-1.16589890e-02 1.64572744e-04 9.99932018e-01 -4.07394862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38420382200002 meters 0.02931597566317316 Centerline is valid? [True, True] Translation: X:144.90, Y:-18.44, Z:-4.07 [[ 9.79303442e-01 2.02080333e-01 1.13272898e-02 1.44900647e+02] [-2.02064710e-01 9.79368933e-01 -2.51906212e-03 -1.84429779e+01] [-1.16026487e-02 1.78080666e-04 9.99932671e-01 -4.07460909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41420382200002 meters 0.021579886036823582 Centerline is valid? [True, True] Translation: X:144.93, Y:-18.45, Z:-4.08 [[ 9.79273015e-01 2.02303899e-01 9.87390068e-03 1.44931438e+02] [-2.02292038e-01 9.79322781e-01 -2.19601111e-03 -1.84505142e+01] [-1.01139975e-02 1.53082937e-04 9.99948841e-01 -4.07656588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444203822 meters 0.0213343704067758 Centerline is valid? [True, True] Translation: X:144.96, Y:-18.46, Z:-4.08 [[ 9.79108016e-01 2.03133767e-01 9.17418310e-03 1.44961623e+02] [-2.03123559e-01 9.79150987e-01 -2.04081619e-03 -1.84563284e+01] [-9.39746911e-03 1.34686763e-04 9.99955834e-01 -4.07891477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474203822 meters 0.02387360637613724 Centerline is valid? [True, True] Translation: X:144.99, Y:-18.46, Z:-4.08 [[ 9.78885811e-01 2.04212378e-01 8.93716743e-03 1.44990971e+02] [-2.04202731e-01 9.78926601e-01 -1.98867658e-03 -1.84604252e+01] [-9.15494331e-03 1.21693289e-04 9.99958085e-01 -4.08242313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504203822 meters 0.028134529579686235 Centerline is valid? [True, True] Translation: X:145.02, Y:-18.46, Z:-4.09 [[ 9.78223445e-01 2.07374143e-01 8.65197819e-03 1.45020021e+02] [-2.07365225e-01 9.78261702e-01 -1.92524066e-03 -1.84601986e+01] [-8.86314404e-03 8.91961471e-05 9.99960718e-01 -4.08571141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534203822 meters 0.018175304134574407 Centerline is valid? [True, True] Translation: X:145.05, Y:-18.46, Z:-4.09 [[ 9.77822302e-01 2.09263417e-01 8.50692445e-03 1.45049211e+02] [-2.09254863e-01 9.77859303e-01 -1.89338146e-03 -1.84632554e+01] [-8.71479069e-03 7.12753091e-05 9.99962023e-01 -4.08536495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564203822 meters 0.015889006479188898 Centerline is valid? [True, True] Translation: X:145.08, Y:-18.46, Z:-4.08 [[ 9.77269888e-01 2.11813466e-01 8.86688909e-03 1.45078029e+02] [-2.11804283e-01 9.77310111e-01 -1.97303901e-03 -1.84646498e+01] [-9.08361659e-03 5.01465271e-05 9.99958742e-01 -4.08448357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.594203822 meters 0.015284580282832926 Centerline is valid? [True, True] Translation: X:145.11, Y:-18.47, Z:-4.08 [[ 9.77131921e-01 2.12464764e-01 8.48131109e-03 1.45106559e+02] [-2.12456389e-01 9.77168728e-01 -1.88690130e-03 -1.84694835e+01] [-8.68857200e-03 4.18427689e-05 9.99962253e-01 -4.08462297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624203822 meters 0.01586870213395466 Centerline is valid? [True, True] Translation: X:145.13, Y:-18.48, Z:-4.09 [[ 9.77087210e-01 2.12697878e-01 7.75868239e-03 1.45133283e+02] [-2.12690877e-01 9.77118013e-01 -1.72610544e-03 -1.84757581e+01] [-7.94828729e-03 3.63545853e-05 9.99968411e-01 -4.08756808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.654203822 meters 0.01631994194068181 Centerline is valid? [True, True] Translation: X:145.16, Y:-18.48, Z:-4.09 [[ 9.77133020e-01 2.12517436e-01 6.88475686e-03 1.45160834e+02] [-2.12511922e-01 9.77157274e-01 -1.53113847e-03 -1.84832973e+01] [-7.05288387e-03 3.30330408e-05 9.99975128e-01 -4.08981246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684203822 meters 0.017457622464488662 Centerline is valid? [True, True] Translation: X:145.19, Y:-18.49, Z:-4.09 [[ 9.77438469e-01 2.11121875e-01 6.44921586e-03 1.45186996e+02] [-2.11117007e-01 9.77459745e-01 -1.43430083e-03 -1.84943743e+01] [-6.60666116e-03 4.04016641e-05 9.99978175e-01 -4.09171824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.714203822 meters 0.017560748466615213 Centerline is valid? [True, True] Translation: X:145.21, Y:-18.50, Z:-4.09 [[ 9.77679745e-01 2.09983621e-01 7.01392631e-03 1.45214786e+02] [-2.09977839e-01 9.77704903e-01 -1.55903636e-03 -1.85028218e+01] [-7.18492224e-03 5.14691801e-05 9.99974187e-01 -4.09041107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744203822 meters 0.017085687538763543 Centerline is valid? [True, True] Translation: X:145.24, Y:-18.51, Z:-4.09 [[ 9.77921503e-01 2.08796770e-01 8.56992608e-03 1.45243440e+02] [-2.08788104e-01 9.77959050e-01 -1.90368696e-03 -1.85123766e+01] [-8.77852046e-03 7.23577914e-05 9.99961465e-01 -4.08690189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.774203822 meters 0.016971703213668133 Centerline is valid? [True, True] Translation: X:145.27, Y:-18.52, Z:-4.09 [[ 9.77896619e-01 2.08879440e-01 9.35855545e-03 1.45270642e+02] [-2.08869113e-01 9.77941396e-01 -2.07850464e-03 -1.85202662e+01] [-9.58627566e-03 7.78494809e-05 9.99954048e-01 -4.08664655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804203822 meters 0.01716687339094323 Centerline is valid? [True, True] Translation: X:145.30, Y:-18.53, Z:-4.09 [[ 9.77732703e-01 2.09619275e-01 9.92575624e-03 1.45297863e+02] [-2.09607696e-01 9.77783081e-01 -2.20448724e-03 -1.85285403e+01] [-1.01673395e-02 7.48843792e-05 9.99948308e-01 -4.08853246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.834203822 meters 0.016380886249381724 Centerline is valid? [True, True] Translation: X:145.33, Y:-18.54, Z:-4.09 [[ 9.77448222e-01 2.10921190e-01 1.03549756e-02 1.45325482e+02] [-2.10908668e-01 9.77503068e-01 -2.29914131e-03 -1.85357165e+01] [-1.06069581e-02 6.33374631e-05 9.99943743e-01 -4.08849174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864203822 meters 0.014105474492176865 Centerline is valid? [True, True] Translation: X:145.36, Y:-18.54, Z:-4.09 [[ 9.76477795e-01 2.15399175e-01 9.71139593e-03 1.45355049e+02] [-2.15388384e-01 9.76526085e-01 -2.15607046e-03 -1.85385671e+01] [-9.94784724e-03 1.36330478e-05 9.99950519e-01 -4.08650247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.894203822 meters 0.017723370569958777 Centerline is valid? [True, True] Translation: X:145.38, Y:-18.54, Z:-4.09 [[ 9.75851630e-01 2.18247452e-01 9.03582594e-03 1.45384625e+02] [-2.18238234e-01 9.75893462e-01 -2.00590313e-03 -1.85409836e+01] [-9.25578671e-03 -1.44988588e-05 9.99957164e-01 -4.08828268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924203822 meters 0.01585616487081968 Centerline is valid? [True, True] Translation: X:145.41, Y:-18.54, Z:-4.09 [[ 9.75059302e-01 2.21731084e-01 9.73061416e-03 1.45413100e+02] [-2.21720563e-01 9.75107852e-01 -2.16052766e-03 -1.85420280e+01] [-9.96745441e-03 -5.08346633e-05 9.99950322e-01 -4.09042211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.954203822 meters 0.02113911497191265 Centerline is valid? [True, True] Translation: X:145.44, Y:-18.54, Z:-4.09 [[ 9.73296822e-01 2.29320151e-01 1.02744368e-02 1.45444797e+02] [-2.29308860e-01 9.73351041e-01 -2.27981188e-03 -1.85377811e+01] [-1.05234406e-02 -1.37085724e-04 9.99944618e-01 -4.09047830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984203822 meters 0.022244906950857613 Centerline is valid? [True, True] Translation: X:145.47, Y:-18.54, Z:-4.09 [[ 9.72427636e-01 2.33005766e-01 9.63358343e-03 1.45474201e+02] [-2.32996021e-01 9.72475339e-01 -2.13744781e-03 -1.85413527e+01] [-9.86645998e-03 -1.66073292e-04 9.99951312e-01 -4.08829014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.014203822 meters 0.030396167137400447 Centerline is valid? [True, True] Translation: X:145.51, Y:-18.54, Z:-4.09 [[ 9.70771795e-01 2.39797785e-01 9.95711822e-03 1.45505177e+02] [-2.39787734e-01 9.70822828e-01 -2.20894745e-03 -1.85350434e+01] [-1.01962984e-02 -2.43210927e-04 9.99947987e-01 -4.09143450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04420382200001 meters 0.031161755083534366 Centerline is valid? [True, True] Translation: X:145.53, Y:-18.54, Z:-4.09 [[ 9.70111789e-01 2.42448620e-01 1.00888069e-02 1.45534872e+02] [-2.42438447e-01 9.70164208e-01 -2.23789016e-03 -1.85398893e+01] [-1.03303727e-02 -2.74911049e-04 9.99946602e-01 -4.09041913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07420382200002 meters 0.037183875070970034 Centerline is valid? [True, True] Translation: X:145.57, Y:-18.54, Z:-4.10 [[ 9.69188594e-01 2.46168348e-01 8.63791980e-03 1.45565136e+02] [-2.46161040e-01 9.69227049e-01 -1.91593207e-03 -1.85368620e+01] [-8.84374735e-03 -2.69419809e-04 9.99960857e-01 -4.09517790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10420382200002 meters 0.03914375253607775 Centerline is valid? [True, True] Translation: X:145.59, Y:-18.54, Z:-4.10 [[ 9.68980013e-01 2.47001871e-01 8.23468867e-03 1.45592845e+02] [-2.46995247e-01 9.69014967e-01 -1.82788953e-03 -1.85381559e+01] [-8.43102870e-03 -2.62740544e-04 9.99964424e-01 -4.09746710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13420382200002 meters 0.039960879395489035 Centerline is valid? [True, True] Translation: X:145.62, Y:-18.54, Z:-4.10 [[ 9.68898070e-01 2.47308975e-01 8.64877469e-03 1.45620186e+02] [-2.47301691e-01 9.68936630e-01 -1.91859626e-03 -1.85410888e+01] [-8.85460068e-03 -2.79932392e-04 9.99960758e-01 -4.09781565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16420382200002 meters 0.03657812360257429 Centerline is valid? [True, True] Translation: X:145.65, Y:-18.55, Z:-4.10 [[ 9.68989418e-01 2.46945179e-01 8.80832127e-03 1.45648065e+02] [-2.46937626e-01 9.69029410e-01 -1.95216421e-03 -1.85507741e+01] [-9.01759991e-03 -2.83479478e-04 9.99959300e-01 -4.09535604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194203822 meters 0.039855287809188095 Centerline is valid? [True, True] Translation: X:145.68, Y:-18.55, Z:-4.10 [[ 9.69543332e-01 2.44710915e-01 1.01140854e-02 1.45677149e+02] [-2.44700844e-01 9.69596038e-01 -2.24061832e-03 -1.85523986e+01] [-1.03548808e-02 -3.02548675e-04 9.99946341e-01 -4.09784644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224203822 meters 0.030251344248136757 Centerline is valid? [True, True] Translation: X:145.70, Y:-18.57, Z:-4.09 [[ 9.70536710e-01 2.40734309e-01 1.02706734e-02 1.45704645e+02] [-2.40723710e-01 9.70591017e-01 -2.27446952e-03 -1.85684256e+01] [-1.05161662e-02 -2.64938437e-04 9.99944669e-01 -4.09367516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254203822 meters 0.030251344248136757 Centerline is valid? [True, True] Translation: X:145.73, Y:-18.57, Z:-4.09 [[ 9.70554142e-01 2.40664031e-01 1.02704675e-02 1.45731522e+02] [-2.40653418e-01 9.70608446e-01 -2.27539959e-03 -1.85742420e+01] [-1.05162093e-02 -2.63224614e-04 9.99944668e-01 -4.09445595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284203822 meters 0.02781755559636746 Centerline is valid? [True, True] Translation: X:145.76, Y:-18.58, Z:-4.10 [[ 9.71752757e-01 2.35763178e-01 1.05973095e-02 1.45759350e+02] [-2.35751606e-01 9.71810515e-01 -2.34606888e-03 -1.85817616e+01] [-1.08516934e-02 -2.18533831e-04 9.99941095e-01 -4.09779551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314203822 meters 0.02781755559636746 Centerline is valid? [True, True] Translation: X:145.79, Y:-18.59, Z:-4.10 [[ 9.71769005e-01 2.35696203e-01 1.05971957e-02 1.45786225e+02] [-2.35684622e-01 9.71826761e-01 -2.34658322e-03 -1.85875698e+01] [-1.08517191e-02 -2.17259219e-04 9.99941095e-01 -4.09857619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344203822 meters 0.02478878404904093 Centerline is valid? [True, True] Translation: X:145.81, Y:-18.60, Z:-4.10 [[ 9.72343879e-01 2.33295266e-01 1.09863367e-02 1.45813457e+02] [-2.33282679e-01 9.72405923e-01 -2.43149470e-03 -1.85970557e+01] [-1.12504351e-02 -1.98673082e-04 9.99936692e-01 -4.09794416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.374203822 meters 0.020623552575299825 Centerline is valid? [True, True] Translation: X:145.84, Y:-18.61, Z:-4.10 [[ 9.73386838e-01 2.28883956e-01 1.14104484e-02 1.45840431e+02] [-2.28870083e-01 9.73453702e-01 -2.52473881e-03 -1.86083432e+01] [-1.16854155e-02 -1.53962750e-04 9.99931711e-01 -4.09821031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404203822 meters 0.01806462099531114 Centerline is valid? [True, True] Translation: X:145.87, Y:-18.62, Z:-4.10 [[ 9.73826049e-01 2.27040197e-01 1.07505639e-02 1.45867750e+02] [-2.27027773e-01 9.73885380e-01 -2.37833377e-03 -1.86174286e+01] [-1.10097944e-02 -1.24593214e-04 9.99939383e-01 -4.09762779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434203822 meters 0.017827434209283618 Centerline is valid? [True, True] Translation: X:145.90, Y:-18.62, Z:-4.10 [[ 9.74156711e-01 2.25618950e-01 1.07140875e-02 1.45895427e+02] [-2.25606529e-01 9.74215622e-01 -2.36993128e-03 -1.86229276e+01] [-1.09725328e-02 -1.08483622e-04 9.99939794e-01 -4.09994919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464203822 meters 0.01814861716724988 Centerline is valid? [True, True] Translation: X:145.92, Y:-18.63, Z:-4.10 [[ 9.74425860e-01 2.24457246e-01 1.06389898e-02 1.45922997e+02] [-2.24444935e-01 9.74483933e-01 -2.35277897e-03 -1.86276073e+01] [-1.08956229e-02 -9.52586994e-05 9.99940636e-01 -4.10342214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.494203822 meters 0.021416873424566652 Centerline is valid? [True, True] Translation: X:145.95, Y:-18.64, Z:-4.10 [[ 9.74877332e-01 2.22533741e-01 9.63954995e-03 1.45951284e+02] [-2.22523549e-01 9.74924987e-01 -2.13088369e-03 -1.86352882e+01] [-9.87203162e-03 -6.76766572e-05 9.99951268e-01 -4.10405638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524203822 meters 0.015269082155262877 Centerline is valid? [True, True] Translation: X:145.98, Y:-18.64, Z:-4.10 [[ 9.75099561e-01 2.21550062e-01 9.81918724e-03 1.45979568e+02] [-2.21539442e-01 9.75148997e-01 -2.17007698e-03 -1.86420023e+01] [-1.00559513e-02 -5.92961549e-05 9.99949436e-01 -4.10272927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.554203822 meters 0.014879355107757668 Centerline is valid? [True, True] Translation: X:146.01, Y:-18.65, Z:-4.11 [[ 9.75676673e-01 2.19034412e-01 8.88571923e-03 1.46006005e+02] [-2.19025610e-01 9.75717134e-01 -1.96392986e-03 -1.86486313e+01] [-9.10011672e-03 -3.00395178e-05 9.99958593e-01 -4.10646901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584203822 meters 0.014860159373556165 Centerline is valid? [True, True] Translation: X:146.03, Y:-18.66, Z:-4.11 [[ 9.75992052e-01 2.17655251e-01 8.10589424e-03 1.46033973e+02] [-2.17647886e-01 9.76025712e-01 -1.79064191e-03 -1.86559314e+01] [-8.30130381e-03 -1.65784719e-05 9.99965543e-01 -4.10844736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.614203822 meters 0.014925180613734547 Centerline is valid? [True, True] Translation: X:146.06, Y:-18.66, Z:-4.11 [[ 9.76369255e-01 2.15982738e-01 7.38473747e-03 1.46062280e+02] [-2.15976579e-01 9.76397182e-01 -1.63108824e-03 -1.86627410e+01] [-7.56272376e-03 -2.38592775e-06 9.99971402e-01 -4.10980328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644203822 meters 0.01535075366119089 Centerline is valid? [True, True] Translation: X:146.09, Y:-18.67, Z:-4.11 [[ 9.76439518e-01 2.15664471e-01 7.39615428e-03 1.46089297e+02] [-2.15658285e-01 9.76467529e-01 -1.63348184e-03 -1.86683094e+01] [-7.57438850e-03 -4.57313747e-08 9.99971314e-01 -4.11257795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.674203822 meters 0.025662088834877896 Centerline is valid? [True, True] Translation: X:146.12, Y:-18.67, Z:-4.11 [[ 9.76519005e-01 2.15346449e-01 6.04488284e-03 1.46117226e+02] [-2.15342313e-01 9.76537714e-01 -1.33470518e-03 -1.86742611e+01] [-6.19048009e-03 1.64592409e-06 9.99980839e-01 -4.11491372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704203822 meters 0.01587939234604174 Centerline is valid? [True, True] Translation: X:146.14, Y:-18.68, Z:-4.12 [[ 9.76596365e-01 2.14958265e-01 7.24461998e-03 1.46144643e+02] [-2.14952318e-01 9.76623236e-01 -1.59894892e-03 -1.86812808e+01] [-7.41897149e-03 4.27985139e-06 9.99972479e-01 -4.11618906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.734203822 meters 0.014651379754713468 Centerline is valid? [True, True] Translation: X:146.17, Y:-18.69, Z:-4.11 [[ 9.76640565e-01 2.14734117e-01 7.90348384e-03 1.46172977e+02] [-2.14727036e-01 9.76672544e-01 -1.74384755e-03 -1.86872109e+01] [-8.09357923e-03 6.02059707e-06 9.99967246e-01 -4.11272314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764203822 meters 0.014677213805389557 Centerline is valid? [True, True] Translation: X:146.20, Y:-18.69, Z:-4.11 [[ 9.76637813e-01 2.14726436e-01 8.43441163e-03 1.46200293e+02] [-2.14718374e-01 9.76674233e-01 -1.86070082e-03 -1.86939699e+01] [-8.63721417e-03 6.20762882e-06 9.99962699e-01 -4.11411768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79420382200001 meters 0.014697191223040343 Centerline is valid? [True, True] Translation: X:146.23, Y:-18.70, Z:-4.11 [[ 9.76712482e-01 2.14391225e-01 8.31445121e-03 1.46228133e+02] [-2.14383385e-01 9.76747871e-01 -1.83347960e-03 -1.87028840e+01] [-8.51420445e-03 8.30222038e-06 9.99963753e-01 -4.11459572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82420382200002 meters 0.014769756170306354 Centerline is valid? [True, True] Translation: X:146.26, Y:-18.71, Z:-4.12 [[ 9.76500518e-01 2.15374850e-01 7.77255088e-03 1.46256096e+02] [-2.15368032e-01 9.76531451e-01 -1.71368057e-03 -1.87103743e+01] [-7.95922409e-03 -5.49020980e-07 9.99968325e-01 -4.11540606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85420382200002 meters 0.014995711149720932 Centerline is valid? [True, True] Translation: X:146.28, Y:-18.71, Z:-4.12 [[ 9.76146454e-01 2.16972823e-01 7.80345455e-03 1.46283979e+02] [-2.16966002e-01 9.76177645e-01 -1.72044182e-03 -1.87122615e+01] [-7.99084701e-03 -1.36811539e-05 9.99968073e-01 -4.11674161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88420382200002 meters 0.01642500806655963 Centerline is valid? [True, True] Translation: X:146.31, Y:-18.71, Z:-4.12 [[ 9.75589802e-01 2.19458044e-01 7.91860527e-03 1.46312459e+02] [-2.19451108e-01 9.75621938e-01 -1.74513053e-03 -1.87121157e+01] [-8.10854795e-03 -3.52151533e-05 9.99967125e-01 -4.11992924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91420382200002 meters 0.018820200609224468 Centerline is valid? [True, True] Translation: X:146.34, Y:-18.71, Z:-4.12 [[ 9.74309374e-01 2.25084137e-01 7.64028671e-03 1.46342263e+02] [-2.25077858e-01 9.74339327e-01 -1.68312519e-03 -1.87104303e+01] [-7.82307660e-03 -7.97747147e-05 9.99969396e-01 -4.11858815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944203822 meters 0.023274019163657938 Centerline is valid? [True, True] Translation: X:146.37, Y:-18.71, Z:-4.12 [[ 9.73637467e-01 2.27954395e-01 8.17781416e-03 1.46370309e+02] [-2.27947303e-01 9.73671804e-01 -1.80151384e-03 -1.87098477e+01] [-8.37317006e-03 -1.10089306e-04 9.99964938e-01 -4.12287033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974203822 meters 0.025601361225529584 Centerline is valid? [True, True] Translation: X:146.40, Y:-18.71, Z:-4.12 [[ 9.72374079e-01 2.33264243e-01 8.74319901e-03 1.46400788e+02] [-2.33256366e-01 9.72413371e-01 -1.92428837e-03 -1.87097261e+01] [-8.95087129e-03 -1.68278702e-04 9.99959926e-01 -4.11841109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004203822 meters 0.027778793388451965 Centerline is valid? [True, True] Translation: X:146.43, Y:-18.71, Z:-4.12 [[ 9.71854400e-01 2.35397009e-01 9.34197890e-03 1.46429994e+02] [-2.35388114e-01 9.71899279e-01 -2.05625119e-03 -1.87116391e+01] [-9.56349794e-03 -2.00614023e-04 9.99954249e-01 -4.11809669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034203822 meters 0.029924754344450827 Centerline is valid? [True, True] Translation: X:146.46, Y:-18.71, Z:-4.12 [[ 9.71506135e-01 2.36790710e-01 1.02951071e-02 1.46457839e+02] [-2.36779989e-01 9.71560654e-01 -2.26560007e-03 -1.87127499e+01] [-1.05387940e-02 -2.36630971e-04 9.99944437e-01 -4.11844680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064203822 meters 0.02970192690685477 Centerline is valid? [True, True] Translation: X:146.49, Y:-18.72, Z:-4.12 [[ 9.71293487e-01 2.37648591e-01 1.05881770e-02 1.46486732e+02] [-2.37637312e-01 9.71351164e-01 -2.32918061e-03 -1.87162891e+01] [-1.08383645e-02 -2.53827963e-04 9.99941231e-01 -4.11719884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.094203822 meters 0.03038784860898476 Centerline is valid? [True, True] Translation: X:146.52, Y:-18.71, Z:-4.12 [[ 9.71372668e-01 2.37331866e-01 1.04271038e-02 1.46515246e+02] [-2.37320913e-01 9.71428600e-01 -2.29345552e-03 -1.87145126e+01] [-1.06734969e-02 -2.46769782e-04 9.99943006e-01 -4.11977380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124203822 meters 0.029834886040378282 Centerline is valid? [True, True] Translation: X:146.54, Y:-18.72, Z:-4.12 [[ 9.71675665e-01 2.36108812e-01 9.95137240e-03 1.46543043e+02] [-2.36098780e-01 9.71726597e-01 -2.18804438e-03 -1.87195928e+01] [-1.01866298e-02 -2.23437403e-04 9.99948090e-01 -4.12263544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.154203822 meters 0.02561778411998923 Centerline is valid? [True, True] Translation: X:146.57, Y:-18.73, Z:-4.13 [[ 9.72645566e-01 2.32142555e-01 8.39270861e-03 1.46570481e+02] [-2.32135275e-01 9.72681762e-01 -1.84491177e-03 -1.87302387e+01] [-8.59171713e-03 -1.53798464e-04 9.99963079e-01 -4.12610541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184203822 meters 0.023772006802924198 Centerline is valid? [True, True] Translation: X:146.60, Y:-18.74, Z:-4.13 [[ 9.73184200e-01 2.29909296e-01 7.36406501e-03 1.46598186e+02] [-2.29903626e-01 9.73212054e-01 -1.61890202e-03 -1.87377537e+01] [-7.53899745e-03 -1.17535375e-04 9.99971574e-01 -4.12839642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.214203822 meters 0.020068544164278997 Centerline is valid? [True, True] Translation: X:146.63, Y:-18.75, Z:-4.13 [[ 9.74339399e-01 2.24978684e-01 6.87949162e-03 1.46626206e+02] [-2.24973616e-01 9.74363683e-01 -1.51186557e-03 -1.87463170e+01] [-7.04326431e-03 -7.46339183e-05 9.99975193e-01 -4.13165993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244203822 meters 0.019260635906583334 Centerline is valid? [True, True] Translation: X:146.65, Y:-18.75, Z:-4.13 [[ 9.74907796e-01 2.22491551e-01 7.23185318e-03 1.46652963e+02] [-2.22485881e-01 9.74934616e-01 -1.58948545e-03 -1.87536549e+01] [-7.40423109e-03 -5.93834701e-05 9.99972587e-01 -4.13382461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.274203822 meters 0.016007398649697788 Centerline is valid? [True, True] Translation: X:146.68, Y:-18.76, Z:-4.13 [[ 9.75555947e-01 2.19629778e-01 7.30449511e-03 1.46680688e+02] [-2.19623918e-01 9.75583292e-01 -1.60477442e-03 -1.87641373e+01] [-7.47859964e-03 -3.86946050e-05 9.99972034e-01 -4.12968922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304203822 meters 0.015233924024915963 Centerline is valid? [True, True] Translation: X:146.71, Y:-18.77, Z:-4.13 [[ 9.76105725e-01 2.17165054e-01 7.54666109e-03 1.46708638e+02] [-2.17158729e-01 9.76134898e-01 -1.65753811e-03 -1.87720190e+01] [-7.72651861e-03 -2.08908915e-05 9.99970150e-01 -4.13028826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.334203822 meters 0.015339182800187829 Centerline is valid? [True, True] Translation: X:146.73, Y:-18.78, Z:-4.13 [[ 9.77095270e-01 2.12669334e-01 7.52254620e-03 1.46734627e+02] [-2.12662913e-01 9.77124227e-01 -1.65263198e-03 -1.87797274e+01] [-7.70192628e-03 1.50123032e-05 9.99970340e-01 -4.13282719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364203822 meters 0.01614608749199371 Centerline is valid? [True, True] Translation: X:146.76, Y:-18.79, Z:-4.13 [[ 9.77607574e-01 2.10313443e-01 7.18936198e-03 1.46761289e+02] [-2.10307520e-01 9.77634008e-01 -1.57878600e-03 -1.87876330e+01] [-7.36060469e-03 3.14562678e-05 9.99972910e-01 -4.13460273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.394203822 meters 0.018168624814344052 Centerline is valid? [True, True] Translation: X:146.79, Y:-18.80, Z:-4.13 [[ 9.78630498e-01 2.05489577e-01 7.50875128e-03 1.46787734e+02] [-2.05482984e-01 9.78659302e-01 -1.64751462e-03 -1.88006134e+01] [-7.68705637e-03 6.93874341e-05 9.99970452e-01 -4.13373490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424203822 meters 0.026787863596927947 Centerline is valid? [True, True] Translation: X:146.81, Y:-18.81, Z:-4.14 [[ 9.79088647e-01 2.03302393e-01 7.31832061e-03 1.46813839e+02] [-2.03296071e-01 9.79115994e-01 -1.60539297e-03 -1.88089658e+01] [-7.49186499e-03 8.40361984e-05 9.99971932e-01 -4.13705419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.454203822 meters 0.020327897255420276 Centerline is valid? [True, True] Translation: X:146.84, Y:-18.82, Z:-4.13 [[ 9.79391203e-01 2.01822264e-01 7.78744761e-03 1.46841572e+02] [-2.01815063e-01 9.79422158e-01 -1.70783758e-03 -1.88160013e+01] [-7.97187839e-03 1.01016866e-04 9.99968219e-01 -4.13400321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484203822 meters 0.020650796533464872 Centerline is valid? [True, True] Translation: X:146.87, Y:-18.82, Z:-4.14 [[ 9.79589129e-01 2.00887151e-01 7.03499603e-03 1.46869315e+02] [-2.00881252e-01 9.79614385e-01 -1.54261349e-03 -1.88230237e+01] [-7.20147454e-03 9.79285981e-05 9.99974064e-01 -4.13522292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.514203822 meters 0.021405129997007288 Centerline is valid? [True, True] Translation: X:146.90, Y:-18.83, Z:-4.14 [[ 9.79432948e-01 2.01636977e-01 7.32325014e-03 1.46896742e+02] [-2.01630606e-01 9.79460321e-01 -1.60564377e-03 -1.88288986e+01] [-7.49659008e-03 9.60290439e-05 9.99971896e-01 -4.13786876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54420382200001 meters 0.018934361891048253 Centerline is valid? [True, True] Translation: X:146.93, Y:-18.83, Z:-4.14 [[ 9.79125377e-01 2.03112551e-01 7.66737336e-03 1.46926688e+02] [-2.03105619e-01 9.79155393e-01 -1.68026801e-03 -1.88292793e+01] [-7.84883350e-03 8.79064317e-05 9.99969194e-01 -4.13519698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57420382200002 meters 0.015469888767299494 Centerline is valid? [True, True] Translation: X:146.96, Y:-18.83, Z:-4.13 [[ 9.78138136e-01 2.07801624e-01 8.01698427e-03 1.46957266e+02] [-2.07794207e-01 9.78170988e-01 -1.75643650e-03 -1.88255473e+01] [-8.20697179e-03 5.21546360e-05 9.99966321e-01 -4.13427554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60420382200002 meters 0.01533570547329957 Centerline is valid? [True, True] Translation: X:146.98, Y:-18.83, Z:-4.14 [[ 9.77654463e-01 2.10086171e-01 7.45336320e-03 1.46983590e+02] [-2.10079819e-01 9.77682873e-01 -1.63394727e-03 -1.88292025e+01] [-7.63029527e-03 3.16346527e-05 9.99970888e-01 -4.13717601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63420382200002 meters 0.014955354050543957 Centerline is valid? [True, True] Translation: X:147.01, Y:-18.83, Z:-4.14 [[ 9.76552735e-01 2.15163448e-01 7.03176208e-03 1.47013759e+02] [-2.15157940e-01 9.76578051e-01 -1.53954652e-03 -1.88270691e+01] [-7.19831864e-03 -9.49108118e-06 9.99974092e-01 -4.13870401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66420382200002 meters 0.016082459038680857 Centerline is valid? [True, True] Translation: X:147.04, Y:-18.83, Z:-4.14 [[ 9.75963793e-01 2.17806606e-01 7.41331636e-03 1.47041175e+02] [-2.17800558e-01 9.75991947e-01 -1.62340772e-03 -1.88264519e+01] [-7.58892600e-03 -3.02372827e-05 9.99971203e-01 -4.14141723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694203822 meters 0.016819221455458364 Centerline is valid? [True, True] Translation: X:147.07, Y:-18.83, Z:-4.14 [[ 9.75421569e-01 2.20224074e-01 7.35662592e-03 1.47070815e+02] [-2.20218198e-01 9.75449309e-01 -1.60954169e-03 -1.88275575e+01] [-7.53047550e-03 -5.00812218e-05 9.99971644e-01 -4.14126573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724203822 meters 0.018076415306895084 Centerline is valid? [True, True] Translation: X:147.10, Y:-18.83, Z:-4.14 [[ 9.74963080e-01 2.22245722e-01 7.33694461e-03 1.47099475e+02] [-2.22239936e-01 9.74990684e-01 -1.60512421e-03 -1.88291829e+01] [-7.51018463e-03 -6.56252501e-05 9.99971796e-01 -4.14270863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754203822 meters 0.020081696075530772 Centerline is valid? [True, True] Translation: X:147.13, Y:-18.83, Z:-4.14 [[ 9.74342178e-01 2.24968767e-01 6.80983152e-03 1.47128971e+02] [-2.24963834e-01 9.74365972e-01 -1.49191133e-03 -1.88279598e+01] [-6.97090156e-03 -7.83336650e-05 9.99975700e-01 -4.14439746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784203822 meters 0.021781774230321255 Centerline is valid? [True, True] Translation: X:147.16, Y:-18.83, Z:-4.15 [[ 9.74172188e-01 2.25697322e-01 7.01903357e-03 1.47156819e+02] [-2.25692127e-01 9.74197470e-01 -1.53394093e-03 -1.88304857e+01] [-7.18413111e-03 -8.98180194e-05 9.99974190e-01 -4.14764443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814203822 meters 0.0211261578855407 Centerline is valid? [True, True] Translation: X:147.19, Y:-18.84, Z:-4.15 [[ 9.74203475e-01 2.25569587e-01 6.77874665e-03 1.47185130e+02] [-2.25564743e-01 9.74227055e-01 -1.48078095e-03 -1.88370850e+01] [-6.93805753e-03 -8.64643021e-05 9.99975928e-01 -4.14848839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844203822 meters 0.020347808062886892 Centerline is valid? [True, True] Translation: X:147.21, Y:-18.84, Z:-4.15 [[ 9.74404400e-01 2.24700606e-01 6.76035745e-03 1.47213392e+02] [-2.24695770e-01 9.74427848e-01 -1.47643539e-03 -1.88437946e+01] [-6.91923649e-03 -8.03785818e-05 9.99976059e-01 -4.14880316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.874203822 meters 0.01872736374967443 Centerline is valid? [True, True] Translation: X:147.24, Y:-18.85, Z:-4.15 [[ 9.75068420e-01 2.21790305e-01 7.11594699e-03 1.47239978e+02] [-2.21784870e-01 9.75094384e-01 -1.55391440e-03 -1.88509426e+01] [-7.28336309e-03 -6.30365136e-05 9.99973474e-01 -4.15072136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904203822 meters 0.01803636556046704 Centerline is valid? [True, True] Translation: X:147.27, Y:-18.86, Z:-4.15 [[ 9.75460438e-01 2.20066872e-01 6.89240280e-03 1.47266488e+02] [-2.20061733e-01 9.75484787e-01 -1.50469405e-03 -1.88588094e+01] [-7.05456739e-03 -4.89845876e-05 9.99975115e-01 -4.15244522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.934203822 meters 0.01729563447091123 Centerline is valid? [True, True] Translation: X:147.29, Y:-18.87, Z:-4.15 [[ 9.75876651e-01 2.18227717e-01 6.43633200e-03 1.47293348e+02] [-2.18223196e-01 9.75897875e-01 -1.40509987e-03 -1.88671872e+01] [-6.58783446e-03 -3.33527836e-05 9.99978299e-01 -4.15408529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964203822 meters 0.01642945569932245 Centerline is valid? [True, True] Translation: X:147.32, Y:-18.88, Z:-4.16 [[ 9.76507638e-01 2.15400059e-01 5.97063651e-03 1.47319716e+02] [-2.15396117e-01 9.76525890e-01 -1.30315166e-03 -1.88779864e+01] [-6.11118008e-03 -1.35143719e-05 9.99981326e-01 -4.15574301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.994203822 meters 0.016650785862564448 Centerline is valid? [True, True] Translation: X:147.35, Y:-18.89, Z:-4.16 [[ 9.76800218e-01 2.14078169e-01 5.64547291e-03 1.47346667e+02] [-2.14074626e-01 9.76816532e-01 -1.23159762e-03 -1.88855610e+01] [-5.77824943e-03 -5.52767491e-06 9.99983306e-01 -4.15789061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024203822 meters 0.019860610583408468 Centerline is valid? [True, True] Translation: X:147.37, Y:-18.89, Z:-4.16 [[ 9.77049261e-01 2.12962285e-01 4.66978081e-03 1.47374193e+02] [-2.12959849e-01 9.77060421e-01 -1.01851724e-03 -1.88930517e+01] [-4.77956376e-03 6.65696680e-07 9.99988578e-01 -4.15775494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.054203822 meters 0.01698823478151347 Centerline is valid? [True, True] Translation: X:147.40, Y:-18.90, Z:-4.16 [[ 9.77317056e-01 2.11722705e-01 4.98675415e-03 1.47401147e+02] [-2.11719912e-01 9.77329779e-01 -1.08758594e-03 -1.89014550e+01] [-5.10396997e-03 7.12114078e-06 9.99986975e-01 -4.16043154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084203822 meters 0.016091679008160355 Centerline is valid? [True, True] Translation: X:147.43, Y:-18.91, Z:-4.16 [[ 9.77535622e-01 2.10709272e-01 5.07052116e-03 1.47428104e+02] [-2.10706371e-01 9.77548773e-01 -1.10578105e-03 -1.89095773e+01] [-5.18968005e-03 1.25492543e-05 9.99986533e-01 -4.15817145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.114203822 meters 0.023151018580217862 Centerline is valid? [True, True] Translation: X:147.46, Y:-18.92, Z:-4.16 [[ 9.77919486e-01 2.08910575e-01 5.46348721e-03 1.47455941e+02] [-2.08907185e-01 9.77934748e-01 -1.19032952e-03 -1.89190319e+01] [-5.59160641e-03 2.26846953e-05 9.99984367e-01 -4.15900883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144203822 meters 0.01632420401019463 Centerline is valid? [True, True] Translation: X:147.48, Y:-18.93, Z:-4.16 [[ 9.78016864e-01 2.08428560e-01 6.36778702e-03 1.47482544e+02] [-2.08423946e-01 9.78037594e-01 -1.38705951e-03 -1.89263571e+01] [-6.51703791e-03 2.93682976e-05 9.99978763e-01 -4.15802198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.174203822 meters 0.016636564247630756 Centerline is valid? [True, True] Translation: X:147.51, Y:-18.93, Z:-4.16 [[ 9.77923972e-01 2.08880272e-01 5.80843086e-03 1.47509053e+02] [-2.08876439e-01 9.77941221e-01 -1.26558585e-03 -1.89335748e+01] [-5.94465988e-03 2.44023843e-05 9.99982330e-01 -4.15979931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204203822 meters 0.016365776612152463 Centerline is valid? [True, True] Translation: X:147.54, Y:-18.94, Z:-4.16 [[ 9.77673198e-01 2.10047742e-01 5.92151356e-03 1.47537712e+02] [-2.10043789e-01 9.77691130e-01 -1.28876845e-03 -1.89384329e+01] [-6.06011419e-03 1.62172276e-05 9.99981637e-01 -4.16063860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.234203822 meters 0.015865045127973994 Centerline is valid? [True, True] Translation: X:147.57, Y:-18.94, Z:-4.16 [[ 9.77214025e-01 2.12161053e-01 6.35896346e-03 1.47566792e+02] [-2.12156542e-01 9.77234715e-01 -1.38355704e-03 -1.89405325e+01] [-6.50773676e-03 2.93565186e-06 9.99978824e-01 -4.16019258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264203822 meters 0.015865045127973994 Centerline is valid? [True, True] Translation: X:147.59, Y:-18.95, Z:-4.16 [[ 9.77229054e-01 2.12091822e-01 6.35891927e-03 1.47593685e+02] [-2.12087308e-01 9.77249742e-01 -1.38376060e-03 -1.89462376e+01] [-6.50773653e-03 3.60499507e-06 9.99978824e-01 -4.16097312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29420382200001 meters 0.017702568674493917 Centerline is valid? [True, True] Translation: X:147.62, Y:-18.94, Z:-4.16 [[ 9.75901409e-01 2.18074110e-01 7.75393760e-03 1.47622829e+02] [-2.18067596e-01 9.75932211e-01 -1.68604960e-03 -1.89420577e+01] [-7.93500123e-03 -4.54643548e-05 9.99968516e-01 -4.16287292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32420382200002 meters 0.018931100505662202 Centerline is valid? [True, True] Translation: X:147.65, Y:-18.94, Z:-4.16 [[ 9.75250141e-01 2.20976096e-01 7.53178275e-03 1.47651978e+02] [-2.20970042e-01 9.75279222e-01 -1.63707250e-03 -1.89445403e+01] [-7.70734511e-03 -6.77431669e-05 9.99970296e-01 -4.16197965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35420382200002 meters 0.023530063388471 Centerline is valid? [True, True] Translation: X:147.68, Y:-18.94, Z:-4.16 [[ 9.73988329e-01 2.26458822e-01 7.94588308e-03 1.47682079e+02] [-2.26452269e-01 9.74020733e-01 -1.72668140e-03 -1.89393269e+01] [-8.13047709e-03 -1.17595728e-04 9.99966940e-01 -4.16185192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38420382200002 meters 0.025188655798606126 Centerline is valid? [True, True] Translation: X:147.71, Y:-18.94, Z:-4.16 [[ 9.73537357e-01 2.28375568e-01 8.34354723e-03 1.47710848e+02] [-2.28368398e-01 9.73573100e-01 -1.81488440e-03 -1.89408743e+01] [-8.53752840e-03 -1.38544756e-04 9.99963545e-01 -4.16225042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41420382200002 meters 0.027323773873060543 Centerline is valid? [True, True] Translation: X:147.74, Y:-18.94, Z:-4.16 [[ 9.73212400e-01 2.29756747e-01 8.33436706e-03 1.47738167e+02] [-2.29749673e-01 9.73248074e-01 -1.80956691e-03 -1.89437123e+01] [-8.52716689e-03 -1.53725152e-04 9.99963631e-01 -4.16419164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444203822 meters 0.028338866899889705 Centerline is valid? [True, True] Translation: X:147.77, Y:-18.95, Z:-4.17 [[ 9.73018882e-01 2.30612571e-01 7.21787974e-03 1.47766096e+02] [-2.30607292e-01 9.73045643e-01 -1.56665461e-03 -1.89488995e+01] [-7.38461667e-03 -1.40111183e-04 9.99972724e-01 -4.16650200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474203822 meters 0.026779415160770835 Centerline is valid? [True, True] Translation: X:147.79, Y:-18.95, Z:-4.17 [[ 9.72910072e-01 2.31109277e-01 5.87313851e-03 1.47794422e+02] [-2.31105776e-01 9.72927792e-01 -1.27731193e-03 -1.89542664e+01] [-6.00933832e-03 -1.14606591e-04 9.99981937e-01 -4.16668463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504203822 meters 0.02989079235224629 Centerline is valid? [True, True] Translation: X:147.82, Y:-18.95, Z:-4.17 [[ 9.72910359e-01 2.31102906e-01 6.07295985e-03 1.47822330e+02] [-2.31099182e-01 9.72929305e-01 -1.31758164e-03 -1.89538439e+01] [-6.21305755e-03 -1.21567223e-04 9.99980691e-01 -4.17097364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534203822 meters 0.03096411297607418 Centerline is valid? [True, True] Translation: X:147.85, Y:-18.96, Z:-4.17 [[ 9.72805271e-01 2.31518816e-01 6.99594920e-03 1.47850438e+02] [-2.31513892e-01 9.72830415e-01 -1.51683341e-03 -1.89551892e+01] [-7.15704764e-03 -1.44075891e-04 9.99974378e-01 -4.17073085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564203822 meters 0.026971200500966554 Centerline is valid? [True, True] Translation: X:147.88, Y:-18.96, Z:-4.17 [[ 9.72739214e-01 2.31791627e-01 7.14588273e-03 1.47877677e+02] [-2.31786488e-01 9.72765450e-01 -1.55054492e-03 -1.89641108e+01] [-7.31067116e-03 -1.48043213e-04 9.99973266e-01 -4.16584193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.594203822 meters 0.03196016591192549 Centerline is valid? [True, True] Translation: X:147.91, Y:-18.96, Z:-4.17 [[ 9.72703322e-01 2.31948421e-01 6.94100541e-03 1.47906827e+02] [-2.31943602e-01 9.72728075e-01 -1.50256024e-03 -1.89621223e+01] [-7.10022731e-03 -1.48376461e-04 9.99974782e-01 -4.17205241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624203822 meters 0.026922458893817603 Centerline is valid? [True, True] Translation: X:147.93, Y:-18.97, Z:-4.17 [[ 9.72840508e-01 2.31379933e-01 6.68382562e-03 1.47934274e+02] [-2.31375433e-01 9.72863458e-01 -1.44952044e-03 -1.89692567e+01] [-6.83783965e-03 -1.36320848e-04 9.99976612e-01 -4.16742232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.654203822 meters 0.031125440155580223 Centerline is valid? [True, True] Translation: X:147.96, Y:-18.97, Z:-4.17 [[ 9.73035850e-01 2.30538292e-01 7.30276226e-03 1.47962437e+02] [-2.30532933e-01 9.73063243e-01 -1.57880693e-03 -1.89689062e+01] [-7.47002498e-03 -1.47291462e-04 9.99972088e-01 -4.17352476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684203822 meters 0.029400472436184065 Centerline is valid? [True, True] Translation: X:147.99, Y:-18.98, Z:-4.17 [[ 9.73388499e-01 2.29017959e-01 8.09971777e-03 1.47990271e+02] [-2.29011304e-01 9.73422186e-01 -1.75231170e-03 -1.89756878e+01] [-8.28575582e-03 -1.49246872e-04 9.99965661e-01 -4.17293389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.714203822 meters 0.023463313088272243 Centerline is valid? [True, True] Translation: X:148.02, Y:-18.99, Z:-4.17 [[ 9.74564162e-01 2.23946103e-01 8.53448462e-03 1.48018065e+02] [-2.23938556e-01 9.74601524e-01 -1.84208985e-03 -1.89868986e+01] [-8.73025056e-03 -1.15965417e-04 9.99961884e-01 -4.17258671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744203822 meters 0.019237440163661298 Centerline is valid? [True, True] Translation: X:148.05, Y:-19.00, Z:-4.17 [[ 9.75413609e-01 2.20221950e-01 8.40149151e-03 1.48045267e+02] [-2.20214496e-01 9.75449787e-01 -1.81368788e-03 -1.89987274e+01] [-8.59464698e-03 -8.10343784e-05 9.99963062e-01 -4.17222546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.774203822 meters 0.014280674969815912 Centerline is valid? [True, True] Translation: X:148.07, Y:-19.02, Z:-4.17 [[ 9.77430337e-01 2.11062226e-01 9.09247153e-03 1.48071207e+02] [-2.11053098e-01 9.77472627e-01 -1.96298401e-03 -1.90181702e+01] [-9.30195381e-03 -3.14155950e-07 9.99956736e-01 -4.16921707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804203822 meters 0.015741985441574808 Centerline is valid? [True, True] Translation: X:148.10, Y:-19.03, Z:-4.17 [[ 9.78468744e-01 2.06191493e-01 9.16433678e-03 1.48096831e+02] [-2.06182012e-01 9.78511659e-01 -1.97785149e-03 -1.90301451e+01] [-9.37522654e-03 4.57444615e-05 9.99956051e-01 -4.17111847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.834203822 meters 0.01785744563590676 Centerline is valid? [True, True] Translation: X:148.12, Y:-19.04, Z:-4.17 [[ 9.79418372e-01 2.01639720e-01 9.00424692e-03 1.48123436e+02] [-2.01630389e-01 9.79459757e-01 -1.94168205e-03 -1.90418940e+01] [-9.21081773e-03 8.61892593e-05 9.99957576e-01 -4.17097998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864203822 meters 0.020710510418128603 Centerline is valid? [True, True] Translation: X:148.15, Y:-19.05, Z:-4.17 [[ 9.80236865e-01 1.97644090e-01 8.51485282e-03 1.48150475e+02] [-1.97635599e-01 9.80273839e-01 -1.83579495e-03 -1.90540070e+01] [-8.70972148e-03 1.16675850e-04 9.99962063e-01 -4.17164630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.894203822 meters 0.025667670871078022 Centerline is valid? [True, True] Translation: X:148.18, Y:-19.07, Z:-4.17 [[ 9.81234368e-01 1.92633158e-01 8.46061216e-03 1.48176621e+02] [-1.92624593e-01 9.81270830e-01 -1.82344369e-03 -1.90692205e+01] [-8.65340763e-03 1.59503642e-04 9.99962546e-01 -4.17231560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924203822 meters 0.02515301794678846 Centerline is valid? [True, True] Translation: X:148.21, Y:-19.08, Z:-4.17 [[ 9.81456685e-01 1.91473593e-01 8.97990252e-03 1.48205227e+02] [-1.91463898e-01 9.81497749e-01 -1.93521866e-03 -1.90757931e+01] [-9.18429738e-03 1.80006153e-04 9.99957807e-01 -4.16997668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.954203822 meters 0.028090277309401918 Centerline is valid? [True, True] Translation: X:148.23, Y:-19.09, Z:-4.17 [[ 9.81638042e-01 1.90521040e-01 9.40674709e-03 1.48231127e+02] [-1.90510359e-01 9.81683093e-01 -2.02702133e-03 -1.90877666e+01] [-9.62063478e-03 1.97718483e-04 9.99953701e-01 -4.17229344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984203822 meters 0.025755786318827727 Centerline is valid? [True, True] Translation: X:148.26, Y:-19.09, Z:-4.17 [[ 9.81616659e-01 1.90620152e-01 9.62773128e-03 1.48260383e+02] [-1.90608981e-01 9.81663852e-01 -2.07332742e-03 -1.90916114e+01] [-9.84641376e-03 2.00080683e-04 9.99951503e-01 -4.16980756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.014203822 meters 0.026447778507833607 Centerline is valid? [True, True] Translation: X:148.29, Y:-19.10, Z:-4.17 [[ 9.81367747e-01 1.91874049e-01 1.00843166e-02 1.48287225e+02] [-1.91861860e-01 9.81419539e-01 -2.17166130e-03 -1.90976493e+01] [-1.03136308e-02 1.96402629e-04 9.99946794e-01 -4.17224785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04420382200001 meters 0.02366561208633989 Centerline is valid? [True, True] Translation: X:148.32, Y:-19.10, Z:-4.17 [[ 9.81149292e-01 1.92992567e-01 9.99680447e-03 1.48315910e+02] [-1.92980655e-01 9.81200202e-01 -2.15197459e-03 -1.91016343e+01] [-1.02241817e-02 1.82218472e-04 9.99947715e-01 -4.17102948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07420382200002 meters 0.02401703425711957 Centerline is valid? [True, True] Translation: X:148.34, Y:-19.11, Z:-4.17 [[ 9.80921990e-01 1.94150629e-01 9.87836780e-03 1.48343040e+02] [-1.94139061e-01 9.80971715e-01 -2.12598855e-03 -1.91095967e+01] [-1.01031614e-02 1.67651874e-04 9.99948948e-01 -4.17402395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10420382200002 meters 0.021603582464838973 Centerline is valid? [True, True] Translation: X:148.37, Y:-19.11, Z:-4.17 [[ 9.80658124e-01 1.95495022e-01 9.55721011e-03 1.48371537e+02] [-1.95484262e-01 9.80704683e-01 -2.05643274e-03 -1.91144881e+01] [-9.77482307e-03 1.48373310e-04 9.99952214e-01 -4.17337277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13420382200002 meters 0.020675114612545006 Centerline is valid? [True, True] Translation: X:148.40, Y:-19.12, Z:-4.18 [[ 9.80046710e-01 1.98521810e-01 9.87611783e-03 1.48398664e+02] [-1.98510476e-01 9.80096463e-01 -2.12481075e-03 -1.91218496e+01] [-1.01013694e-02 1.21900933e-04 9.99948972e-01 -4.17655291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16420382200002 meters 0.01866281825264981 Centerline is valid? [True, True] Translation: X:148.43, Y:-19.13, Z:-4.18 [[ 9.79723962e-01 2.00108350e-01 9.87959625e-03 1.48427348e+02] [-2.00097099e-01 9.79773768e-01 -2.12456453e-03 -1.91266026e+01] [-1.01049123e-02 1.04608227e-04 9.99948939e-01 -4.17621828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19420382200002 meters 0.017277674354533378 Centerline is valid? [True, True] Translation: X:148.46, Y:-19.13, Z:-4.18 [[ 9.79372399e-01 2.01853645e-01 9.20920209e-03 1.48455997e+02] [-2.01843949e-01 9.79415693e-01 -1.98005688e-03 -1.91320753e+01] [-9.41931874e-03 8.03913387e-05 9.99955634e-01 -4.17719774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224203822 meters 0.01573782528338756 Centerline is valid? [True, True] Translation: X:148.48, Y:-19.14, Z:-4.18 [[ 9.78514676e-01 2.06049187e-01 7.26373863e-03 1.48484779e+02] [-2.06043271e-01 9.78541635e-01 -1.56170606e-03 -1.91364224e+01] [-7.42965894e-03 3.15078352e-05 9.99972399e-01 -4.18033412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254203822 meters 0.015154389704633387 Centerline is valid? [True, True] Translation: X:148.51, Y:-19.14, Z:-4.18 [[ 9.78018732e-01 2.08379635e-01 7.56882043e-03 1.48512877e+02] [-2.08373285e-01 9.78048019e-01 -1.62685089e-03 -1.91406820e+01] [-7.74167243e-03 1.39506660e-05 9.99970033e-01 -4.18113791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284203822 meters 0.015005427524478468 Centerline is valid? [True, True] Translation: X:148.54, Y:-19.15, Z:-4.18 [[ 9.77079177e-01 2.12712758e-01 8.34051881e-03 1.48541213e+02] [-2.12705210e-01 9.77114774e-01 -1.79216013e-03 -1.91454302e+01] [-8.53085948e-03 -2.29894572e-05 9.99963611e-01 -4.17999781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314203822 meters 0.01624633291768983 Centerline is valid? [True, True] Translation: X:148.57, Y:-19.15, Z:-4.18 [[ 9.76683291e-01 2.14522802e-01 8.34971240e-03 1.48568547e+02] [-2.14515299e-01 9.76718980e-01 -1.79450515e-03 -1.91517124e+01] [-8.54028486e-03 -3.84778557e-05 9.99963530e-01 -4.18273939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344203822 meters 0.016934276285902907 Centerline is valid? [True, True] Translation: X:148.60, Y:-19.16, Z:-4.18 [[ 9.76103137e-01 2.17161511e-01 7.97147457e-03 1.48596448e+02] [-2.17154773e-01 9.76135685e-01 -1.71177893e-03 -1.91601256e+01] [-8.15297329e-03 -6.01709623e-05 9.99966762e-01 -4.18148445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.374203822 meters 0.017539174983931576 Centerline is valid? [True, True] Translation: X:148.62, Y:-19.17, Z:-4.18 [[ 9.75962742e-01 2.17806619e-01 7.55001710e-03 1.48624138e+02] [-2.17800596e-01 9.75991943e-01 -1.62095946e-03 -1.91668547e+01] [-7.72181156e-03 -6.24021853e-05 9.99970184e-01 -4.18273435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404203822 meters 0.019081602550251982 Centerline is valid? [True, True] Translation: X:148.65, Y:-19.17, Z:-4.19 [[ 9.75840780e-01 2.18343368e-01 7.80680319e-03 1.48650922e+02] [-2.18336935e-01 9.75872004e-01 -1.67735266e-03 -1.91722038e+01] [-7.98467951e-03 -6.76843581e-05 9.99968120e-01 -4.18557253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.434203822 meters 0.01931643660496348 Centerline is valid? [True, True] Translation: X:148.68, Y:-19.18, Z:-4.19 [[ 9.75719601e-01 2.18870783e-01 8.17561434e-03 1.48678011e+02] [-2.18863768e-01 9.75753849e-01 -1.75404651e-03 -1.91792459e+01] [-8.36129670e-03 -7.78882050e-05 9.99965041e-01 -4.18537812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464203822 meters 0.01920057287399724 Centerline is valid? [True, True] Translation: X:148.71, Y:-19.19, Z:-4.18 [[ 9.75579312e-01 2.19461568e-01 9.03469304e-03 1.48705648e+02] [-2.19453039e-01 9.75621141e-01 -1.93704132e-03 -1.91871292e+01] [-9.23954366e-03 -9.29533991e-05 9.99957310e-01 -4.18369922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.494203822 meters 0.029188584236039677 Centerline is valid? [True, True] Translation: X:148.73, Y:-19.20, Z:-4.18 [[ 9.75067820e-01 2.21741775e-01 8.56333302e-03 1.48733034e+02] [-2.21734204e-01 9.75105416e-01 -1.83567702e-03 -1.91966779e+01] [-8.75719869e-03 -1.08874237e-04 9.99961649e-01 -4.18280448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524203822 meters 0.021648185446105493 Centerline is valid? [True, True] Translation: X:148.76, Y:-19.20, Z:-4.18 [[ 9.74764465e-01 2.23052046e-01 9.05662133e-03 1.48760641e+02] [-2.23043636e-01 9.74806529e-01 -1.94110681e-03 -1.92019889e+01] [-9.26142145e-03 -1.27899812e-04 9.99957104e-01 -4.18329871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.554203822 meters 0.027599364838673857 Centerline is valid? [True, True] Translation: X:148.79, Y:-19.20, Z:-4.19 [[ 9.73937202e-01 2.26647446e-01 8.78989655e-03 1.48789728e+02] [-2.26639680e-01 9.73976853e-01 -1.88291121e-03 -1.92033149e+01] [-8.98791280e-03 -1.58302070e-04 9.99959595e-01 -4.18840647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584203822 meters 0.027387819669422178 Centerline is valid? [True, True] Translation: X:148.82, Y:-19.21, Z:-4.19 [[ 9.73520257e-01 2.28452928e-01 8.21997634e-03 1.48817756e+02] [-2.28446201e-01 9.73554946e-01 -1.76082108e-03 -1.92104369e+01] [-8.40486335e-03 -1.63627375e-04 9.99964665e-01 -4.18718484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.614203822 meters 0.029880170547354597 Centerline is valid? [True, True] Translation: X:148.85, Y:-19.21, Z:-4.19 [[ 9.73036326e-01 2.30527655e-01 7.57028854e-03 1.48846713e+02] [-2.30522016e-01 9.73065759e-01 -1.62113459e-03 -1.92134481e+01] [-7.74010492e-03 -1.67695329e-04 9.99970031e-01 -4.18897586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644203822 meters 0.031647583241865826 Centerline is valid? [True, True] Translation: X:148.88, Y:-19.22, Z:-4.19 [[ 9.72282091e-01 2.33698244e-01 7.25717278e-03 1.48876129e+02] [-2.33693152e-01 9.72309157e-01 -1.55387986e-03 -1.92165534e+01] [-7.41935455e-03 -1.85142020e-04 9.99972459e-01 -4.18897520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.674203822 meters 0.03152975713147274 Centerline is valid? [True, True] Translation: X:148.90, Y:-19.22, Z:-4.19 [[ 9.72143077e-01 2.34269224e-01 7.46789366e-03 1.48903696e+02] [-2.34263848e-01 9.72171740e-01 -1.59895657e-03 -1.92247292e+01] [-7.63466149e-03 -1.95042951e-04 9.99970837e-01 -4.18859191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704203822 meters 0.03326343930160839 Centerline is valid? [True, True] Translation: X:148.93, Y:-19.23, Z:-4.19 [[ 9.72112497e-01 2.34396199e-01 7.46429509e-03 1.48930841e+02] [-2.34390833e-01 9.72141134e-01 -1.59805658e-03 -1.92318259e+01] [-7.63092668e-03 -1.96071574e-04 9.99970865e-01 -4.19021232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.734203822 meters 0.03304225219917071 Centerline is valid? [True, True] Translation: X:148.96, Y:-19.24, Z:-4.19 [[ 9.71936946e-01 2.35118350e-01 7.61142795e-03 1.48957996e+02] [-2.35112799e-01 9.71966727e-01 -1.62877741e-03 -1.92416370e+01] [-7.78101017e-03 -2.06475183e-04 9.99969706e-01 -4.18905776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.764203822 meters 0.03484238943005654 Centerline is valid? [True, True] Translation: X:148.99, Y:-19.25, Z:-4.19 [[ 9.71858568e-01 2.35419174e-01 8.29077881e-03 1.48985841e+02] [-2.35412602e-01 9.71893904e-01 -1.77384842e-03 -1.92456548e+01] [-8.47535531e-03 -2.27824027e-04 9.99964058e-01 -4.18997938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79420382200001 meters 0.03482613836808561 Centerline is valid? [True, True] Translation: X:149.01, Y:-19.25, Z:-4.19 [[ 9.71789013e-01 2.35680831e-01 8.98108109e-03 1.49013571e+02] [-2.35673139e-01 9.71830481e-01 -1.92059939e-03 -1.92518131e+01] [-9.18073681e-03 -2.50182182e-04 9.99957825e-01 -4.18914358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82420382200002 meters 0.03611839767638693 Centerline is valid? [True, True] Translation: X:149.04, Y:-19.26, Z:-4.19 [[ 9.71655193e-01 2.36229694e-01 9.03977005e-03 1.49041772e+02] [-2.36221920e-01 9.71697209e-01 -1.93347944e-03 -1.92550428e+01] [-9.24066459e-03 -2.56716508e-04 9.99957271e-01 -4.19059036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85420382200002 meters 0.034000920002372384 Centerline is valid? [True, True] Translation: X:149.07, Y:-19.26, Z:-4.19 [[ 9.71557921e-01 2.36648998e-01 8.51218739e-03 1.49069171e+02] [-2.36642127e-01 9.71595179e-01 -1.82007577e-03 -1.92625245e+01] [-8.70111933e-03 -2.46033096e-04 9.99962114e-01 -4.18970756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88420382200002 meters 0.03552535388220259 Centerline is valid? [True, True] Translation: X:149.10, Y:-19.27, Z:-4.19 [[ 9.71434905e-01 2.37153914e-01 8.49977568e-03 1.49096810e+02] [-2.37147094e-01 9.71472057e-01 -1.81602718e-03 -1.92660243e+01] [-8.68797252e-03 -2.51544912e-04 9.99962227e-01 -4.19145635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91420382200002 meters 0.03420820506224064 Centerline is valid? [True, True] Translation: X:149.12, Y:-19.27, Z:-4.19 [[ 9.71267402e-01 2.37856236e-01 8.00283338e-03 1.49124885e+02] [-2.37850219e-01 9.71300341e-01 -1.70922615e-03 -1.92739897e+01] [-8.17970489e-03 -2.43360027e-04 9.99966516e-01 -4.19094597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94420382200002 meters 0.03686109469392354 Centerline is valid? [True, True] Translation: X:149.15, Y:-19.27, Z:-4.19 [[ 9.70991841e-01 2.38997799e-01 7.40925391e-03 1.49152703e+02] [-2.38992673e-01 9.71020081e-01 -1.58268847e-03 -1.92747167e+01] [-7.57279339e-03 -2.33979809e-04 9.99971299e-01 -4.19378300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974203822 meters 0.04041585141035097 Centerline is valid? [True, True] Translation: X:149.18, Y:-19.27, Z:-4.20 [[ 9.70914449e-01 2.39314498e-01 7.32829613e-03 1.49181440e+02] [-2.39309499e-01 9.70942076e-01 -1.56456800e-03 -1.92737622e+01] [-7.48977487e-03 -2.34669193e-04 9.99971924e-01 -4.19750045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004203822 meters 0.036450434726418034 Centerline is valid? [True, True] Translation: X:149.21, Y:-19.28, Z:-4.19 [[ 9.70927056e-01 2.39249789e-01 7.75823071e-03 1.49210003e+02] [-2.39244191e-01 9.70958020e-01 -1.65553971e-03 -1.92791080e+01] [-7.92900386e-03 -2.48703331e-04 9.99968534e-01 -4.19425470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034203822 meters 0.03946039339105268 Centerline is valid? [True, True] Translation: X:149.24, Y:-19.28, Z:-4.20 [[ 9.71077589e-01 2.38626386e-01 8.10949347e-03 1.49238296e+02] [-2.38620249e-01 9.71111416e-01 -1.73026000e-03 -1.92786596e+01] [-8.28810738e-03 -2.54872637e-04 9.99965621e-01 -4.19738529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064203822 meters 0.037503425380226406 Centerline is valid? [True, True] Translation: X:149.27, Y:-19.28, Z:-4.20 [[ 9.71301093e-01 2.37726853e-01 7.75436377e-03 1.49266649e+02] [-2.37721218e-01 9.71332017e-01 -1.65379415e-03 -1.92841346e+01] [-7.92521308e-03 -2.37044739e-04 9.99968567e-01 -4.19815262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.094203822 meters 0.034882576489924086 Centerline is valid? [True, True] Translation: X:149.30, Y:-19.29, Z:-4.20 [[ 9.71912433e-01 2.35225043e-01 7.44318029e-03 1.49295307e+02] [-2.35219780e-01 9.71940912e-01 -1.58712168e-03 -1.92884937e+01] [-7.60766221e-03 -2.08239943e-04 9.99971040e-01 -4.19973408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124203822 meters 0.034882576489924086 Centerline is valid? [True, True] Translation: X:149.32, Y:-19.29, Z:-4.20 [[ 9.71929046e-01 2.35156392e-01 7.44315288e-03 1.49322231e+02] [-2.35151127e-01 9.71957524e-01 -1.58725061e-03 -1.92940925e+01] [-7.60768057e-03 -2.07570810e-04 9.99971040e-01 -4.20051489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.154203822 meters 0.03398398107800666 Centerline is valid? [True, True] Translation: X:149.35, Y:-19.30, Z:-4.20 [[ 9.72283028e-01 2.33705157e-01 6.90016593e-03 1.49350013e+02] [-2.33700602e-01 9.72307496e-01 -1.47057974e-03 -1.92995427e+01] [-7.05276512e-03 -1.82753210e-04 9.99975112e-01 -4.20201318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184203822 meters 0.03708982408246342 Centerline is valid? [True, True] Translation: X:149.38, Y:-19.30, Z:-4.20 [[ 9.72589129e-01 2.32423683e-01 7.04404811e-03 1.49378595e+02] [-2.32418905e-01 9.72614621e-01 -1.50086341e-03 -1.93047846e+01] [-7.19998038e-03 -1.77446516e-04 9.99974064e-01 -4.20460874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.214203822 meters 0.031172592919706057 Centerline is valid? [True, True] Translation: X:149.41, Y:-19.31, Z:-4.20 [[ 9.73082691e-01 2.30342258e-01 7.24717235e-03 1.49407271e+02] [-2.30337146e-01 9.73109663e-01 -1.54375009e-03 -1.93077823e+01] [-7.40788433e-03 -1.67096498e-04 9.99972547e-01 -4.20311716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244203822 meters 0.03237107465079093 Centerline is valid? [True, True] Translation: X:149.44, Y:-19.31, Z:-4.21 [[ 9.73254748e-01 2.29628919e-01 6.76427749e-03 1.49435651e+02] [-2.29624447e-01 9.73278242e-01 -1.44089877e-03 -1.93086753e+01] [-6.91439613e-03 -1.50881912e-04 9.99976084e-01 -4.20668221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.274203822 meters 0.02835948644734178 Centerline is valid? [True, True] Translation: X:149.46, Y:-19.32, Z:-4.20 [[ 9.73398106e-01 2.29036899e-01 6.18272650e-03 1.49462656e+02] [-2.29033151e-01 9.73417732e-01 -1.31711878e-03 -1.93153865e+01] [-6.32004441e-03 -1.33968403e-04 9.99980019e-01 -4.20408753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304203822 meters 0.03036162681190569 Centerline is valid? [True, True] Translation: X:149.49, Y:-19.31, Z:-4.21 [[ 9.73616187e-01 2.28105859e-01 6.26404368e-03 1.49492149e+02] [-2.28101993e-01 9.73636329e-01 -1.33431890e-03 -1.93113653e+01] [-6.40326645e-03 -1.29726371e-04 9.99979490e-01 -4.20825560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.334203822 meters 0.02743810137623513 Centerline is valid? [True, True] Translation: X:149.52, Y:-19.32, Z:-4.20 [[ 9.73732532e-01 2.27599294e-01 6.59674835e-03 1.49520122e+02] [-2.27594988e-01 9.73754868e-01 -1.40619862e-03 -1.93166087e+01] [-6.74366564e-03 -1.32125522e-04 9.99977253e-01 -4.20499692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364203822 meters 0.029785198797175585 Centerline is valid? [True, True] Translation: X:149.55, Y:-19.31, Z:-4.21 [[ 9.73943990e-01 2.26690166e-01 6.68378349e-03 1.49549390e+02] [-2.26685750e-01 9.73966915e-01 -1.42110307e-03 -1.93120503e+01] [-6.83193408e-03 -1.31043673e-04 9.99976653e-01 -4.20956285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.394203822 meters 0.027587116458491365 Centerline is valid? [True, True] Translation: X:149.58, Y:-19.32, Z:-4.21 [[ 9.74118532e-01 2.25949546e-01 6.31565076e-03 1.49577017e+02] [-2.25945571e-01 9.74138999e-01 -1.34538733e-03 -1.93172413e+01] [-6.45631137e-03 -1.16426586e-04 9.99979151e-01 -4.20864625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424203822 meters 0.026902642838059435 Centerline is valid? [True, True] Translation: X:149.61, Y:-19.32, Z:-4.21 [[ 9.74355134e-01 2.24937432e-01 5.93508325e-03 1.49605209e+02] [-2.24933911e-01 9.74373204e-01 -1.26295076e-03 -1.93210701e+01] [-6.06707098e-03 -1.04438936e-04 9.99981590e-01 -4.20952220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.454203822 meters 0.02571657929344347 Centerline is valid? [True, True] Translation: X:149.63, Y:-19.33, Z:-4.21 [[ 9.74589231e-01 2.23914581e-01 6.17176646e-03 1.49634196e+02] [-2.23910760e-01 9.74608768e-01 -1.31210105e-03 -1.93251145e+01] [-6.30885625e-03 -1.03165369e-04 9.99980094e-01 -4.20972090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484203822 meters 0.021960647984170488 Centerline is valid? [True, True] Translation: X:149.66, Y:-19.33, Z:-4.21 [[ 9.75259454e-01 2.20984055e-01 5.91986611e-03 1.49662507e+02] [-2.20980490e-01 9.75277417e-01 -1.25788419e-03 -1.93289602e+01] [-6.05148408e-03 -8.14114590e-05 9.99981686e-01 -4.20815207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.514203822 meters 0.020772194791074245 Centerline is valid? [True, True] Translation: X:149.69, Y:-19.33, Z:-4.21 [[ 9.75787085e-01 2.18630182e-01 6.35681628e-03 1.49690469e+02] [-2.18626031e-01 9.75807788e-01 -1.34920519e-03 -1.93335391e+01] [-6.49800780e-03 -7.32285072e-05 9.99978885e-01 -4.20950571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54420382200001 meters 0.019658846383150175 Centerline is valid? [True, True] Translation: X:149.72, Y:-19.34, Z:-4.21 [[ 9.76331872e-01 2.16166397e-01 6.94005180e-03 1.49717553e+02] [-2.16161416e-01 9.76356536e-01 -1.46884483e-03 -1.93385730e+01] [-7.09347983e-03 -6.60914042e-05 9.99974839e-01 -4.21091338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57420382200002 meters 0.01727410178744382 Centerline is valid? [True, True] Translation: X:149.75, Y:-19.35, Z:-4.21 [[ 9.76975232e-01 2.13218076e-01 7.57940320e-03 1.49745188e+02] [-2.13212054e-01 9.77004631e-01 -1.60325185e-03 -1.93458024e+01] [-7.74695431e-03 -4.96827702e-05 9.99969991e-01 -4.20992769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60420382200002 meters 0.014511386927546987 Centerline is valid? [True, True] Translation: X:149.77, Y:-19.36, Z:-4.21 [[ 9.78329961e-01 2.06909996e-01 7.66423313e-03 1.49772286e+02] [-2.06903648e-01 9.78359982e-01 -1.62084590e-03 -1.93564549e+01] [-7.83374820e-03 -3.56859933e-08 9.99969316e-01 -4.20808222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63420382200002 meters 0.015218215481264464 Centerline is valid? [True, True] Translation: X:149.80, Y:-19.37, Z:-4.21 [[ 9.78992926e-01 2.03767874e-01 7.17660417e-03 1.49798300e+02] [-2.03762223e-01 9.79019230e-01 -1.51769393e-03 -1.93656591e+01] [-7.33529075e-03 2.34908016e-05 9.99973096e-01 -4.21080855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66420382200002 meters 0.017816945731417004 Centerline is valid? [True, True] Translation: X:149.82, Y:-19.38, Z:-4.21 [[ 9.80012136e-01 1.98817114e-01 6.92589633e-03 1.49824611e+02] [-1.98811730e-01 9.80036607e-01 -1.46426461e-03 -1.93768347e+01] [-7.07875280e-03 5.80476592e-05 9.99974944e-01 -4.21368349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69420382200002 meters 0.018133647598601286 Centerline is valid? [True, True] Translation: X:149.85, Y:-19.38, Z:-4.21 [[ 9.80332826e-01 1.97221674e-01 7.15279387e-03 1.49852548e+02] [-1.97215895e-01 9.80358917e-01 -1.51145723e-03 -1.93829521e+01] [-7.31039738e-03 7.10864991e-05 9.99973276e-01 -4.21214508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724203822 meters 0.018887646719574033 Centerline is valid? [True, True] Translation: X:149.88, Y:-19.39, Z:-4.21 [[ 9.80568486e-01 1.96069778e-01 6.48736840e-03 1.49881357e+02] [-1.96065000e-01 9.80589943e-01 -1.37065448e-03 -1.93878062e+01] [-6.63019213e-03 7.20747002e-05 9.99978017e-01 -4.21330707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754203822 meters 0.0201071972261036 Centerline is valid? [True, True] Translation: X:149.91, Y:-19.39, Z:-4.22 [[ 9.80515630e-01 1.96367090e-01 5.39119122e-03 1.49908165e+02] [-1.96363790e-01 9.80530450e-01 -1.13998749e-03 -1.93928636e+01] [-5.51008318e-03 5.91408136e-05 9.99984818e-01 -4.21817364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784203822 meters 0.01955646047863833 Centerline is valid? [True, True] Translation: X:149.94, Y:-19.40, Z:-4.22 [[ 9.80320401e-01 1.97350014e-01 4.98839297e-03 1.49935853e+02] [-1.97347205e-01 9.80333091e-01 -1.05406638e-03 -1.93956607e+01] [-5.09830671e-03 4.88773636e-05 9.99987002e-01 -4.21989662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814203822 meters 0.017838192295570602 Centerline is valid? [True, True] Translation: X:149.97, Y:-19.40, Z:-4.22 [[ 9.80031760e-01 1.98788217e-01 4.58188666e-03 1.49965048e+02] [-1.98785866e-01 9.80042470e-01 -9.67482004e-04 -1.93970295e+01] [-4.68276754e-03 3.73487830e-05 9.99989035e-01 -4.21886417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844203822 meters 0.016675075714670234 Centerline is valid? [True, True] Translation: X:149.99, Y:-19.40, Z:-4.22 [[ 9.79357586e-01 2.02096352e-01 3.97291911e-03 1.49994367e+02] [-2.02094598e-01 9.79365644e-01 -8.42208499e-04 -1.93957138e+01] [-4.06114775e-03 2.19177897e-05 9.99991753e-01 -4.22078481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.874203822 meters 0.0161254939559638 Centerline is valid? [True, True] Translation: X:150.02, Y:-19.40, Z:-4.22 [[ 9.79047070e-01 2.03578407e-01 4.76099398e-03 1.50023577e+02] [-2.03575917e-01 9.79058646e-01 -1.00701534e-03 -1.93988341e+01] [-4.86629890e-03 1.66917027e-05 9.99988159e-01 -4.22059252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904203822 meters 0.01571184556847237 Centerline is valid? [True, True] Translation: X:150.05, Y:-19.40, Z:-4.22 [[ 9.78718485e-01 2.05118630e-01 6.03945908e-03 1.50051256e+02] [-2.05114683e-01 9.78737119e-01 -1.27253718e-03 -1.94015861e+01] [-6.17206386e-03 6.67392897e-06 9.99980953e-01 -4.22001892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.934203822 meters 0.01576055713270605 Centerline is valid? [True, True] Translation: X:150.08, Y:-19.40, Z:-4.22 [[ 9.78245062e-01 2.07304099e-01 7.84917173e-03 1.50079287e+02] [-2.07297510e-01 9.78276551e-01 -1.65280295e-03 -1.94028341e+01] [-8.02129348e-03 -1.02674355e-05 9.99967829e-01 -4.22051578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964203822 meters 0.01506903764383764 Centerline is valid? [True, True] Translation: X:150.11, Y:-19.41, Z:-4.22 [[ 9.78301723e-01 2.07033449e-01 7.93036247e-03 1.50106973e+02] [-2.07026697e-01 9.78333865e-01 -1.67210089e-03 -1.94094266e+01] [-8.10472298e-03 -5.97756609e-06 9.99967156e-01 -4.21884446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.994203822 meters 0.014572658156155278 Centerline is valid? [True, True] Translation: X:150.14, Y:-19.42, Z:-4.22 [[ 9.78580847e-01 2.05678703e-01 8.70617398e-03 1.50135296e+02] [-2.05670536e-01 9.78619574e-01 -1.83293962e-03 -1.94167461e+01] [-8.89702892e-03 3.07613486e-06 9.99960421e-01 -4.21736349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024203822 meters 0.014026437150028527 Centerline is valid? [True, True] Translation: X:150.16, Y:-19.42, Z:-4.22 [[ 9.78716819e-01 2.05024552e-01 8.84991140e-03 1.50162538e+02] [-2.05016095e-01 9.78756830e-01 -1.86216846e-03 -1.94218279e+01] [-9.04370149e-03 8.16131842e-06 9.99959105e-01 -4.21625671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.054203822 meters 0.014824151353650651 Centerline is valid? [True, True] Translation: X:150.19, Y:-19.43, Z:-4.22 [[ 9.78859874e-01 2.04359773e-01 8.39230876e-03 1.50189203e+02] [-2.04352179e-01 9.78895849e-01 -1.76170622e-03 -1.94280200e+01] [-8.57521809e-03 9.47694483e-06 9.99963232e-01 -4.21985039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084203822 meters 0.015435861321191735 Centerline is valid? [True, True] Translation: X:150.22, Y:-19.44, Z:-4.22 [[ 9.78914043e-01 2.04145333e-01 7.20965343e-03 1.50215770e+02] [-2.04139725e-01 9.78940592e-01 -1.51318565e-03 -1.94372352e+01] [-7.36673219e-03 9.50201935e-06 9.99972865e-01 -4.22317105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.114203822 meters 0.015174498071725015 Centerline is valid? [True, True] Translation: X:150.24, Y:-19.44, Z:-4.22 [[ 9.78833178e-01 2.04556061e-01 6.51368854e-03 1.50244433e+02] [-2.04551489e-01 9.78854850e-01 -1.36772224e-03 -1.94432494e+01] [-6.65573149e-03 6.38721730e-06 9.99977850e-01 -4.22310453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144203822 meters 0.01616258655052517 Centerline is valid? [True, True] Translation: X:150.27, Y:-19.45, Z:-4.23 [[ 9.78643704e-01 2.05472517e-01 6.12750525e-03 1.50271398e+02] [-2.05468492e-01 9.78662886e-01 -1.28605077e-03 -1.94475815e+01] [-6.26101006e-03 -4.23775665e-07 9.99980400e-01 -4.22732172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.174203822 meters 0.015305794863191 Centerline is valid? [True, True] Translation: X:150.30, Y:-19.45, Z:-4.23 [[ 9.78444384e-01 2.06430960e-01 5.73112960e-03 1.50299655e+02] [-2.06427447e-01 9.78461169e-01 -1.20438647e-03 -1.94520367e+01] [-5.85631042e-03 -4.63726924e-06 9.99982852e-01 -4.22506303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204203822 meters 0.01774723973948047 Centerline is valid? [True, True] Translation: X:150.33, Y:-19.45, Z:-4.23 [[ 9.77687109e-01 2.09986460e-01 5.79678399e-03 1.50328282e+02] [-2.09982946e-01 9.77704294e-01 -1.21521729e-03 -1.94525686e+01] [-5.92271978e-03 -2.91235002e-05 9.99982460e-01 -4.22972124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234203822 meters 0.017877910422523523 Centerline is valid? [True, True] Translation: X:150.36, Y:-19.46, Z:-4.23 [[ 9.77267309e-01 2.11919771e-01 6.21429512e-03 1.50356799e+02] [-2.11915762e-01 9.77287066e-01 -1.30420554e-03 -1.94551489e+01] [-6.34953719e-03 -4.23496438e-05 9.99979841e-01 -4.22746016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.264203822 meters 0.020783832262502456 Centerline is valid? [True, True] Translation: X:150.39, Y:-19.45, Z:-4.23 [[ 9.76295870e-01 2.16332740e-01 6.82057123e-03 1.50386005e+02] [-2.16328035e-01 9.76319691e-01 -1.42901397e-03 -1.94544350e+01] [-6.96820050e-03 -8.03403319e-05 9.99975719e-01 -4.22757635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29420382200001 meters 0.02182462755760129 Centerline is valid? [True, True] Translation: X:150.41, Y:-19.46, Z:-4.23 [[ 9.75919574e-01 2.18018189e-01 7.00389121e-03 1.50414438e+02] [-2.18013281e-01 9.75944701e-01 -1.46610450e-03 -1.94584488e+01] [-7.15504797e-03 -9.61412291e-05 9.99974398e-01 -4.22743828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32420382200002 meters 0.023045825852293648 Centerline is valid? [True, True] Translation: X:150.44, Y:-19.46, Z:-4.23 [[ 9.75588007e-01 2.19486152e-01 7.33954454e-03 1.50442796e+02] [-2.19480815e-01 9.75615609e-01 -1.53483020e-03 -1.94625021e+01] [-7.49744819e-03 -1.13527278e-04 9.99971887e-01 -4.22753580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35420382200002 meters 0.024777062023201967 Centerline is valid? [True, True] Translation: X:150.47, Y:-19.46, Z:-4.23 [[ 9.75147486e-01 2.21379429e-01 8.86167283e-03 1.50471233e+02] [-2.21371770e-01 9.75187737e-01 -1.84833261e-03 -1.94645083e+01] [-9.05097750e-03 -1.59327298e-04 9.99959026e-01 -4.22605002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38420382200002 meters 0.024085123086487144 Centerline is valid? [True, True] Translation: X:150.50, Y:-19.47, Z:-4.22 [[ 9.75168588e-01 2.21243684e-01 9.87208810e-03 1.50499688e+02] [-2.21234159e-01 9.75218541e-01 -2.06033904e-03 -1.94702713e+01] [-1.00832803e-02 -1.74865197e-04 9.99949147e-01 -4.22473418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41420382200002 meters 0.025608966607099982 Centerline is valid? [True, True] Translation: X:150.53, Y:-19.47, Z:-4.23 [[ 9.75203791e-01 2.21068283e-01 1.03140965e-02 1.50527663e+02] [-2.21057920e-01 9.75258315e-01 -2.14847491e-03 -1.94743920e+01] [-1.05338680e-02 -1.84811833e-04 9.99944500e-01 -4.22632605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44420382200002 meters 0.023752068427277232 Centerline is valid? [True, True] Translation: X:150.55, Y:-19.48, Z:-4.23 [[ 9.75640349e-01 2.19101466e-01 1.09752595e-02 1.50554148e+02] [-2.19089617e-01 9.75702064e-01 -2.28533604e-03 -1.94841999e+01] [-1.12093038e-02 -1.74899339e-04 9.99937158e-01 -4.22648039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474203822 meters 0.02117343246676055 Centerline is valid? [True, True] Translation: X:150.58, Y:-19.49, Z:-4.23 [[ 9.76046788e-01 2.17262590e-01 1.13857017e-02 1.50580996e+02] [-2.17249700e-01 9.76113181e-01 -2.37190478e-03 -1.94949261e+01] [-1.16290597e-02 -1.58450236e-04 9.99932368e-01 -4.22541877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504203822 meters 0.019434175990327398 Centerline is valid? [True, True] Translation: X:150.61, Y:-19.50, Z:-4.23 [[ 9.76531013e-01 2.15046182e-01 1.19298338e-02 1.50607430e+02] [-2.15031915e-01 9.76603870e-01 -2.48115714e-03 -1.95046792e+01] [-1.21842852e-02 -1.42368120e-04 9.99925759e-01 -4.22612201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534203822 meters 0.017507004293470574 Centerline is valid? [True, True] Translation: X:150.63, Y:-19.52, Z:-4.23 [[ 9.77004942e-01 2.12883347e-01 1.19173770e-02 1.50634987e+02] [-2.12868960e-01 9.77077616e-01 -2.47763422e-03 -1.95151739e+01] [-1.21716494e-02 -1.16178767e-04 9.99925916e-01 -4.22654015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564203822 meters 0.014832387673428147 Centerline is valid? [True, True] Translation: X:150.66, Y:-19.53, Z:-4.23 [[ 9.77919140e-01 2.08651781e-01 1.17724008e-02 1.50660787e+02] [-2.08637442e-01 9.77989995e-01 -2.44691765e-03 -1.95302168e+01] [-1.20238439e-02 -6.32759855e-05 9.99927709e-01 -4.22813515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.594203822 meters 0.013413718878618463 Centerline is valid? [True, True] Translation: X:150.69, Y:-19.54, Z:-4.23 [[ 9.78306001e-01 2.06795725e-01 1.23651260e-02 1.50688032e+02] [-2.06779766e-01 9.78384141e-01 -2.56945440e-03 -1.95414605e+01] [-1.26291953e-02 -4.31451909e-05 9.99920248e-01 -4.22679302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624203822 meters 0.012907107907936645 Centerline is valid? [True, True] Translation: X:150.71, Y:-19.55, Z:-4.23 [[ 9.78624304e-01 2.05258585e-01 1.27822211e-02 1.50714833e+02] [-2.05241407e-01 9.78707777e-01 -2.65561585e-03 -1.95512964e+01] [-1.30551472e-02 -2.45908303e-05 9.99914778e-01 -4.22695140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.654203822 meters 0.013550748009941826 Centerline is valid? [True, True] Translation: X:150.74, Y:-19.56, Z:-4.23 [[ 9.78610730e-01 2.05402111e-01 1.14460683e-02 1.50741738e+02] [-2.05388353e-01 9.78677665e-01 -2.37748400e-03 -1.95584588e+01] [-1.16903516e-02 -2.42577571e-05 9.99931665e-01 -4.22952795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684203822 meters 0.01429693873912348 Centerline is valid? [True, True] Translation: X:150.77, Y:-19.56, Z:-4.23 [[ 9.78266514e-01 2.07053167e-01 1.11182124e-02 1.50770824e+02] [-2.07040302e-01 9.78329691e-01 -2.30853477e-03 -1.95620308e+01] [-1.13552668e-02 -4.35557929e-05 9.99935526e-01 -4.23093148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.714203822 meters 0.017367461825730013 Centerline is valid? [True, True] Translation: X:150.80, Y:-19.56, Z:-4.23 [[ 9.77112696e-01 2.12365654e-01 1.23129072e-02 1.50799480e+02] [-2.12350303e-01 9.77190266e-01 -2.55603163e-03 -1.95589300e+01] [-1.25748664e-02 -1.17118613e-04 9.99920926e-01 -4.23051126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744203822 meters 0.020069755109009633 Centerline is valid? [True, True] Translation: X:150.83, Y:-19.56, Z:-4.23 [[ 9.76437489e-01 2.15442189e-01 1.24295442e-02 1.50828378e+02] [-2.15426805e-01 9.76516584e-01 -2.57946525e-03 -1.95594472e+01] [-1.26933817e-02 -1.58970431e-04 9.99919423e-01 -4.23113210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.774203822 meters 0.023210175274848914 Centerline is valid? [True, True] Translation: X:150.86, Y:-19.56, Z:-4.23 [[ 9.75784922e-01 2.18396192e-01 1.21197943e-02 1.50857161e+02] [-2.18381802e-01 9.75860167e-01 -2.51448272e-03 -1.95599343e+01] [-1.23763780e-02 -1.93148204e-04 9.99923391e-01 -4.23317055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804203822 meters 0.029156938049558354 Centerline is valid? [True, True] Translation: X:150.89, Y:-19.56, Z:-4.24 [[ 9.74610676e-01 2.23614598e-01 1.14254689e-02 1.50887298e+02] [-2.23602185e-01 9.74677614e-01 -2.36892350e-03 -1.95560874e+01] [-1.16658747e-02 -2.45981685e-04 9.99931921e-01 -4.23652767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.834203822 meters 0.031564401175266786 Centerline is valid? [True, True] Translation: X:150.91, Y:-19.56, Z:-4.24 [[ 9.74227221e-01 2.25311056e-01 1.07819160e-02 1.50914723e+02] [-2.25300087e-01 9.74286850e-01 -2.23715200e-03 -1.95578446e+01] [-1.10087340e-02 -2.49672245e-04 9.99939371e-01 -4.23904887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864203822 meters 0.032567224903435985 Centerline is valid? [True, True] Translation: X:150.94, Y:-19.56, Z:-4.24 [[ 9.74144323e-01 2.25697944e-01 1.01624645e-02 1.50943133e+02] [-2.25688219e-01 9.74197301e-01 -2.10880107e-03 -1.95614795e+01] [-1.03761975e-02 -2.39271925e-04 9.99946137e-01 -4.24151341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.894203822 meters 0.03225438738929745 Centerline is valid? [True, True] Translation: X:150.97, Y:-19.57, Z:-4.24 [[ 9.74307846e-01 2.25016414e-01 9.58305465e-03 1.50969175e+02] [-2.25007753e-01 9.74354948e-01 -1.98656233e-03 -1.95662628e+01] [-9.78430585e-03 -2.20738327e-04 9.99952108e-01 -4.24343127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924203822 meters 0.03159544597830739 Centerline is valid? [True, True] Translation: X:151.00, Y:-19.57, Z:-4.24 [[ 9.74484551e-01 2.24246896e-01 9.65348685e-03 1.50996165e+02] [-2.24238095e-01 9.74532340e-01 -1.99856346e-03 -1.95724631e+01] [-9.85580679e-03 -2.17110293e-04 9.99951407e-01 -4.24410504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.954203822 meters 0.031005725890154393 Centerline is valid? [True, True] Translation: X:151.02, Y:-19.58, Z:-4.24 [[ 9.74661467e-01 2.23474509e-01 9.70404609e-03 1.51024741e+02] [-2.23465564e-01 9.74709752e-01 -2.01037581e-03 -1.95784326e+01] [-9.90789611e-03 -2.09084289e-04 9.99950894e-01 -4.24466523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984203822 meters 0.03090447171889418 Centerline is valid? [True, True] Translation: X:151.05, Y:-19.58, Z:-4.24 [[ 9.74831680e-01 2.22702141e-01 1.03417531e-02 1.51053348e+02] [-2.22691959e-01 9.74886511e-01 -2.14046135e-03 -1.95801503e+01] [-1.05587210e-02 -2.16435731e-04 9.99944232e-01 -4.24494613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.014203822 meters 0.03065498960236442 Centerline is valid? [True, True] Translation: X:151.08, Y:-19.58, Z:-4.24 [[ 9.74901211e-01 2.22364312e-01 1.10336488e-02 1.51081847e+02] [-2.22352725e-01 9.74963620e-01 -2.28150460e-03 -1.95838443e+01] [-1.12647314e-02 -2.29120287e-04 9.99936525e-01 -4.24455482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04420382200001 meters 0.025515372234433755 Centerline is valid? [True, True] Translation: X:151.11, Y:-19.59, Z:-4.24 [[ 9.75052884e-01 2.21649279e-01 1.19779231e-02 1.51109452e+02] [-2.21635597e-01 9.75126422e-01 -2.47465021e-03 -1.95916329e+01] [-1.22284937e-02 -2.41819309e-04 9.99925200e-01 -4.23976839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07420382200002 meters 0.025515372234433755 Centerline is valid? [True, True] Translation: X:151.14, Y:-19.60, Z:-4.24 [[ 9.75096466e-01 2.21457454e-01 1.19782711e-02 1.51136391e+02] [-2.21443777e-01 9.75170005e-01 -2.47296404e-03 -1.95969938e+01] [-1.22285070e-02 -2.41135096e-04 9.99925200e-01 -4.24054864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10420382200002 meters 0.025714162971010618 Centerline is valid? [True, True] Translation: X:151.16, Y:-19.60, Z:-4.24 [[ 9.75148395e-01 2.21232093e-01 1.19150572e-02 1.51164078e+02] [-2.21218573e-01 9.75221156e-01 -2.45748582e-03 -1.95998611e+01] [-1.21634906e-02 -2.39418594e-04 9.99925993e-01 -4.24145575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13420382200002 meters 0.030872312567009265 Centerline is valid? [True, True] Translation: X:151.19, Y:-19.60, Z:-4.25 [[ 9.75130315e-01 2.21313386e-01 1.18850520e-02 1.51193089e+02] [-2.21299997e-01 9.75202710e-01 -2.44664397e-03 -1.95964604e+01] [-1.21318100e-02 -2.44365265e-04 9.99926377e-01 -4.24712120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16420382200002 meters 0.03125201952160159 Centerline is valid? [True, True] Translation: X:151.22, Y:-19.60, Z:-4.25 [[ 9.75091860e-01 2.21479304e-01 1.19491966e-02 1.51221598e+02] [-2.21465773e-01 9.75165041e-01 -2.46063455e-03 -1.95984539e+01] [-1.21974184e-02 -2.46993342e-04 9.99925578e-01 -4.24778032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19420382200002 meters 0.026402730509271437 Centerline is valid? [True, True] Translation: X:151.25, Y:-19.60, Z:-4.24 [[ 9.74865509e-01 2.22423434e-01 1.28474151e-02 1.51250175e+02] [-2.22407901e-01 9.74950121e-01 -2.64350049e-03 -1.96026894e+01] [-1.31135654e-02 -2.80309169e-04 9.99913974e-01 -4.24135524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224203822 meters 0.027867306576776014 Centerline is valid? [True, True] Translation: X:151.28, Y:-19.60, Z:-4.24 [[ 9.74723042e-01 2.23051364e-01 1.27703373e-02 1.51278428e+02] [-2.23036117e-01 9.74806650e-01 -2.62406484e-03 -1.96033139e+01] [-1.30339110e-02 -2.90509985e-04 9.99915013e-01 -4.24277502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254203822 meters 0.02832819718464354 Centerline is valid? [True, True] Translation: X:151.31, Y:-19.60, Z:-4.25 [[ 9.74831595e-01 2.22603020e-01 1.22986830e-02 1.51306485e+02] [-2.22588858e-01 9.74909134e-01 -2.52594049e-03 -1.96020325e+01] [-1.25523804e-02 -2.75183224e-04 9.99921178e-01 -4.24516284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284203822 meters 0.034700926249229366 Centerline is valid? [True, True] Translation: X:151.34, Y:-19.61, Z:-4.25 [[ 9.75161051e-01 2.21139899e-01 1.25725786e-02 1.51335168e+02] [-2.21124975e-01 9.75242061e-01 -2.58237804e-03 -1.96066803e+01] [-1.28323743e-02 -2.61876647e-04 9.99917627e-01 -4.24707583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314203822 meters 0.023800792473659762 Centerline is valid? [True, True] Translation: X:151.36, Y:-19.61, Z:-4.25 [[ 9.75685721e-01 2.18839425e-01 1.21111469e-02 1.51363431e+02] [-2.18825423e-01 9.75760860e-01 -2.48566592e-03 -1.96128660e+01] [-1.23615448e-02 -2.24998099e-04 9.99923568e-01 -4.24700302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344203822 meters 0.019096127926011133 Centerline is valid? [True, True] Translation: X:151.39, Y:-19.62, Z:-4.25 [[ 9.76987857e-01 2.12911548e-01 1.27827804e-02 1.51391566e+02] [-2.12895508e-01 9.77071464e-01 -2.61856934e-03 -1.96193838e+01] [-1.30472136e-02 -1.63086072e-04 9.99914868e-01 -4.24754493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.374203822 meters 0.015091344808070065 Centerline is valid? [True, True] Translation: X:151.42, Y:-19.63, Z:-4.25 [[ 9.77857439e-01 2.08845178e-01 1.33611636e-02 1.51418753e+02] [-2.08827248e-01 9.77948710e-01 -2.73891437e-03 -1.96285675e+01] [-1.36385418e-02 -1.11907238e-04 9.99906985e-01 -4.24609858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404203822 meters 0.018859158016142203 Centerline is valid? [True, True] Translation: X:151.45, Y:-19.64, Z:-4.25 [[ 9.78789936e-01 2.04415736e-01 1.35819137e-02 1.51445483e+02] [-2.04396839e-01 9.78884163e-01 -2.77997042e-03 -1.96384278e+01] [-1.38633900e-02 -5.50931687e-05 9.99903897e-01 -4.24841431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.434203822 meters 0.013075018229391817 Centerline is valid? [True, True] Translation: X:151.47, Y:-19.66, Z:-4.25 [[ 9.80662056e-01 1.95287409e-01 1.28358901e-02 1.51471327e+02] [-1.95269735e-01 9.80746054e-01 -2.62827756e-03 -1.96567288e+01] [-1.31020181e-02 7.09912202e-05 9.99914162e-01 -4.24982889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464203822 meters 0.015257434324797729 Centerline is valid? [True, True] Translation: X:151.50, Y:-19.67, Z:-4.25 [[ 9.81432581e-01 1.91386129e-01 1.27058936e-02 1.51498123e+02] [-1.91368538e-01 9.81514817e-01 -2.59748340e-03 -1.96682260e+01] [-1.29681451e-02 1.17746573e-04 9.99915903e-01 -4.25052443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.494203822 meters 0.017921147415529613 Centerline is valid? [True, True] Translation: X:151.52, Y:-19.68, Z:-4.25 [[ 9.82078522e-01 1.88005616e-01 1.32538912e-02 1.51524012e+02] [-1.87986168e-01 9.82167939e-01 -2.70941701e-03 -1.96784034e+01] [-1.35269326e-02 1.69312028e-04 9.99908493e-01 -4.25110725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524203822 meters 0.02008775029017631 Centerline is valid? [True, True] Translation: X:151.55, Y:-19.69, Z:-4.25 [[ 9.82547492e-01 1.85513528e-01 1.36072641e-02 1.51550346e+02] [-1.85492810e-01 9.82641688e-01 -2.78024487e-03 -1.96868509e+01] [-1.38868380e-02 2.07672973e-04 9.99903552e-01 -4.25120540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.554203822 meters 0.02253208354053895 Centerline is valid? [True, True] Translation: X:151.58, Y:-19.70, Z:-4.25 [[ 9.83155595e-01 1.82267602e-01 1.35498013e-02 1.51577046e+02] [-1.82246773e-01 9.83248930e-01 -2.76683089e-03 -1.96977326e+01] [-1.38271313e-02 2.50817699e-04 9.99904369e-01 -4.25143979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584203822 meters 0.022709554068397444 Centerline is valid? [True, True] Translation: X:151.61, Y:-19.71, Z:-4.25 [[ 9.83308856e-01 1.81409098e-01 1.39439205e-02 1.51605307e+02] [-1.81386968e-01 9.83407681e-01 -2.84622904e-03 -1.97054677e+01] [-1.42288903e-02 2.69476756e-04 9.99898728e-01 -4.25102230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.614203822 meters 0.021911376836068152 Centerline is valid? [True, True] Translation: X:151.63, Y:-19.71, Z:-4.25 [[ 9.83156491e-01 1.82254185e-01 1.36647569e-02 1.51633453e+02] [-1.82233024e-01 9.83251417e-01 -2.78858606e-03 -1.97129345e+01] [-1.39441230e-02 2.51446518e-04 9.99902744e-01 -4.25204194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644203822 meters 0.021710225466974375 Centerline is valid? [True, True] Translation: X:151.66, Y:-19.72, Z:-4.25 [[ 9.82857611e-01 1.83874064e-01 1.34627636e-02 1.51660531e+02] [-1.83853682e-01 9.82949784e-01 -2.74688069e-03 -1.97199038e+01] [-1.37383007e-02 2.24613923e-04 9.99905600e-01 -4.25462463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.674203822 meters 0.01836978515342666 Centerline is valid? [True, True] Translation: X:151.69, Y:-19.72, Z:-4.25 [[ 9.82443244e-01 1.86040348e-01 1.39378020e-02 1.51689524e+02] [-1.86018736e-01 9.82542085e-01 -2.84270370e-03 -1.97230771e+01] [-1.42233346e-02 2.00102744e-04 9.99898823e-01 -4.25311511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704203822 meters 0.013478720274529449 Centerline is valid? [True, True] Translation: X:151.72, Y:-19.72, Z:-4.25 [[ 9.81117526e-01 1.92929238e-01 1.36641690e-02 1.51718905e+02] [-1.92909142e-01 9.81212668e-01 -2.78623212e-03 -1.97218403e+01] [-1.39450014e-02 9.76780362e-05 9.99902759e-01 -4.25393962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.734203822 meters 0.012332834207411448 Centerline is valid? [True, True] Translation: X:151.75, Y:-19.72, Z:-4.26 [[ 9.80272375e-01 1.97179242e-01 1.36534576e-02 1.51746988e+02] [-1.97159598e-01 9.80367454e-01 -2.78353174e-03 -1.97222973e+01] [-1.39342602e-02 3.67090543e-05 9.99902913e-01 -4.25681691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.764203822 meters 0.012272032534777393 Centerline is valid? [True, True] Translation: X:151.78, Y:-19.72, Z:-4.26 [[ 9.79422621e-01 2.01359534e-01 1.36259761e-02 1.51775802e+02] [-2.01340358e-01 9.79517400e-01 -2.77895500e-03 -1.97211464e+01] [-1.39064497e-02 -2.16875171e-05 9.99903300e-01 -4.25741354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79420382200001 meters 0.017899872228241822 Centerline is valid? [True, True] Translation: X:151.81, Y:-19.71, Z:-4.26 [[ 9.77473979e-01 2.10663150e-01 1.28707920e-02 1.51807578e+02] [-2.10646911e-01 9.77558701e-01 -2.61994778e-03 -1.97123489e+01] [-1.31338811e-02 -1.50261796e-04 9.99913736e-01 -4.25865313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82420382200002 meters 0.02209973489703761 Centerline is valid? [True, True] Translation: X:151.84, Y:-19.71, Z:-4.26 [[ 9.76515400e-01 2.15068157e-01 1.27812963e-02 1.51837919e+02] [-2.15052520e-01 9.76599019e-01 -2.60176162e-03 -1.97105974e+01] [-1.30417575e-02 -2.07989688e-04 9.99914931e-01 -4.26013884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85420382200002 meters 0.03175650937502098 Centerline is valid? [True, True] Translation: X:151.87, Y:-19.70, Z:-4.27 [[ 9.74840245e-01 2.22596814e-01 1.17113687e-02 1.51870139e+02] [-2.22584231e-01 9.74910549e-01 -2.38366697e-03 -1.97004059e+01] [-1.19481336e-02 -2.83071504e-04 9.99928578e-01 -4.26520724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88420382200002 meters 0.03262120904100709 Centerline is valid? [True, True] Translation: X:151.90, Y:-19.70, Z:-4.27 [[ 9.74259035e-01 2.25142944e-01 1.14012010e-02 1.51899451e+02] [-2.25131192e-01 9.74325696e-01 -2.32058907e-03 -1.97025957e+01] [-1.16309474e-02 -3.05911119e-04 9.99932311e-01 -4.26522319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91420382200002 meters 0.034395025045701674 Centerline is valid? [True, True] Translation: X:151.93, Y:-19.70, Z:-4.27 [[ 9.73805950e-01 2.27077971e-01 1.17288646e-02 1.51928708e+02] [-2.27065653e-01 9.73876523e-01 -2.38905937e-03 -1.97029124e+01] [-1.19649686e-02 -3.36742078e-04 9.99928361e-01 -4.26566237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94420382200002 meters 0.036929344909545775 Centerline is valid? [True, True] Translation: X:151.96, Y:-19.70, Z:-4.27 [[ 9.73190954e-01 2.29671728e-01 1.22582454e-02 1.51959146e+02] [-2.29658535e-01 9.73268075e-01 -2.49231149e-03 -1.96998600e+01] [-1.25029723e-02 -3.89715678e-04 9.99921759e-01 -4.26554674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974203822 meters 0.03988107842186927 Centerline is valid? [True, True] Translation: X:151.99, Y:-19.70, Z:-4.27 [[ 9.73020237e-01 2.30395996e-01 1.22190003e-02 1.51987202e+02] [-2.30382946e-01 9.73096874e-01 -2.48425995e-03 -1.96991806e+01] [-1.24626346e-02 -3.97814090e-04 9.99922259e-01 -4.26794962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004203822 meters 0.038200496622505124 Centerline is valid? [True, True] Translation: X:152.02, Y:-19.70, Z:-4.27 [[ 9.73006964e-01 2.30453687e-01 1.21879636e-02 1.52015695e+02] [-2.30440695e-01 9.73083214e-01 -2.47896044e-03 -1.97041642e+01] [-1.24311884e-02 -3.96557040e-04 9.99922651e-01 -4.26779203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034203822 meters 0.038339212881194226 Centerline is valid? [True, True] Translation: X:152.05, Y:-19.70, Z:-4.27 [[ 9.73523599e-01 2.28210197e-01 1.31114046e-02 1.52045498e+02] [-2.28195024e-01 9.73611804e-01 -2.66185710e-03 -1.97029835e+01] [-1.33728812e-02 -4.00576573e-04 9.99910499e-01 -4.26954976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064203822 meters 0.03805357804708653 Centerline is valid? [True, True] Translation: X:152.07, Y:-19.71, Z:-4.27 [[ 9.74041193e-01 2.25966150e-01 1.35297307e-02 1.52073268e+02] [-2.25949775e-01 9.74135080e-01 -2.74693098e-03 -1.97050788e+01] [-1.38004987e-02 -3.81415680e-04 9.99904696e-01 -4.27122682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.094203822 meters 0.03109565203665496 Centerline is valid? [True, True] Translation: X:152.10, Y:-19.72, Z:-4.27 [[ 9.74715385e-01 2.23033729e-01 1.36335621e-02 1.52101295e+02] [-2.23016834e-01 9.74810667e-01 -2.76666458e-03 -1.97159416e+01] [-1.39072013e-02 -3.43803323e-04 9.99903231e-01 -4.26949077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124203822 meters 0.023944150393923943 Centerline is valid? [True, True] Translation: X:152.13, Y:-19.73, Z:-4.27 [[ 9.76512801e-01 2.15070438e-01 1.29404514e-02 1.52128630e+02] [-2.15054522e-01 9.76598515e-01 -2.62566779e-03 -1.97265347e+01] [-1.32023291e-02 -2.18904369e-04 9.99912821e-01 -4.27263203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.154203822 meters 0.019014926450048188 Centerline is valid? [True, True] Translation: X:152.16, Y:-19.74, Z:-4.27 [[ 9.77485931e-01 2.10598902e-01 1.30137201e-02 1.52156105e+02] [-2.10582406e-01 9.77572543e-01 -2.64066744e-03 -1.97370744e+01] [-1.32779772e-02 -1.59245222e-04 9.99911831e-01 -4.27307786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184203822 meters 0.015093315309758522 Centerline is valid? [True, True] Translation: X:152.18, Y:-19.75, Z:-4.27 [[ 9.78533348e-01 2.05664784e-01 1.32091845e-02 1.52183405e+02] [-2.05647325e-01 9.78622495e-01 -2.68136593e-03 -1.97478267e+01] [-1.34782676e-02 -9.26274723e-05 9.99909160e-01 -4.27355234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.214203822 meters 0.012359033080621402 Centerline is valid? [True, True] Translation: X:152.21, Y:-19.77, Z:-4.27 [[ 9.80634045e-01 1.95384171e-01 1.34868259e-02 1.52209205e+02] [-1.95365027e-01 9.80726783e-01 -2.73549997e-03 -1.97664945e+01] [-1.37613648e-02 4.76703035e-05 9.99905307e-01 -4.27319025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244203822 meters 0.014016500825068544 Centerline is valid? [True, True] Translation: X:152.24, Y:-19.78, Z:-4.27 [[ 9.81607670e-01 1.90394239e-01 1.40148640e-02 1.52236777e+02] [-1.90373094e-01 9.81707706e-01 -2.84006134e-03 -1.97768494e+01] [-1.42992313e-02 1.19772972e-04 9.99897754e-01 -4.27174749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.274203822 meters 0.01715473215595155 Centerline is valid? [True, True] Translation: X:152.26, Y:-19.79, Z:-4.27 [[ 9.82454724e-01 1.85925929e-01 1.46377363e-02 1.52263435e+02] [-1.85902430e-01 9.82563745e-01 -2.96196101e-03 -1.97869242e+01] [-1.49332144e-02 1.88801825e-04 9.99888476e-01 -4.27153755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304203822 meters 0.024471638095190144 Centerline is valid? [True, True] Translation: X:152.29, Y:-19.80, Z:-4.27 [[ 9.83764563e-01 1.78833220e-01 1.50321048e-02 1.52290100e+02] [-1.78807632e-01 9.83879356e-01 -3.04028935e-03 -1.98021661e+01] [-1.53334823e-02 3.03073869e-04 9.99882389e-01 -4.27245111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.334203822 meters 0.026708262666777425 Centerline is valid? [True, True] Translation: X:152.32, Y:-19.81, Z:-4.27 [[ 9.84235312e-01 1.76186673e-01 1.54630869e-02 1.52317267e+02] [-1.76159269e-01 9.84356709e-01 -3.12749997e-03 -1.98109224e+01] [-1.57722172e-02 3.54229829e-04 9.99875548e-01 -4.27230454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364203822 meters 0.028929587169646973 Centerline is valid? [True, True] Translation: X:152.34, Y:-19.82, Z:-4.27 [[ 9.84529062e-01 1.74521627e-01 1.56437497e-02 1.52344033e+02] [-1.74493384e-01 9.84653266e-01 -3.16306504e-03 -1.98191653e+01] [-1.59556925e-02 3.84398636e-04 9.99872626e-01 -4.27294415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.394203822 meters 0.029252058061790875 Centerline is valid? [True, True] Translation: X:152.37, Y:-19.82, Z:-4.28 [[ 9.84583223e-01 1.74309696e-01 1.45604766e-02 1.52372745e+02] [-1.74285220e-01 9.84690815e-01 -2.94311131e-03 -1.98245029e+01] [-1.48505804e-02 3.60062158e-04 9.99889659e-01 -4.27571083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424203822 meters 0.027944679529478756 Centerline is valid? [True, True] Translation: X:152.40, Y:-19.83, Z:-4.28 [[ 9.84372732e-01 1.75524862e-01 1.41897065e-02 1.52401306e+02] [-1.75501752e-01 9.84474943e-01 -2.86752250e-03 -1.98279810e+01] [-1.44727320e-02 3.32392608e-04 9.99895209e-01 -4.27660870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.454203822 meters 0.02278838573883945 Centerline is valid? [True, True] Translation: X:152.43, Y:-19.82, Z:-4.28 [[ 9.83501174e-01 1.80347195e-01 1.41538141e-02 1.52432164e+02] [-1.80324715e-01 9.83602980e-01 -2.85926837e-03 -1.98245811e+01] [-1.44373948e-02 2.59811295e-04 9.99895742e-01 -4.27673648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484203822 meters 0.020010721750381075 Centerline is valid? [True, True] Translation: X:152.46, Y:-19.82, Z:-4.28 [[ 9.82948505e-01 1.83306332e-01 1.45267324e-02 1.52460769e+02] [-1.83282968e-01 9.83055817e-01 -2.93502393e-03 -1.98246060e+01] [-1.48185972e-02 2.22474754e-04 9.99890174e-01 -4.27723163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.514203822 meters 0.017108993009954374 Centerline is valid? [True, True] Translation: X:152.49, Y:-19.82, Z:-4.28 [[ 9.82405835e-01 1.86144097e-01 1.51377037e-02 1.52490112e+02] [-1.86119068e-01 9.82522437e-01 -3.05815282e-03 -1.98249277e+01] [-1.54423907e-02 1.86931858e-04 9.99880742e-01 -4.27703826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54420382200001 meters 0.013306677379605242 Centerline is valid? [True, True] Translation: X:152.52, Y:-19.82, Z:-4.28 [[ 9.81446814e-01 1.91000742e-01 1.67591092e-02 1.52518784e+02] [-1.90970848e-01 9.81589885e-01 -3.38125207e-03 -1.98231099e+01] [-1.70963938e-02 1.18017772e-04 9.99853839e-01 -4.27601406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57420382200002 meters 0.011399529886741014 Centerline is valid? [True, True] Translation: X:152.55, Y:-19.82, Z:-4.27 [[ 9.81151241e-01 1.92445089e-01 1.75250972e-02 1.52548125e+02] [-1.92412628e-01 9.81307739e-01 -3.53585050e-03 -1.98245543e+01] [-1.78779705e-02 9.71541009e-05 9.99840172e-01 -4.27374874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60420382200002 meters 0.011310615053183697 Centerline is valid? [True, True] Translation: X:152.58, Y:-19.83, Z:-4.28 [[ 9.81000050e-01 1.93170121e-01 1.80057369e-02 1.52575345e+02] [-1.93136053e-01 9.81165275e-01 -3.62872153e-03 -1.98282252e+01] [-1.83675643e-02 8.22190634e-05 9.99831299e-01 -4.27532707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63420382200002 meters 0.011693361532734894 Centerline is valid? [True, True] Translation: X:152.60, Y:-19.84, Z:-4.28 [[ 9.81131681e-01 1.92597012e-01 1.69415351e-02 1.52602621e+02] [-1.92566797e-01 9.81277934e-01 -3.41246429e-03 -1.98359149e+01] [-1.72815849e-02 8.56996734e-05 9.99850659e-01 -4.27808862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66420382200002 meters 0.012523964122636027 Centerline is valid? [True, True] Translation: X:152.63, Y:-19.84, Z:-4.28 [[ 9.81408542e-01 1.91210016e-01 1.66133761e-02 1.52630035e+02] [-1.91180757e-01 9.81549142e-01 -3.34661406e-03 -1.98447162e+01] [-1.69467512e-02 1.08237794e-04 9.99856388e-01 -4.27991380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69420382200002 meters 0.013970212267858285 Centerline is valid? [True, True] Translation: X:152.66, Y:-19.85, Z:-4.28 [[ 9.82060035e-01 1.87828583e-01 1.66886648e-02 1.52657809e+02] [-1.87798618e-01 9.82201810e-01 -3.35898732e-03 -1.98549810e+01] [-1.70225506e-02 1.64619030e-04 9.99855092e-01 -4.27837135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724203822 meters 0.016588776637800024 Centerline is valid? [True, True] Translation: X:152.68, Y:-19.87, Z:-4.28 [[ 9.82430921e-01 1.85913648e-01 1.62972796e-02 1.52683573e+02] [-1.85884867e-01 9.82566069e-01 -3.27664764e-03 -1.98652592e+01] [-1.66223275e-02 1.89662304e-04 9.99861822e-01 -4.28178283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754203822 meters 0.01784645118328714 Centerline is valid? [True, True] Translation: X:152.71, Y:-19.87, Z:-4.28 [[ 9.82839691e-01 1.83764465e-01 1.60238111e-02 1.52711366e+02] [-1.83736374e-01 9.82970280e-01 -3.22066996e-03 -1.98740437e+01] [-1.63427748e-02 2.21245328e-04 9.99866423e-01 -4.28184847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784203822 meters 0.019499800071946547 Centerline is valid? [True, True] Translation: X:152.74, Y:-19.88, Z:-4.28 [[ 9.83295671e-01 1.81229464e-01 1.68969019e-02 1.52739268e+02] [-1.81197907e-01 9.83440799e-01 -3.39301873e-03 -1.98837460e+01] [-1.72320177e-02 2.74657376e-04 9.99851480e-01 -4.28027895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814203822 meters 0.020420247063208972 Centerline is valid? [True, True] Translation: X:152.77, Y:-19.89, Z:-4.28 [[ 9.83455097e-01 1.80341026e-01 1.71226685e-02 1.52767138e+02] [-1.80308561e-01 9.83604102e-01 -3.43400015e-03 -1.98916917e+01] [-1.74612181e-02 2.89821235e-04 9.99847499e-01 -4.28112323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844203822 meters 0.0211727873181147 Centerline is valid? [True, True] Translation: X:152.80, Y:-19.90, Z:-4.28 [[ 9.83618320e-01 1.79456173e-01 1.70435578e-02 1.52795177e+02] [-1.79423890e-01 9.83765922e-01 -3.41730862e-03 -1.99006165e+01] [-1.73801285e-02 3.03305939e-04 9.99848908e-01 -4.28260831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.874203822 meters 0.025715190631367072 Centerline is valid? [True, True] Translation: X:152.82, Y:-19.92, Z:-4.29 [[ 9.83861096e-01 1.78076012e-01 1.75008138e-02 1.52820123e+02] [-1.78041762e-01 9.84016677e-01 -3.50853138e-03 -1.99171678e+01] [-1.78458780e-02 3.36031802e-04 9.99840693e-01 -4.28555954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904203822 meters 0.02302469807492618 Centerline is valid? [True, True] Translation: X:152.85, Y:-19.92, Z:-4.28 [[ 9.83886506e-01 1.77882327e-01 1.80339096e-02 1.52849094e+02] [-1.77845967e-01 9.84051704e-01 -3.61323044e-03 -1.99207417e+01] [-1.83890293e-02 3.47750584e-04 9.99830847e-01 -4.28361072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.934203822 meters 0.02302469807492618 Centerline is valid? [True, True] Translation: X:152.88, Y:-19.93, Z:-4.28 [[ 9.83898962e-01 1.77813403e-01 1.80340321e-02 1.52876068e+02] [-1.77777042e-01 9.84064161e-01 -3.61261885e-03 -1.99260115e+01] [-1.83890168e-02 3.48415054e-04 9.99830847e-01 -4.28439119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964203822 meters 0.022745581005529113 Centerline is valid? [True, True] Translation: X:152.90, Y:-19.93, Z:-4.28 [[ 9.83935981e-01 1.77596617e-01 1.81501486e-02 1.52903783e+02] [-1.77559774e-01 9.84103306e-01 -3.63455181e-03 -1.99320960e+01] [-1.85071054e-02 3.53430018e-04 9.99828666e-01 -4.28450817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.994203822 meters 0.0220522687162321 Centerline is valid? [True, True] Translation: X:152.93, Y:-19.94, Z:-4.29 [[ 9.83940400e-01 1.77696892e-01 1.68850173e-02 1.52931295e+02] [-1.77665045e-01 9.84085214e-01 -3.37984888e-03 -1.99395728e+01] [-1.72168845e-02 3.25692497e-04 9.99851725e-01 -4.28655627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024203822 meters 0.022177706723395318 Centerline is valid? [True, True] Translation: X:152.96, Y:-19.95, Z:-4.29 [[ 9.83852833e-01 1.78235147e-01 1.63044614e-02 1.52957995e+02] [-1.78205537e-01 9.83987876e-01 -3.26301242e-03 -1.99462284e+01] [-1.66249758e-02 3.04778718e-04 9.99861749e-01 -4.28896280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.054203822 meters 0.021936501341567046 Centerline is valid? [True, True] Translation: X:152.98, Y:-19.95, Z:-4.29 [[ 9.83698506e-01 1.79121753e-01 1.58948891e-02 1.52984681e+02] [-1.79093743e-01 9.83826874e-01 -3.18009825e-03 -1.99521037e+01] [-1.62074438e-02 2.81582719e-04 9.99868611e-01 -4.29107515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084203822 meters 0.020254571657784905 Centerline is valid? [True, True] Translation: X:153.01, Y:-19.96, Z:-4.29 [[ 9.83419189e-01 1.80765319e-01 1.45119810e-02 1.53013306e+02] [-1.80742156e-01 9.83526230e-01 -2.90299809e-03 -1.99579943e+01] [-1.47976754e-02 2.31937291e-04 9.99890482e-01 -4.29456158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.114203822 meters 0.019815693260787234 Centerline is valid? [True, True] Translation: X:153.04, Y:-19.96, Z:-4.30 [[ 9.83280848e-01 1.81574031e-01 1.37711697e-02 1.53039056e+02] [-1.81553257e-01 9.83377256e-01 -2.75443319e-03 -1.99642637e+01] [-1.40423886e-02 2.08180680e-04 9.99901379e-01 -4.29740422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144203822 meters 0.018271604555991104 Centerline is valid? [True, True] Translation: X:153.07, Y:-19.97, Z:-4.30 [[ 9.83160658e-01 1.82240115e-01 1.35521275e-02 1.53067191e+02] [-1.82220101e-01 9.83254038e-01 -2.70766246e-03 -1.99699669e+01] [-1.38186288e-02 1.92597172e-04 9.99904500e-01 -4.29731962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.174203822 meters 0.018108911411040585 Centerline is valid? [True, True] Translation: X:153.09, Y:-19.98, Z:-4.30 [[ 9.82910017e-01 1.83565434e-01 1.38430403e-02 1.53094325e+02] [-1.83544691e-01 9.83007477e-01 -2.76523060e-03 -1.99780653e+01] [-1.41154129e-02 1.77156308e-04 9.99900357e-01 -4.29878042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204203822 meters 0.017195904256400753 Centerline is valid? [True, True] Translation: X:153.12, Y:-19.98, Z:-4.30 [[ 9.82820347e-01 1.84049362e-01 1.37839751e-02 1.53123185e+02] [-1.84028858e-01 9.82916987e-01 -2.75239258e-03 -1.99832872e+01] [-1.40550794e-02 1.68458227e-04 9.99901208e-01 -4.29827675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.234203822 meters 0.016967109066681637 Centerline is valid? [True, True] Translation: X:153.15, Y:-19.99, Z:-4.30 [[ 9.82709468e-01 1.84610479e-01 1.41800163e-02 1.53150278e+02] [-1.84588846e-01 9.82811754e-01 -2.83089869e-03 -1.99892628e+01] [-1.44589003e-02 1.64478088e-04 9.99895451e-01 -4.29836799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.264203822 meters 0.016589688354750883 Centerline is valid? [True, True] Translation: X:153.18, Y:-20.00, Z:-4.30 [[ 9.82705308e-01 1.84562421e-01 1.50661969e-02 1.53177342e+02] [-1.84538012e-01 9.82820778e-01 -3.00663035e-03 -1.99988127e+01] [-1.53622823e-02 1.74345586e-04 9.99881978e-01 -4.29787520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29420382200001 meters 0.016768866198388018 Centerline is valid? [True, True] Translation: X:153.21, Y:-20.01, Z:-4.30 [[ 9.82833542e-01 1.83873308e-01 1.51272867e-02 1.53205260e+02] [-1.83848630e-01 9.82949934e-01 -3.01807953e-03 -2.00080560e+01] [-1.54243097e-02 1.85138852e-04 9.99881021e-01 -4.29787601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32420382200002 meters 0.017892039892390327 Centerline is valid? [True, True] Translation: X:153.23, Y:-20.02, Z:-4.30 [[ 9.83207515e-01 1.81793766e-01 1.59376849e-02 1.53232331e+02] [-1.81766114e-01 9.83336654e-01 -3.17890903e-03 -2.00202023e+01] [-1.62500156e-02 2.28596192e-04 9.99867934e-01 -4.29668072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35420382200002 meters 0.020168911730052856 Centerline is valid? [True, True] Translation: X:153.26, Y:-20.03, Z:-4.30 [[ 9.83379417e-01 1.80801557e-01 1.66048016e-02 1.53258458e+02] [-1.80771413e-01 9.83519564e-01 -3.31121129e-03 -2.00305773e+01] [-1.69298194e-02 2.54503588e-04 9.99856648e-01 -4.29799832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38420382200002 meters 0.019526636590680643 Centerline is valid? [True, True] Translation: X:153.29, Y:-20.04, Z:-4.30 [[ 9.83553913e-01 1.79763556e-01 1.75146586e-02 1.53286025e+02] [-1.79729877e-01 9.83709806e-01 -3.49132443e-03 -2.00380977e+01] [-1.78569543e-02 2.85998384e-04 9.99840511e-01 -4.29649245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41420382200002 meters 0.02229609971793414 Centerline is valid? [True, True] Translation: X:153.31, Y:-20.05, Z:-4.30 [[ 9.83656528e-01 1.79166974e-01 1.78614502e-02 1.53311476e+02] [-1.79131863e-01 9.83818634e-01 -3.55965091e-03 -2.00504177e+01] [-1.82101994e-02 3.01919003e-04 9.99834135e-01 -4.29924250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44420382200002 meters 0.019600739422344377 Centerline is valid? [True, True] Translation: X:153.34, Y:-20.06, Z:-4.30 [[ 9.83678507e-01 1.79140579e-01 1.68892903e-02 1.53339714e+02] [-1.79109202e-01 9.83823445e-01 -3.36482128e-03 -2.00583721e+01] [-1.72188558e-02 2.84875065e-04 9.99851704e-01 -4.29966842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474203822 meters 0.019607410980920215 Centerline is valid? [True, True] Translation: X:153.37, Y:-20.07, Z:-4.30 [[ 9.83367825e-01 1.80895185e-01 1.62681250e-02 1.53365674e+02] [-1.80866324e-01 9.83502350e-01 -3.24043561e-03 -2.00678656e+01] [-1.65859184e-02 2.44184151e-04 9.99862414e-01 -4.30295369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504203822 meters 0.018210071280315748 Centerline is valid? [True, True] Translation: X:153.39, Y:-20.07, Z:-4.30 [[ 9.83097819e-01 1.82396420e-01 1.58184652e-02 1.53394527e+02] [-1.82369347e-01 9.83225051e-01 -3.14959615e-03 -2.00732080e+01] [-1.61275863e-02 2.11557932e-04 9.99869920e-01 -4.30413405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534203822 meters 0.016950642957779715 Centerline is valid? [True, True] Translation: X:153.42, Y:-20.08, Z:-4.31 [[ 9.82791126e-01 1.84095109e-01 1.51852913e-02 1.53423381e+02] [-1.84070368e-01 9.82908419e-01 -3.02316584e-03 -2.00775371e+01] [-1.54823007e-02 1.75978393e-04 9.99880127e-01 -4.30575434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564203822 meters 0.013232036845399238 Centerline is valid? [True, True] Translation: X:153.45, Y:-20.08, Z:-4.31 [[ 9.81962944e-01 1.88523168e-01 1.44150027e-02 1.53452231e+02] [-1.88501359e-01 9.82068738e-01 -2.86920127e-03 -2.00785951e+01] [-1.46974344e-02 1.00201722e-04 9.99891982e-01 -4.30711264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.594203822 meters 0.012161744059584407 Centerline is valid? [True, True] Translation: X:153.48, Y:-20.08, Z:-4.31 [[ 9.81445539e-01 1.91239131e-01 1.38654024e-02 1.53480103e+02] [-1.91219234e-01 9.81543474e-01 -2.75916026e-03 -2.00833114e+01] [-1.41371546e-02 5.66338953e-05 9.99900064e-01 -4.30932791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624203822 meters 0.011515576958675609 Centerline is valid? [True, True] Translation: X:153.51, Y:-20.09, Z:-4.31 [[ 9.80971284e-01 1.93664576e-01 1.37612375e-02 1.53509067e+02] [-1.93645225e-01 9.81067802e-01 -2.73776237e-03 -2.00872811e+01] [-1.40309146e-02 2.08683338e-05 9.99901562e-01 -4.31036678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.654203822 meters 0.01257972959628238 Centerline is valid? [True, True] Translation: X:153.54, Y:-20.09, Z:-4.31 [[ 9.80048392e-01 1.98286752e-01 1.36935235e-02 1.53537504e+02] [-1.98268049e-01 9.80144052e-01 -2.72378729e-03 -2.00877624e+01] [-1.39617166e-02 -4.55448380e-05 9.99902529e-01 -4.31220090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684203822 meters 0.012708135588411268 Centerline is valid? [True, True] Translation: X:153.57, Y:-20.09, Z:-4.31 [[ 9.79723178e-01 1.99832258e-01 1.44762876e-02 1.53566400e+02] [-1.99811541e-01 9.79830120e-01 -2.87831257e-03 -2.00922697e+01] [-1.47594823e-02 -7.25798033e-05 9.99891070e-01 -4.31090823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.714203822 meters 0.013906229814254857 Centerline is valid? [True, True] Translation: X:153.60, Y:-20.10, Z:-4.31 [[ 9.79163924e-01 2.02513302e-01 1.50457019e-02 1.53595360e+02] [-2.02491252e-01 9.79279505e-01 -2.99073473e-03 -2.00959245e+01] [-1.53396111e-02 -1.18203455e-04 9.99882334e-01 -4.30972965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744203822 meters 0.016835342742325694 Centerline is valid? [True, True] Translation: X:153.62, Y:-20.10, Z:-4.31 [[ 9.78950471e-01 2.03545220e-01 1.50106253e-02 1.53622916e+02] [-2.03523403e-01 9.79065537e-01 -2.98315534e-03 -2.00976485e+01] [-1.53035929e-02 -1.34652223e-04 9.99882884e-01 -4.31480113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.774203822 meters 0.01607922138086738 Centerline is valid? [True, True] Translation: X:153.65, Y:-20.10, Z:-4.31 [[ 9.78917784e-01 2.03728311e-01 1.46542725e-02 1.53651213e+02] [-2.03707530e-01 9.79027455e-01 -2.91285327e-03 -2.01045853e+01] [-1.49403658e-02 -1.33741796e-04 9.99888378e-01 -4.31417111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804203822 meters 0.017410821627401988 Centerline is valid? [True, True] Translation: X:153.68, Y:-20.11, Z:-4.32 [[ 9.78893310e-01 2.03840537e-01 1.47283419e-02 1.53677762e+02] [-2.03819613e-01 9.79004094e-01 -2.92391881e-03 -2.01083781e+01] [-1.50151202e-02 -1.39720381e-04 9.99887257e-01 -4.31731677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.834203822 meters 0.01677074968291676 Centerline is valid? [True, True] Translation: X:153.71, Y:-20.11, Z:-4.32 [[ 9.78901501e-01 2.03851706e-01 1.40119211e-02 1.53705770e+02] [-2.03832768e-01 9.79001769e-01 -2.78178033e-03 -2.01144674e+01] [-1.42847662e-02 -1.32999724e-04 9.99897959e-01 -4.31874376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864203822 meters 0.015591799454949944 Centerline is valid? [True, True] Translation: X:153.73, Y:-20.12, Z:-4.32 [[ 9.78917457e-01 2.03821682e-01 1.33167055e-02 1.53733882e+02] [-2.03804625e-01 9.79008021e-01 -2.64004096e-03 -2.01222560e+01] [-1.35752591e-02 -1.29623985e-04 9.99907844e-01 -4.31856344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.894203822 meters 0.016330528413690704 Centerline is valid? [True, True] Translation: X:153.76, Y:-20.13, Z:-4.32 [[ 9.78864485e-01 2.04103720e-01 1.28837668e-02 1.53761098e+02] [-2.04087784e-01 9.78949260e-01 -2.55378473e-03 -2.01283183e+01] [-1.31337909e-02 -1.29610234e-04 9.99913740e-01 -4.32078674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924203822 meters 0.01726755232441295 Centerline is valid? [True, True] Translation: X:153.79, Y:-20.13, Z:-4.32 [[ 9.78780925e-01 2.04505210e-01 1.28654741e-02 1.53788323e+02] [-2.04489359e-01 9.78865466e-01 -2.54981057e-03 -2.01322328e+01] [-1.31150178e-02 -1.35146587e-04 9.99913985e-01 -4.32284457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.954203822 meters 0.01760546220675201 Centerline is valid? [True, True] Translation: X:153.82, Y:-20.14, Z:-4.32 [[ 9.78817962e-01 2.04311439e-01 1.31237455e-02 1.53815982e+02] [-2.04294951e-01 9.78905929e-01 -2.59920010e-03 -2.01359957e+01] [-1.33779586e-02 -1.36971194e-04 9.99910502e-01 -4.32353347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984203822 meters 0.0151187571462686 Centerline is valid? [True, True] Translation: X:153.84, Y:-20.14, Z:-4.32 [[ 9.79156621e-01 2.02667563e-01 1.33480375e-02 1.53844086e+02] [-2.02650342e-01 9.79247592e-01 -2.64447911e-03 -2.01437242e+01] [-1.36069837e-02 -1.15625138e-04 9.99907414e-01 -4.32158848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.014203822 meters 0.01491462368385131 Centerline is valid? [True, True] Translation: X:153.87, Y:-20.15, Z:-4.32 [[ 9.79401274e-01 2.01482592e-01 1.33382615e-02 1.53871660e+02] [-2.01465342e-01 9.79492090e-01 -2.63848844e-03 -2.01494598e+01] [-1.35963311e-02 -1.03058460e-04 9.99907560e-01 -4.32388099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04420382200001 meters 0.014426984705790104 Centerline is valid? [True, True] Translation: X:153.90, Y:-20.16, Z:-4.33 [[ 9.79736138e-01 1.99851964e-01 1.32774988e-02 1.53899148e+02] [-1.99834735e-01 9.79826100e-01 -2.62542531e-03 -2.01561254e+01] [-1.35343363e-02 -8.10814016e-05 9.99908403e-01 -4.32611372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07420382200002 meters 0.012359209120846473 Centerline is valid? [True, True] Translation: X:153.93, Y:-20.17, Z:-4.32 [[ 9.80168940e-01 1.97719849e-01 1.32555877e-02 1.53927118e+02] [-1.97702490e-01 9.80258567e-01 -2.62046956e-03 -2.01657003e+01] [-1.35120223e-02 -5.21598138e-05 9.99908707e-01 -4.32446119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10420382200002 meters 0.012021897001650312 Centerline is valid? [True, True] Translation: X:153.95, Y:-20.18, Z:-4.33 [[ 9.81225919e-01 1.92380286e-01 1.36206359e-02 1.53952868e+02] [-1.92361451e-01 9.81320450e-01 -2.69207802e-03 -2.01805306e+01] [-1.38841113e-02 2.14514411e-05 9.99903611e-01 -4.32680658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13420382200002 meters 0.012511138692854145 Centerline is valid? [True, True] Translation: X:153.98, Y:-20.19, Z:-4.33 [[ 9.81831466e-01 1.89306587e-01 1.30379529e-02 1.53980500e+02] [-1.89289069e-01 9.81918027e-01 -2.57597754e-03 -2.01910630e+01] [-1.32898505e-02 6.12338400e-05 9.99911684e-01 -4.32598995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16420382200002 meters 0.015349972983912953 Centerline is valid? [True, True] Translation: X:154.01, Y:-20.20, Z:-4.33 [[ 9.82769933e-01 1.84424366e-01 1.22846395e-02 1.54006765e+02] [-1.84408438e-01 9.82846702e-01 -2.42680420e-03 -2.02044284e+01] [-1.25214793e-02 1.19599020e-04 9.99921596e-01 -4.32763283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19420382200002 meters 0.016819472900535936 Centerline is valid? [True, True] Translation: X:154.03, Y:-20.21, Z:-4.33 [[ 9.83084967e-01 1.82744675e-01 1.21791494e-02 1.54033842e+02] [-1.82728899e-01 9.83160396e-01 -2.40519776e-03 -2.02124677e+01] [-1.24135945e-02 1.39031190e-04 9.99922939e-01 -4.32902132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224203822 meters 0.01884399470016917 Centerline is valid? [True, True] Translation: X:154.06, Y:-20.22, Z:-4.33 [[ 9.83247380e-01 1.81860617e-01 1.23006010e-02 1.54060986e+02] [-1.81844466e-01 9.83324307e-01 -2.42838194e-03 -2.02206676e+01] [-1.25371070e-02 1.50903956e-04 9.99921396e-01 -4.33151500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254203822 meters 0.0179166283866566 Centerline is valid? [True, True] Translation: X:154.09, Y:-20.23, Z:-4.33 [[ 9.83181452e-01 1.82164948e-01 1.30446712e-02 1.54089230e+02] [-1.82146825e-01 9.83267974e-01 -2.57414566e-03 -2.02264481e+01] [-1.32953265e-02 1.54806831e-04 9.99911601e-01 -4.33012377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284203822 meters 0.016058849849719482 Centerline is valid? [True, True] Translation: X:154.12, Y:-20.23, Z:-4.33 [[ 9.83025490e-01 1.82929860e-01 1.40553586e-02 1.54118259e+02] [-1.82908901e-01 9.83125954e-01 -2.77343033e-03 -2.02313279e+01] [-1.43255310e-02 1.55502526e-04 9.99897372e-01 -4.32789113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314203822 meters 0.014373906660475767 Centerline is valid? [True, True] Translation: X:154.15, Y:-20.23, Z:-4.33 [[ 9.82493089e-01 1.85693902e-01 1.50034739e-02 1.54146436e+02] [-1.85670374e-01 9.82607633e-01 -2.95836333e-03 -2.02346124e+01] [-1.52918780e-02 1.20870919e-04 9.99883065e-01 -4.32773694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344203822 meters 0.012879369253642692 Centerline is valid? [True, True] Translation: X:154.18, Y:-20.24, Z:-4.33 [[ 9.82172105e-01 1.87407492e-01 1.47101563e-02 1.54175641e+02] [-1.87385078e-01 9.82282252e-01 -2.89981395e-03 -2.02361711e+01] [-1.49929723e-02 9.16525792e-05 9.99887595e-01 -4.32794497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.374203822 meters 0.012243838131732127 Centerline is valid? [True, True] Translation: X:154.20, Y:-20.24, Z:-4.33 [[ 9.81900964e-01 1.88854293e-01 1.43021752e-02 1.54203251e+02] [-1.88833263e-01 9.82005118e-01 -2.81905292e-03 -2.02389753e+01] [-1.45771995e-02 6.73043612e-05 9.99893745e-01 -4.32970314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404203822 meters 0.011913535967207189 Centerline is valid? [True, True] Translation: X:154.23, Y:-20.24, Z:-4.33 [[ 9.81673968e-01 1.90029712e-01 1.43153500e-02 1.54230280e+02] [-1.90008787e-01 9.81778339e-01 -2.82039978e-03 -2.02436527e+01] [-1.45904603e-02 4.86707524e-05 9.99893552e-01 -4.33171447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.434203822 meters 0.011686884620414112 Centerline is valid? [True, True] Translation: X:154.26, Y:-20.25, Z:-4.33 [[ 9.81468501e-01 1.91095750e-01 1.42125168e-02 1.54256976e+02] [-1.91075244e-01 9.81571400e-01 -2.79959222e-03 -2.02498072e+01] [-1.44855902e-02 3.20514672e-05 9.99895078e-01 -4.33324684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464203822 meters 0.011486396259384407 Centerline is valid? [True, True] Translation: X:154.29, Y:-20.26, Z:-4.33 [[ 9.81511976e-01 1.90891065e-01 1.39585704e-02 1.54285588e+02] [-1.90871288e-01 9.81611227e-01 -2.74792866e-03 -2.02562754e+01] [-1.42264444e-02 3.28345929e-05 9.99898798e-01 -4.33280112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.494203822 meters 0.012287806071724354 Centerline is valid? [True, True] Translation: X:154.31, Y:-20.27, Z:-4.34 [[ 9.81865880e-01 1.89124275e-01 1.30920678e-02 1.54312430e+02] [-1.89106728e-01 9.81953159e-01 -2.57677078e-03 -2.02680887e+01] [-1.33431273e-02 5.42452062e-05 9.99910975e-01 -4.33529828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524203822 meters 0.013803784105589361 Centerline is valid? [True, True] Translation: X:154.34, Y:-20.28, Z:-4.34 [[ 9.82105429e-01 1.87906866e-01 1.26465589e-02 1.54338974e+02] [-1.87890398e-01 9.82186848e-01 -2.48868112e-03 -2.02787534e+01] [-1.28889241e-02 6.79802487e-05 9.99916932e-01 -4.33928571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.554203822 meters 0.014172060988570379 Centerline is valid? [True, True] Translation: X:154.37, Y:-20.29, Z:-4.34 [[ 9.82274945e-01 1.87025699e-01 1.25427687e-02 1.54366144e+02] [-1.87009433e-01 9.82355018e-01 -2.46784854e-03 -2.02874362e+01] [-1.27830029e-02 7.84897267e-05 9.99918291e-01 -4.33973415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584203822 meters 0.013169643045852783 Centerline is valid? [True, True] Translation: X:154.39, Y:-20.29, Z:-4.34 [[ 9.82283007e-01 1.86939678e-01 1.31776470e-02 1.54394597e+02] [-1.86921740e-01 9.82371391e-01 -2.59095603e-03 -2.02949233e+01] [-1.34296959e-02 8.18633736e-05 9.99909814e-01 -4.33680880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.614203822 meters 0.012547935749051338 Centerline is valid? [True, True] Translation: X:154.42, Y:-20.30, Z:-4.34 [[ 9.82141998e-01 1.87652543e-01 1.35505809e-02 1.54422261e+02] [-1.87633653e-01 9.82235470e-01 -2.66355430e-03 -2.03013819e+01] [-1.38096840e-02 7.34435524e-05 9.99904639e-01 -4.33679149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644203822 meters 0.01201715014116444 Centerline is valid? [True, True] Translation: X:154.45, Y:-20.31, Z:-4.34 [[ 9.81927887e-01 1.88749466e-01 1.38298329e-02 1.54450779e+02] [-1.88729912e-01 9.82025272e-01 -2.71752841e-03 -2.03084428e+01] [-1.40941775e-02 5.83137859e-05 9.99900670e-01 -4.33731350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.674203822 meters 0.011034498260496892 Centerline is valid? [True, True] Translation: X:154.48, Y:-20.31, Z:-4.34 [[ 9.81264890e-01 1.92105322e-01 1.46546992e-02 1.54478114e+02] [-1.92083743e-01 9.81374314e-01 -2.87932395e-03 -2.03130314e+01] [-1.49348788e-02 1.04500258e-05 9.99888468e-01 -4.33598461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704203822 meters 0.011125904215067598 Centerline is valid? [True, True] Translation: X:154.51, Y:-20.32, Z:-4.34 [[ 9.80788593e-01 1.94507704e-01 1.48488837e-02 1.54506210e+02] [-1.94485837e-01 9.80900990e-01 -2.91667545e-03 -2.03163648e+01] [-1.51326005e-02 -2.72555607e-05 9.99885495e-01 -4.33587588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.734203822 meters 0.012344871642267165 Centerline is valid? [True, True] Translation: X:154.53, Y:-20.32, Z:-4.34 [[ 9.80199183e-01 1.97428348e-01 1.52186936e-02 1.54534466e+02] [-1.97405745e-01 9.80317317e-01 -2.98829995e-03 -2.03190538e+01] [-1.55091240e-02 -7.51283799e-05 9.99879723e-01 -4.33692011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.764203822 meters 0.018346464551541177 Centerline is valid? [True, True] Translation: X:154.56, Y:-20.32, Z:-4.34 [[ 9.78701783e-01 2.04725761e-01 1.51717407e-02 1.54563748e+02] [-2.04704203e-01 9.78819353e-01 -2.97714141e-03 -2.03153200e+01] [-1.54598910e-02 -1.91985490e-04 9.99880470e-01 -4.33890167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79420382200001 meters 0.022241189660345495 Centerline is valid? [True, True] Translation: X:154.59, Y:-20.31, Z:-4.34 [[ 9.77909537e-01 2.08512923e-01 1.46730472e-02 1.54593588e+02] [-2.08493198e-01 9.78019581e-01 -2.87842188e-03 -2.03149210e+01] [-1.49507157e-02 -2.44394334e-04 9.99888202e-01 -4.34074539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82420382200002 meters 0.02863222210746533 Centerline is valid? [True, True] Translation: X:154.63, Y:-20.31, Z:-4.34 [[ 9.76686532e-01 2.14234732e-01 1.36710753e-02 1.54625500e+02] [-2.14218181e-01 9.76782158e-01 -2.68090470e-03 -2.03108462e+01] [-1.39280053e-02 -3.10189362e-04 9.99902953e-01 -4.34473290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85420382200002 meters 0.035103654780527356 Centerline is valid? [True, True] Translation: X:154.65, Y:-20.32, Z:-4.35 [[ 9.76443941e-01 2.15392801e-01 1.27738630e-02 1.54654106e+02] [-2.15378415e-01 9.76527444e-01 -2.50766299e-03 -2.03163281e+01] [-1.30141604e-02 -3.02622043e-04 9.99915266e-01 -4.34668110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88420382200002 meters 0.035103654780527356 Centerline is valid? [True, True] Translation: X:154.68, Y:-20.32, Z:-4.35 [[ 9.76486411e-01 2.15200158e-01 1.27742225e-02 1.54681103e+02] [-2.15185780e-01 9.76569916e-01 -2.50582996e-03 -2.03214266e+01] [-1.30141764e-02 -3.01922117e-04 9.99915266e-01 -4.34746142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91420382200002 meters 0.029270359173660155 Centerline is valid? [True, True] Translation: X:154.71, Y:-20.33, Z:-4.35 [[ 9.76393399e-01 2.15680162e-01 1.17472813e-02 1.54708475e+02] [-2.15668088e-01 9.76464021e-01 -2.30015956e-03 -2.03257558e+01] [-1.19668963e-02 -2.87653086e-04 9.99928353e-01 -4.35020704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94420382200002 meters 0.02867398909988105 Centerline is valid? [True, True] Translation: X:154.74, Y:-20.33, Z:-4.35 [[ 9.76580746e-01 2.14878196e-01 1.08354562e-02 1.54735194e+02] [-2.14867854e-01 9.76640822e-01 -2.12343636e-03 -2.03327544e+01] [-1.10386291e-02 -2.54484165e-04 9.99939040e-01 -4.35259501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974203822 meters 0.024948256935133518 Centerline is valid? [True, True] Translation: X:154.76, Y:-20.35, Z:-4.36 [[ 9.77512650e-01 2.10661042e-01 9.53645372e-03 1.54762117e+02] [-2.10652870e-01 9.77559149e-01 -1.86482707e-03 -2.03452166e+01] [-9.71529400e-03 -1.85989295e-04 9.99952788e-01 -4.35552341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004203822 meters 0.024013458184880095 Centerline is valid? [True, True] Translation: X:154.79, Y:-20.35, Z:-4.36 [[ 9.78140284e-01 2.07711631e-01 9.87231747e-03 1.54789419e+02] [-2.07702728e-01 9.78190090e-01 -1.92995206e-03 -2.03523803e+01] [-1.00578766e-02 -1.62743416e-04 9.99949405e-01 -4.35834929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034203822 meters 0.017094681274866196 Centerline is valid? [True, True] Translation: X:154.82, Y:-20.37, Z:-4.35 [[ 9.79516403e-01 2.01031059e-01 1.15814689e-02 1.54816902e+02] [-2.01018356e-01 9.79584862e-01 -2.26262991e-03 -2.03689282e+01] [-1.17998905e-02 -1.11804728e-04 9.99930373e-01 -4.35484623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064203822 meters 0.014559939152470025 Centerline is valid? [True, True] Translation: X:154.84, Y:-20.38, Z:-4.35 [[ 9.80202469e-01 1.97626624e-01 1.21176847e-02 1.54844285e+02] [-1.97612452e-01 9.80277365e-01 -2.36780348e-03 -2.03800380e+01] [-1.23466331e-02 -7.36785774e-05 9.99923775e-01 -4.35451847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.094203822 meters 0.01245974836603515 Centerline is valid? [True, True] Translation: X:154.87, Y:-20.39, Z:-4.35 [[ 9.80866216e-01 1.94241335e-01 1.31060779e-02 1.54871223e+02] [-1.94224466e-01 9.80953772e-01 -2.56018527e-03 -2.03912938e+01] [-1.33537503e-02 -3.43217391e-05 9.99910834e-01 -4.35295291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124203822 meters 0.010678665518011464 Centerline is valid? [True, True] Translation: X:154.90, Y:-20.41, Z:-4.35 [[ 9.81892194e-01 1.88758530e-01 1.60604076e-02 1.54897449e+02] [-1.88732480e-01 9.82023531e-01 -3.13623549e-03 -2.04088222e+01] [-1.63636894e-02 4.83245955e-05 9.99866105e-01 -4.34565495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.154203822 meters 0.012019388226824752 Centerline is valid? [True, True] Translation: X:154.92, Y:-20.42, Z:-4.35 [[ 9.82265037e-01 1.86720593e-01 1.70533353e-02 1.54923585e+02] [-1.86690930e-01 9.82413056e-01 -3.32927054e-03 -2.04207132e+01] [-1.73750626e-02 8.65230209e-05 9.99849038e-01 -4.34755500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184203822 meters 0.021583258424590187 Centerline is valid? [True, True] Translation: X:154.95, Y:-20.43, Z:-4.35 [[ 9.82599535e-01 1.84964386e-01 1.69212958e-02 1.54950648e+02] [-1.84934938e-01 9.82745218e-01 -3.30240817e-03 -2.04297003e+01] [-1.72401505e-02 1.15605927e-04 9.99851371e-01 -4.34885551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.214203822 meters 0.013695336289311494 Centerline is valid? [True, True] Translation: X:154.98, Y:-20.44, Z:-4.35 [[ 9.82903336e-01 1.83432312e-01 1.59254267e-02 1.54978676e+02] [-1.83406047e-01 9.83032334e-01 -3.10691046e-03 -2.04366803e+01] [-1.62251172e-02 1.32973105e-04 9.99868355e-01 -4.34940082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244203822 meters 0.014789006355469234 Centerline is valid? [True, True] Translation: X:155.01, Y:-20.44, Z:-4.35 [[ 9.82923241e-01 1.83395797e-01 1.50958406e-02 1.55005240e+02] [-1.83372201e-01 9.83039148e-01 -2.94453051e-03 -2.04436121e+01] [-1.53798168e-02 1.26089958e-04 9.99881716e-01 -4.35319123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.274203822 meters 0.014592134974313805 Centerline is valid? [True, True] Translation: X:155.03, Y:-20.45, Z:-4.35 [[ 9.82837657e-01 1.83908023e-01 1.44214455e-02 1.55033400e+02] [-1.83886559e-01 9.82943450e-01 -2.81195872e-03 -2.04497188e+01] [-1.46926072e-02 1.11788945e-04 9.99892052e-01 -4.35495471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304203822 meters 0.012149362377818072 Centerline is valid? [True, True] Translation: X:155.06, Y:-20.45, Z:-4.35 [[ 9.82253368e-01 1.87031599e-01 1.40535691e-02 1.55062573e+02] [-1.87011544e-01 9.82353896e-01 -2.73961691e-03 -2.04528749e+01] [-1.43179733e-02 6.28182816e-05 9.99897491e-01 -4.35389553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.334203822 meters 0.01259842015796234 Centerline is valid? [True, True] Translation: X:155.09, Y:-20.46, Z:-4.36 [[ 9.81845805e-01 1.89183772e-01 1.37228055e-02 1.55089603e+02] [-1.89164867e-01 9.81941699e-01 -2.67464679e-03 -2.04568539e+01] [-1.39809947e-02 3.02180557e-05 9.99902261e-01 -4.35853823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364203822 meters 0.01166539332977896 Centerline is valid? [True, True] Translation: X:155.12, Y:-20.46, Z:-4.36 [[ 9.80930213e-01 1.93925177e-01 1.29977959e-02 1.55119216e+02] [-1.93908644e-01 9.81016322e-01 -2.53245277e-03 -2.04553238e+01] [-1.32421563e-02 -3.62255514e-05 9.99912318e-01 -4.35512340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.394203822 meters 0.014341834434174288 Centerline is valid? [True, True] Translation: X:155.15, Y:-20.45, Z:-4.36 [[ 9.80408672e-01 1.96498402e-01 1.36826033e-02 1.55147289e+02] [-1.96480334e-01 9.80504142e-01 -2.66563264e-03 -2.04541849e+01] [-1.39396417e-02 -7.49531171e-05 9.99902836e-01 -4.36019443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424203822 meters 0.015008551147396616 Centerline is valid? [True, True] Translation: X:155.18, Y:-20.46, Z:-4.36 [[ 9.79942424e-01 1.98760494e-01 1.43913464e-02 1.55176508e+02] [-1.98740780e-01 9.80048087e-01 -2.80164979e-03 -2.04560239e+01] [-1.46610688e-02 -1.14691917e-04 9.99892514e-01 -4.35787673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.454203822 meters 0.01794241038637133 Centerline is valid? [True, True] Translation: X:155.21, Y:-20.46, Z:-4.36 [[ 9.79201757e-01 2.02242856e-01 1.61786010e-02 1.55205329e+02] [-2.02218430e-01 9.79335383e-01 -3.14876562e-03 -2.04552911e+01] [-1.64810917e-02 -1.88334458e-04 9.99864160e-01 -4.35616702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484203822 meters 0.01720854926284137 Centerline is valid? [True, True] Translation: X:155.23, Y:-20.46, Z:-4.35 [[ 9.78947977e-01 2.03436962e-01 1.65608038e-02 1.55233773e+02] [-2.03411559e-01 9.79088023e-01 -3.22199865e-03 -2.04610176e+01] [-1.68699582e-02 -2.14489851e-04 9.99857669e-01 -4.35366326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.514203822 meters 0.019292512275393615 Centerline is valid? [True, True] Translation: X:155.26, Y:-20.46, Z:-4.36 [[ 9.78693544e-01 2.04625431e-01 1.69522800e-02 1.55262239e+02] [-2.04599004e-01 9.78840321e-01 -3.29739100e-03 -2.04619046e+01] [-1.72683052e-02 -2.41284314e-04 9.99850863e-01 -4.35571360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54420382200001 meters 0.019578966950242 Centerline is valid? [True, True] Translation: X:155.29, Y:-20.47, Z:-4.36 [[ 9.78656737e-01 2.04779018e-01 1.72204922e-02 1.55288968e+02] [-2.04751788e-01 9.78808200e-01 -3.34867129e-03 -2.04651029e+01] [-1.75412966e-02 -2.48726860e-04 9.99846109e-01 -4.35604078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57420382200002 meters 0.018887500112151498 Centerline is valid? [True, True] Translation: X:155.32, Y:-20.47, Z:-4.36 [[ 9.78633489e-01 2.04862314e-01 1.75478430e-02 1.55317036e+02] [-2.04834081e-01 9.78790767e-01 -3.41065595e-03 -2.04698905e+01] [-1.78743816e-02 -2.56614165e-04 9.99840208e-01 -4.35595585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60420382200002 meters 0.018271742384107524 Centerline is valid? [True, True] Translation: X:155.34, Y:-20.47, Z:-4.36 [[ 9.78687693e-01 2.04620139e-01 1.73493057e-02 1.55344657e+02] [-2.04592526e-01 9.78841425e-01 -3.37079314e-03 -2.04749685e+01] [-1.76719513e-02 -2.50584516e-04 9.99843807e-01 -4.35675986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63420382200002 meters 0.019452963481110197 Centerline is valid? [True, True] Translation: X:155.37, Y:-20.48, Z:-4.36 [[ 9.78883369e-01 2.03759259e-01 1.64168948e-02 1.55372044e+02] [-2.03734430e-01 9.79020998e-01 -3.18862452e-03 -2.04770182e+01] [-1.67221965e-02 -2.23395195e-04 9.99860149e-01 -4.36111824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66420382200002 meters 0.018837076661152773 Centerline is valid? [True, True] Translation: X:155.40, Y:-20.48, Z:-4.36 [[ 9.79009383e-01 2.03182650e-01 1.60449243e-02 1.55400046e+02] [-2.03158887e-01 9.79140831e-01 -3.11451390e-03 -2.04816191e+01] [-1.63430557e-02 -2.10530626e-04 9.99866421e-01 -4.36257157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69420382200002 meters 0.017288931600421345 Centerline is valid? [True, True] Translation: X:155.43, Y:-20.49, Z:-4.36 [[ 9.79406558e-01 2.01276619e-01 1.58277299e-02 1.55426787e+02] [-2.01253250e-01 9.79534426e-01 -3.07208231e-03 -2.04874392e+01] [-1.61221447e-02 -1.76564522e-04 9.99870014e-01 -4.36426315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724203822 meters 0.015589878978702223 Centerline is valid? [True, True] Translation: X:155.45, Y:-20.49, Z:-4.36 [[ 9.79696705e-01 1.99844868e-01 1.60123518e-02 1.55454927e+02] [-1.99820792e-01 9.79827538e-01 -3.10597922e-03 -2.04949931e+01] [-1.63100572e-02 -1.56683197e-04 9.99866970e-01 -4.36369683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754203822 meters 0.013962025654913189 Centerline is valid? [True, True] Translation: X:155.48, Y:-20.50, Z:-4.36 [[ 9.80031790e-01 1.98171629e-01 1.63002169e-02 1.55483259e+02] [-1.98146461e-01 9.80167327e-01 -3.16099020e-03 -2.05023711e+01] [-1.66033586e-02 -1.31959409e-04 9.99862146e-01 -4.36352261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784203822 meters 0.01223425452366878 Centerline is valid? [True, True] Translation: X:155.51, Y:-20.51, Z:-4.37 [[ 9.80761925e-01 1.94567221e-01 1.58000681e-02 1.55509780e+02] [-1.94543116e-01 9.80889184e-01 -3.06339186e-03 -2.05113877e+01] [-1.60941516e-02 -6.93363914e-05 9.99870478e-01 -4.36592151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814203822 meters 0.011251000442571785 Centerline is valid? [True, True] Translation: X:155.54, Y:-20.52, Z:-4.37 [[ 9.81173364e-01 1.92486718e-01 1.57382499e-02 1.55537275e+02] [-1.92462552e-01 9.81299578e-01 -3.05026869e-03 -2.05203143e+01] [-1.60310742e-02 -3.61813404e-05 9.99871493e-01 -4.36623367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844203822 meters 0.011154598034061072 Centerline is valid? [True, True] Translation: X:155.56, Y:-20.53, Z:-4.37 [[ 9.81562650e-01 1.90467763e-01 1.60248629e-02 1.55563625e+02] [-1.90442450e-01 9.81693451e-01 -3.10513369e-03 -2.05290666e+01] [-1.63229309e-02 -3.93091453e-06 9.99866772e-01 -4.36808581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.874203822 meters 0.011277019303444772 Centerline is valid? [True, True] Translation: X:155.59, Y:-20.54, Z:-4.37 [[ 9.82002705e-01 1.88292007e-01 1.47244010e-02 1.55591176e+02] [-1.88270405e-01 9.82113089e-01 -2.85220981e-03 -2.05384054e+01] [-1.49980753e-02 2.87088099e-05 9.99887522e-01 -4.36890145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904203822 meters 0.01191629147224982 Centerline is valid? [True, True] Translation: X:155.62, Y:-20.54, Z:-4.37 [[ 9.82026434e-01 1.88205514e-01 1.42396722e-02 1.55618892e+02] [-1.88185310e-01 9.82129667e-01 -2.75780808e-03 -2.05438110e+01] [-1.45042392e-02 2.85433064e-05 9.99894808e-01 -4.37184681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.934203822 meters 0.02294361473107138 Centerline is valid? [True, True] Translation: X:155.65, Y:-20.55, Z:-4.37 [[ 9.81918087e-01 1.88739666e-01 1.46358673e-02 1.55647562e+02] [-1.88718398e-01 9.82027158e-01 -2.83341327e-03 -2.05477004e+01] [-1.49075966e-02 2.01223127e-05 9.99888875e-01 -4.37022996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964203822 meters 0.010622638285783387 Centerline is valid? [True, True] Translation: X:155.68, Y:-20.55, Z:-4.37 [[ 9.81217445e-01 1.92144630e-01 1.71104378e-02 1.55677318e+02] [-1.92116098e-01 9.81366618e-01 -3.31137493e-03 -2.05454272e+01] [-1.74278754e-02 -3.80117084e-05 9.99848122e-01 -4.36576843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.994203822 meters 0.011675873862067913 Centerline is valid? [True, True] Translation: X:155.71, Y:-20.55, Z:-4.37 [[ 9.80706708e-01 1.94745820e-01 1.69828785e-02 1.55706577e+02] [-1.94718117e-01 9.80853740e-01 -3.28583795e-03 -2.05455618e+01] [-1.72976230e-02 -8.44307922e-05 9.99850381e-01 -4.36667008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024203822 meters 0.013435551640296695 Centerline is valid? [True, True] Translation: X:155.74, Y:-20.55, Z:-4.37 [[ 9.80209288e-01 1.97307283e-01 1.61117398e-02 1.55735291e+02] [-1.97282704e-01 9.80341686e-01 -3.11669961e-03 -2.05461457e+01] [-1.64099577e-02 -1.23549690e-04 9.99865340e-01 -4.36907232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.054203822 meters 0.017672718469177822 Centerline is valid? [True, True] Translation: X:155.76, Y:-20.54, Z:-4.37 [[ 9.79330215e-01 2.01769476e-01 1.41918824e-02 1.55764755e+02] [-2.01750886e-01 9.79433024e-01 -2.74444523e-03 -2.05421989e+01] [-1.44537436e-02 -1.75506727e-04 9.99895524e-01 -4.37481553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084203822 meters 0.02100856628122954 Centerline is valid? [True, True] Translation: X:155.79, Y:-20.54, Z:-4.38 [[ 9.78974927e-01 2.03543223e-01 1.33509965e-02 1.55792813e+02] [-2.03526942e-01 9.79065943e-01 -2.58141499e-03 -2.05413782e+01] [-1.35969355e-02 -1.90146945e-04 9.99907539e-01 -4.37984766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.114203822 meters 0.0220213726527028 Centerline is valid? [True, True] Translation: X:155.82, Y:-20.54, Z:-4.38 [[ 9.78765561e-01 2.04593127e-01 1.26344060e-02 1.55821532e+02] [-2.04578622e-01 9.78847085e-01 -2.44380546e-03 -2.05435189e+01] [-1.28671373e-02 -1.92816755e-04 9.99917196e-01 -4.38194283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144203822 meters 0.022249703052718898 Centerline is valid? [True, True] Translation: X:155.85, Y:-20.54, Z:-4.38 [[ 9.78732193e-01 2.04829948e-01 1.13131549e-02 1.55850704e+02] [-2.04818350e-01 9.78797559e-01 -2.18684439e-03 -2.05448718e+01] [-1.15212196e-02 -1.76806704e-04 9.99933613e-01 -4.38459016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.174203822 meters 0.021975536981589213 Centerline is valid? [True, True] Translation: X:155.88, Y:-20.55, Z:-4.39 [[ 9.78974343e-01 2.03694212e-01 1.08583052e-02 1.55877768e+02] [-2.03683498e-01 9.79034546e-01 -2.09532103e-03 -2.05489587e+01] [-1.10574606e-02 -1.60392052e-04 9.99938852e-01 -4.38669675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204203822 meters 0.0202877757773426 Centerline is valid? [True, True] Translation: X:155.91, Y:-20.56, Z:-4.39 [[ 9.79375525e-01 2.01749864e-01 1.09805957e-02 1.55905903e+02] [-2.01738796e-01 9.79437069e-01 -2.11799570e-03 -2.05558989e+01] [-1.11821078e-02 -1.40898996e-04 9.99937468e-01 -4.38769558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.234203822 meters 0.015293946375255543 Centerline is valid? [True, True] Translation: X:155.93, Y:-20.57, Z:-4.39 [[ 9.80571741e-01 1.95829348e-01 1.13985224e-02 1.55932170e+02] [-1.95817028e-01 9.80637986e-01 -2.19800136e-03 -2.05702138e+01] [-1.16082572e-02 -7.67267543e-05 9.99932619e-01 -4.38793545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.264203822 meters 0.012861500037177861 Centerline is valid? [True, True] Translation: X:155.96, Y:-20.58, Z:-4.39 [[ 9.81246653e-01 1.92393450e-01 1.18222645e-02 1.55959494e+02] [-1.92379954e-01 9.81317869e-01 -2.27911325e-03 -2.05812882e+01] [-1.20398858e-02 -3.79944466e-05 9.99927517e-01 -4.38663132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29420382200001 meters 0.012385658751986217 Centerline is valid? [True, True] Translation: X:155.99, Y:-20.59, Z:-4.39 [[ 9.81970048e-01 1.88633914e-01 1.23316900e-02 1.55985833e+02] [-1.88618934e-01 9.82047477e-01 -2.37724483e-03 -2.05916031e+01] [-1.25587340e-02 8.39300025e-06 9.99921136e-01 -4.38741351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32420382200002 meters 0.015129506484198193 Centerline is valid? [True, True] Translation: X:156.01, Y:-20.61, Z:-4.39 [[ 9.83348192e-01 1.81218814e-01 1.36409051e-02 1.56011105e+02] [-1.81199796e-01 9.83442794e-01 -2.62774368e-03 -2.06080138e+01] [-1.38912464e-02 1.12257782e-04 9.99903506e-01 -4.38560171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35420382200002 meters 0.017870690974573222 Centerline is valid? [True, True] Translation: X:156.04, Y:-20.62, Z:-4.39 [[ 9.83989999e-01 1.77707586e-01 1.35534742e-02 1.56038242e+02] [-1.77688491e-01 9.84083324e-01 -2.60991305e-03 -2.06196785e+01] [-1.38015493e-02 1.59831960e-04 9.99904741e-01 -4.38630805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38420382200002 meters 0.02367689444211255 Centerline is valid? [True, True] Translation: X:156.07, Y:-20.63, Z:-4.39 [[ 9.84513468e-01 1.74808393e-01 1.32384661e-02 1.56065501e+02] [-1.74789921e-01 9.84602452e-01 -2.54867751e-03 -2.06297108e+01] [-1.34801564e-02 1.95256880e-04 9.99909120e-01 -4.38605000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41420382200002 meters 0.02213151579118874 Centerline is valid? [True, True] Translation: X:156.09, Y:-20.64, Z:-4.39 [[ 9.85116172e-01 1.71417292e-01 1.27373302e-02 1.56092896e+02] [-1.71399922e-01 9.85198487e-01 -2.45121479e-03 -2.06440567e+01] [-1.29689790e-02 2.31553929e-04 9.99915872e-01 -4.38658102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44420382200002 meters 0.024735724566241707 Centerline is valid? [True, True] Translation: X:156.12, Y:-20.65, Z:-4.39 [[ 9.85195968e-01 1.70972413e-01 1.25434752e-02 1.56119811e+02] [-1.70955528e-01 9.85275788e-01 -2.41417446e-03 -2.06534673e+01] [-1.27715397e-02 2.34058525e-04 9.99918413e-01 -4.38971901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474203822 meters 0.020498961452248676 Centerline is valid? [True, True] Translation: X:156.15, Y:-20.65, Z:-4.39 [[ 9.84818206e-01 1.73114281e-01 1.28275441e-02 1.56149615e+02] [-1.73096813e-01 9.84901722e-01 -2.46814852e-03 -2.06547074e+01] [-1.30611420e-02 2.10270601e-04 9.99914678e-01 -4.38728238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504203822 meters 0.019719375681768576 Centerline is valid? [True, True] Translation: X:156.18, Y:-20.66, Z:-4.39 [[ 9.84440842e-01 1.75197582e-01 1.34920747e-02 1.56177389e+02] [-1.75178472e-01 9.84533276e-01 -2.59461064e-03 -2.06598242e+01] [-1.37379660e-02 1.90719649e-04 9.99905612e-01 -4.38858065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534203822 meters 0.016444349871983125 Centerline is valid? [True, True] Translation: X:156.21, Y:-20.66, Z:-4.39 [[ 9.83963257e-01 1.77817381e-01 1.40459143e-02 1.56206308e+02] [-1.77796947e-01 9.84063491e-01 -2.70035236e-03 -2.06617068e+01] [-1.43022411e-02 1.59726817e-04 9.99897705e-01 -4.38695895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564203822 meters 0.012459183474842055 Centerline is valid? [True, True] Translation: X:156.24, Y:-20.66, Z:-4.39 [[ 9.82777651e-01 1.84253120e-01 1.41023361e-02 1.56235103e+02] [-1.84233191e-01 9.82878824e-01 -2.71065493e-03 -2.06607197e+01] [-1.43603341e-02 6.58527063e-05 9.99896883e-01 -4.38871583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.594203822 meters 0.011670891850394318 Centerline is valid? [True, True] Translation: X:156.26, Y:-20.66, Z:-4.39 [[ 9.82142327e-01 1.87638354e-01 1.37221591e-02 1.56263764e+02] [-1.87619830e-01 9.82238183e-01 -2.63659251e-03 -2.06616726e+01] [-1.39731545e-02 1.49599405e-05 9.99902371e-01 -4.38998309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624203822 meters 0.012405520423288163 Centerline is valid? [True, True] Translation: X:156.29, Y:-20.66, Z:-4.39 [[ 9.81427213e-01 1.91361127e-01 1.34738141e-02 1.56291774e+02] [-1.91343624e-01 9.81519698e-01 -2.58840738e-03 -2.06617314e+01] [-1.37201345e-02 -3.77949840e-05 9.99905874e-01 -4.39217442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.654203822 meters 0.01427036325160858 Centerline is valid? [True, True] Translation: X:156.32, Y:-20.66, Z:-4.39 [[ 9.80701049e-01 1.95075089e-01 1.30829227e-02 1.56320526e+02] [-1.95058927e-01 9.80788306e-01 -2.51256461e-03 -2.06618029e+01] [-1.33217164e-02 -8.78661160e-05 9.99911258e-01 -4.39403409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684203822 meters 0.020548846477792343 Centerline is valid? [True, True] Translation: X:156.35, Y:-20.66, Z:-4.40 [[ 9.79372332e-01 2.01715178e-01 1.18668746e-02 1.56350200e+02] [-2.01702380e-01 9.79444210e-01 -2.27804741e-03 -2.06577468e+01] [-1.20824584e-02 -1.62520257e-04 9.99926991e-01 -4.39783025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.714203822 meters 0.02325207600092298 Centerline is valid? [True, True] Translation: X:156.38, Y:-20.66, Z:-4.40 [[ 9.78741995e-01 2.04788933e-01 1.12071098e-02 1.56380094e+02] [-2.04777726e-01 9.78806139e-01 -2.15082514e-03 -2.06591787e+01] [-1.14100531e-02 -1.89863576e-04 9.99934885e-01 -4.39920510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744203822 meters 0.02325207600092298 Centerline is valid? [True, True] Translation: X:156.41, Y:-20.66, Z:-4.40 [[ 9.78756560e-01 2.04719320e-01 1.12070095e-02 1.56407116e+02] [-2.04708102e-01 9.78820701e-01 -2.15134839e-03 -2.06642243e+01] [-1.14100754e-02 -1.88519293e-04 9.99934885e-01 -4.39998563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.774203822 meters 0.02970623633225133 Centerline is valid? [True, True] Translation: X:156.44, Y:-20.66, Z:-4.40 [[ 9.77605128e-01 2.10139579e-01 1.13829228e-02 1.56436804e+02] [-2.10128387e-01 9.77671362e-01 -2.18399687e-03 -2.06580126e+01] [-1.15877018e-02 -2.56788664e-04 9.99932827e-01 -4.40045735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804203822 meters 0.031111704031773473 Centerline is valid? [True, True] Translation: X:156.47, Y:-20.66, Z:-4.40 [[ 9.77171046e-01 2.12124322e-01 1.18329651e-02 1.56465425e+02] [-2.12112360e-01 9.77242645e-01 -2.27139995e-03 -2.06601009e+01] [-1.20454973e-02 -2.90371892e-04 9.99927408e-01 -4.39996195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.834203822 meters 0.03368813597006247 Centerline is valid? [True, True] Translation: X:156.49, Y:-20.66, Z:-4.40 [[ 9.76754154e-01 2.14015771e-01 1.21890469e-02 1.56493178e+02] [-2.14003274e-01 9.76830150e-01 -2.33577057e-03 -2.06613084e+01] [-1.24065202e-02 -3.27022330e-04 9.99922983e-01 -4.40066750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864203822 meters 0.036045218259188376 Centerline is valid? [True, True] Translation: X:156.52, Y:-20.66, Z:-4.40 [[ 9.76454574e-01 2.15374453e-01 1.22601275e-02 1.56520879e+02] [-2.15361926e-01 9.76531477e-01 -2.34862902e-03 -2.06626514e+01] [-1.24782351e-02 -3.47035124e-04 9.99922084e-01 -4.40169716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.894203822 meters 0.03370642067655376 Centerline is valid? [True, True] Translation: X:156.55, Y:-20.67, Z:-4.40 [[ 9.76134254e-01 2.16828399e-01 1.21393702e-02 1.56549575e+02] [-2.16816216e-01 9.76209668e-01 -2.32665336e-03 -2.06667986e+01] [-1.23550551e-02 -3.60886283e-04 9.99923608e-01 -4.39983982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924203822 meters 0.04032574082655578 Centerline is valid? [True, True] Translation: X:156.58, Y:-20.67, Z:-4.40 [[ 9.76058630e-01 2.17177501e-01 1.19784363e-02 1.56577992e+02] [-2.17165713e-01 9.76132061e-01 -2.29189074e-03 -2.06674262e+01] [-1.21902828e-02 -3.64285918e-04 9.99925629e-01 -4.40255531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.954203822 meters 0.0360189499456242 Centerline is valid? [True, True] Translation: X:156.61, Y:-20.67, Z:-4.40 [[ 9.76293890e-01 2.16135083e-01 1.16561760e-02 1.56606390e+02] [-2.16123855e-01 9.76363410e-01 -2.22952093e-03 -2.06668417e+01] [-1.18625414e-02 -3.42510022e-04 9.99929579e-01 -4.40494063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.984203822 meters 0.034879451516544396 Centerline is valid? [True, True] Translation: X:156.64, Y:-20.67, Z:-4.41 [[ 9.76566872e-01 2.14915297e-01 1.13384652e-02 1.56635202e+02] [-2.14904577e-01 9.76632640e-01 -2.16988540e-03 -2.06711016e+01] [-1.15398567e-02 -3.17649867e-04 9.99933363e-01 -4.40659220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.014203822 meters 0.03221253908786181 Centerline is valid? [True, True] Translation: X:156.66, Y:-20.68, Z:-4.41 [[ 9.76872818e-01 2.13533256e-01 1.10925965e-02 1.56663013e+02] [-2.13522943e-01 9.76935750e-01 -2.11972454e-03 -2.06769534e+01] [-1.12893858e-02 -2.97822558e-04 9.99936229e-01 -4.40705501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04420382200001 meters 0.030342941370086758 Centerline is valid? [True, True] Translation: X:156.69, Y:-20.68, Z:-4.41 [[ 9.77692377e-01 2.09721894e-01 1.15906722e-02 1.56691203e+02] [-2.09710392e-01 9.77761042e-01 -2.21261767e-03 -2.06808156e+01] [-1.17969421e-02 -2.67424991e-04 9.99930378e-01 -4.40925057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07420382200002 meters 0.02540073733814989 Centerline is valid? [True, True] Translation: X:156.72, Y:-20.69, Z:-4.41 [[ 9.78197280e-01 2.07363963e-01 1.14134844e-02 1.56718716e+02] [-2.07352623e-01 9.78263836e-01 -2.18108301e-03 -2.06910603e+01] [-1.16176770e-02 -2.33086454e-04 9.99932485e-01 -4.40827983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10420382200002 meters 0.021539848905610892 Centerline is valid? [True, True] Translation: X:156.75, Y:-20.70, Z:-4.41 [[ 9.79408290e-01 2.01605859e-01 1.06994710e-02 1.56746569e+02] [-2.01595596e-01 9.79466719e-01 -2.04037121e-03 -2.06992214e+01] [-1.08911265e-02 -1.58609758e-04 9.99940677e-01 -4.41155560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13420382200002 meters 0.019201043395953205 Centerline is valid? [True, True] Translation: X:156.77, Y:-20.71, Z:-4.41 [[ 9.80044798e-01 1.98476058e-01 1.09292690e-02 1.56773624e+02] [-1.98465151e-01 9.80105728e-01 -2.08451387e-03 -2.07066845e+01] [-1.11255652e-02 -1.26162049e-04 9.99938101e-01 -4.41295343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16420382200002 meters 0.016658392980135918 Centerline is valid? [True, True] Translation: X:156.80, Y:-20.71, Z:-4.41 [[ 9.80661071e-01 1.95406497e-01 1.09619855e-02 1.56801094e+02] [-1.95395343e-01 9.80722332e-01 -2.08985058e-03 -2.07148231e+01] [-1.11590343e-02 -9.24858013e-05 9.99937732e-01 -4.41314026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19420382200002 meters 0.014897908581526186 Centerline is valid? [True, True] Translation: X:156.83, Y:-20.72, Z:-4.41 [[ 9.81221248e-01 1.92581159e-01 1.08332232e-02 1.56829340e+02] [-1.92570091e-01 9.81281047e-01 -2.06553240e-03 -2.07229833e+01] [-1.10282193e-02 -5.94105081e-05 9.99939186e-01 -4.41417379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224203822 meters 0.013337870067815144 Centerline is valid? [True, True] Translation: X:156.86, Y:-20.73, Z:-4.41 [[ 9.82248106e-01 1.87263945e-01 1.09942620e-02 1.56856817e+02] [-1.87252231e-01 9.82309633e-01 -2.09444982e-03 -2.07332151e+01] [-1.11919844e-02 -1.43072296e-06 9.99937368e-01 -4.41453556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254203822 meters 0.012299039207825222 Centerline is valid? [True, True] Translation: X:156.88, Y:-20.74, Z:-4.41 [[ 9.82639785e-01 1.85206997e-01 1.08360900e-02 1.56884582e+02] [-1.85195496e-01 9.82699531e-01 -2.06411075e-03 -2.07393243e+01] [-1.10309083e-02 2.14822789e-05 9.99939157e-01 -4.41144945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284203822 meters 0.01502910173490646 Centerline is valid? [True, True] Translation: X:156.91, Y:-20.75, Z:-4.42 [[ 9.83304747e-01 1.81688115e-01 1.00599527e-02 1.56910961e+02] [-1.81678024e-01 9.83356205e-01 -1.91572511e-03 -2.07490670e+01] [-1.02405814e-02 5.60692579e-05 9.99947562e-01 -4.41791507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314203822 meters 0.019160563749029934 Centerline is valid? [True, True] Translation: X:156.94, Y:-20.76, Z:-4.42 [[ 9.83582978e-01 1.80193335e-01 9.74099581e-03 1.56938621e+02] [-1.80183809e-01 9.83631210e-01 -1.85410855e-03 -2.07560040e+01] [-9.91564550e-03 6.84998805e-05 9.99950836e-01 -4.41829672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344203822 meters 0.01543552514963864 Centerline is valid? [True, True] Translation: X:156.97, Y:-20.76, Z:-4.42 [[ 9.83832178e-01 1.78814339e-01 9.98389201e-03 1.56966674e+02] [-1.78804265e-01 9.83882831e-01 -1.89985160e-03 -2.07616192e+01] [-1.01627006e-02 8.39726615e-05 9.99948355e-01 -4.41620806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.374203822 meters 0.014962627662935341 Centerline is valid? [True, True] Translation: X:157.00, Y:-20.77, Z:-4.41 [[ 9.84050080e-01 1.77548663e-01 1.10413610e-02 1.56995580e+02] [-1.77536271e-01 9.84112016e-01 -2.10040828e-03 -2.07656288e+01] [-1.12388607e-02 1.06664880e-04 9.99936836e-01 -4.41300838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404203822 meters 0.01714859315512731 Centerline is valid? [True, True] Translation: X:157.02, Y:-20.77, Z:-4.42 [[ 9.84150299e-01 1.76966729e-01 1.14440111e-02 1.57021714e+02] [-1.76953377e-01 9.84216827e-01 -2.17698229e-03 -2.07728554e+01] [-1.16486418e-02 1.17421362e-04 9.99932145e-01 -4.41709825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.434203822 meters 0.015661037810577556 Centerline is valid? [True, True] Translation: X:157.05, Y:-20.78, Z:-4.41 [[ 9.84223236e-01 1.76551375e-01 1.15859360e-02 1.57050110e+02] [-1.76537676e-01 9.84291419e-01 -2.20267582e-03 -2.07762595e+01] [-1.17928228e-02 1.22570506e-04 9.99930455e-01 -4.41419816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464203822 meters 0.018675135257397824 Centerline is valid? [True, True] Translation: X:157.08, Y:-20.78, Z:-4.42 [[ 9.84477324e-01 1.75119621e-01 1.17267550e-02 1.57076940e+02] [-1.75105500e-01 9.84547154e-01 -2.22829749e-03 -2.07849702e+01] [-1.19357619e-02 1.40289051e-04 9.99928756e-01 -4.41896369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.494203822 meters 0.01817210606273594 Centerline is valid? [True, True] Translation: X:157.10, Y:-20.79, Z:-4.42 [[ 9.84694054e-01 1.73925456e-01 1.12940738e-02 1.57104841e+02] [-1.73912287e-01 9.84758810e-01 -2.14538783e-03 -2.07899118e+01] [-1.14950762e-02 1.48372428e-04 9.99933918e-01 -4.41775042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524203822 meters 0.019338236858705837 Centerline is valid? [True, True] Translation: X:157.13, Y:-20.80, Z:-4.42 [[ 9.84912800e-01 1.72672866e-01 1.14392987e-02 1.57132334e+02] [-1.72659283e-01 9.84979215e-01 -2.17201620e-03 -2.07978042e+01] [-1.16425197e-02 1.64145445e-04 9.99932210e-01 -4.41858106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.554203822 meters 0.019989610511508805 Centerline is valid? [True, True] Translation: X:157.16, Y:-20.81, Z:-4.42 [[ 9.85146010e-01 1.71258694e-01 1.25617782e-02 1.57159143e+02] [-1.71242204e-01 9.85226076e-01 -2.38476891e-03 -2.08069915e+01] [-1.27846038e-02 1.98238984e-04 9.99918254e-01 -4.41619312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584203822 meters 0.020393570273963012 Centerline is valid? [True, True] Translation: X:157.19, Y:-20.81, Z:-4.42 [[ 9.85164410e-01 1.71142563e-01 1.27007037e-02 1.57185610e+02] [-1.71125707e-01 9.85246255e-01 -2.41034182e-03 -2.08135976e+01] [-1.29258328e-02 2.01166077e-04 9.99916438e-01 -4.41678514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.614203822 meters 0.0193555841643408 Centerline is valid? [True, True] Translation: X:157.21, Y:-20.82, Z:-4.42 [[ 9.85003024e-01 1.72075247e-01 1.26155461e-02 1.57213925e+02] [-1.72058714e-01 9.85083791e-01 -2.39252901e-03 -2.08204796e+01] [-1.28390650e-02 1.86033672e-04 9.99917559e-01 -4.41742532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644203822 meters 0.01899051293076821 Centerline is valid? [True, True] Translation: X:157.24, Y:-20.83, Z:-4.42 [[ 9.84858809e-01 1.72913314e-01 1.24141648e-02 1.57241078e+02] [-1.72897377e-01 9.84937032e-01 -2.35392403e-03 -2.08267427e+01] [-1.26341954e-02 1.71906294e-04 9.99920171e-01 -4.41871369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.674203822 meters 0.017947134182208106 Centerline is valid? [True, True] Translation: X:157.27, Y:-20.83, Z:-4.42 [[ 9.84631559e-01 1.74207796e-01 1.23424726e-02 1.57269510e+02] [-1.74192155e-01 9.84708901e-01 -2.33938478e-03 -2.08316923e+01] [-1.25612817e-02 1.53470180e-04 9.99921092e-01 -4.41942653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704203822 meters 0.01580058367344139 Centerline is valid? [True, True] Translation: X:157.30, Y:-20.83, Z:-4.42 [[ 9.83935037e-01 1.78138406e-01 1.17707701e-02 1.57297780e+02] [-1.78124466e-01 9.84005436e-01 -2.23070101e-03 -2.08330436e+01] [-1.19798753e-02 9.82027536e-05 9.99928234e-01 -4.42255181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.734203822 meters 0.013698247862083839 Centerline is valid? [True, True] Translation: X:157.33, Y:-20.83, Z:-4.42 [[ 9.83407270e-01 1.81077351e-01 1.10061524e-02 1.57326746e+02] [-1.81065355e-01 9.83468856e-01 -2.08502565e-03 -2.08347399e+01] [-1.12017590e-02 5.75964934e-05 9.99937257e-01 -4.42316002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.764203822 meters 0.013036154996948188 Centerline is valid? [True, True] Translation: X:157.35, Y:-20.84, Z:-4.43 [[ 9.82811377e-01 1.84298730e-01 1.07599174e-02 1.57354562e+02] [-1.84287462e-01 9.82870275e-01 -2.03808494e-03 -2.08368114e+01] [-1.09512194e-02 2.01351970e-05 9.99940033e-01 -4.42504777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79420382200001 meters 0.014087409325125935 Centerline is valid? [True, True] Translation: X:157.38, Y:-20.83, Z:-4.43 [[ 9.81565937e-01 1.90834358e-01 1.05147230e-02 1.57383843e+02] [-1.90823980e-01 9.81622252e-01 -1.99082231e-03 -2.08347979e+01] [-1.07014034e-02 -5.23379210e-05 9.99942737e-01 -4.42595529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82420382200002 meters 0.01633907155803567 Centerline is valid? [True, True] Translation: X:157.41, Y:-20.84, Z:-4.43 [[ 9.81078454e-01 1.93332730e-01 1.03692923e-02 1.57411424e+02] [-1.93322771e-01 9.81133248e-01 -1.96382411e-03 -2.08355100e+01] [-1.05533289e-02 -7.79547990e-05 9.99944309e-01 -4.42929716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85420382200002 meters 0.017163168630902708 Centerline is valid? [True, True] Translation: X:157.44, Y:-20.84, Z:-4.43 [[ 9.80647083e-01 1.95522833e-01 1.01054764e-02 1.57440302e+02] [-1.95513512e-01 9.80699144e-01 -1.91179251e-03 -2.08386148e+01] [-1.02842311e-02 -1.00963432e-04 9.99947111e-01 -4.42857043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88420382200002 meters 0.020220075392929016 Centerline is valid? [True, True] Translation: X:157.47, Y:-20.84, Z:-4.43 [[ 9.80164594e-01 1.97881334e-01 1.09702118e-02 1.57468433e+02] [-1.97870502e-01 9.80225973e-01 -2.07492162e-03 -2.08412059e+01] [-1.11638748e-02 -1.36916625e-04 9.99937673e-01 -4.43142674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91420382200002 meters 0.01953099907547101 Centerline is valid? [True, True] Translation: X:157.50, Y:-20.85, Z:-4.43 [[ 9.80185130e-01 1.97784306e-01 1.08848529e-02 1.57495369e+02] [-1.97773642e-01 9.80245556e-01 -2.05830172e-03 -2.08493141e+01] [-1.10769284e-02 -1.35220255e-04 9.99938640e-01 -4.43111246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94420382200002 meters 0.019798885261554582 Centerline is valid? [True, True] Translation: X:157.52, Y:-20.86, Z:-4.44 [[ 9.80584230e-01 1.95803741e-01 1.07453786e-02 1.57521278e+02] [-1.95793240e-01 9.80643096e-01 -2.03094304e-03 -2.08596949e+01] [-1.09350476e-02 -1.12361780e-04 9.99940204e-01 -4.43526131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974203822 meters 0.01831824545171234 Centerline is valid? [True, True] Translation: X:157.55, Y:-20.87, Z:-4.43 [[ 9.80840587e-01 1.94490934e-01 1.11812398e-02 1.57548765e+02] [-1.94479490e-01 9.80904310e-01 -2.11231994e-03 -2.08686483e+01] [-1.13785534e-02 -1.02672686e-04 9.99935257e-01 -4.43459682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004203822 meters 0.015904461092650393 Centerline is valid? [True, True] Translation: X:157.58, Y:-20.88, Z:-4.43 [[ 9.81118710e-01 1.93073698e-01 1.13412254e-02 1.57576263e+02] [-1.93061835e-01 9.81184254e-01 -2.14203901e-03 -2.08778434e+01] [-1.15414031e-02 -8.79632356e-05 9.99933392e-01 -4.43147441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034203822 meters 0.013936666956572294 Centerline is valid? [True, True] Translation: X:157.60, Y:-20.89, Z:-4.43 [[ 9.81597939e-01 1.90557096e-01 1.23886599e-02 1.57604149e+02] [-1.90542741e-01 9.81676112e-01 -2.33977178e-03 -2.08885941e+01] [-1.26075116e-02 -6.38540519e-05 9.99920520e-01 -4.43043699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064203822 meters 0.013803192248220087 Centerline is valid? [True, True] Translation: X:157.63, Y:-20.90, Z:-4.43 [[ 9.81687830e-01 1.90074510e-01 1.26761402e-02 1.57630957e+02] [-1.90059463e-01 9.81769666e-01 -2.39244059e-03 -2.08960841e+01] [-1.28997919e-02 -6.05905901e-05 9.99916792e-01 -4.43135600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.094203822 meters 0.013884744794748905 Centerline is valid? [True, True] Translation: X:157.66, Y:-20.90, Z:-4.43 [[ 9.81585322e-01 1.90594163e-01 1.28109871e-02 1.57658348e+02] [-1.90578845e-01 9.81668916e-01 -2.41727936e-03 -2.09025900e+01] [-1.30368671e-02 -6.87371867e-05 9.99915014e-01 -4.43134066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124203822 meters 0.015932765265978113 Centerline is valid? [True, True] Translation: X:157.69, Y:-20.91, Z:-4.43 [[ 9.80940296e-01 1.93841613e-01 1.34745779e-02 1.57687132e+02] [-1.93824993e-01 9.81032831e-01 -2.54105607e-03 -2.09062217e+01] [-1.37115657e-02 -1.19085671e-04 9.99905985e-01 -4.43102771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.154203822 meters 0.018862182310449074 Centerline is valid? [True, True] Translation: X:157.72, Y:-20.91, Z:-4.43 [[ 9.80543899e-01 1.95817548e-01 1.37531687e-02 1.57715230e+02] [-1.95800436e-01 9.80640334e-01 -2.59306269e-03 -2.09084489e+01] [-1.39946791e-02 -1.50264630e-04 9.99902058e-01 -4.43317572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184203822 meters 0.018768056933969768 Centerline is valid? [True, True] Translation: X:157.74, Y:-20.91, Z:-4.43 [[ 9.80151004e-01 1.97773160e-01 1.37762677e-02 1.57743472e+02] [-1.97756198e-01 9.80247798e-01 -2.59642251e-03 -2.09140464e+01] [-1.40176588e-02 -1.79456191e-04 9.99901732e-01 -4.43075537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.214203822 meters 0.021440174400917934 Centerline is valid? [True, True] Translation: X:157.77, Y:-20.92, Z:-4.43 [[ 9.79771417e-01 1.99662593e-01 1.35210999e-02 1.57771649e+02] [-1.99646433e-01 9.79864689e-01 -2.54829727e-03 -2.09157237e+01] [-1.37576479e-02 -2.02690534e-04 9.99905339e-01 -4.43287028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244203822 meters 0.024023529745946074 Centerline is valid? [True, True] Translation: X:157.80, Y:-20.92, Z:-4.43 [[ 9.79138664e-01 2.02762710e-01 1.32196835e-02 1.57801756e+02] [-2.02747574e-01 9.79227872e-01 -2.48933318e-03 -2.09150783e+01] [-1.34498265e-02 -2.42856388e-04 9.99909518e-01 -4.43390119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.274203822 meters 0.025326548952594178 Centerline is valid? [True, True] Translation: X:157.83, Y:-20.92, Z:-4.44 [[ 9.78979941e-01 2.03535304e-01 1.31016895e-02 1.57829430e+02] [-2.03520503e-01 9.79067575e-01 -2.46733992e-03 -2.09183615e+01] [-1.33296301e-02 -2.50986144e-04 9.99911125e-01 -4.43558469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304203822 meters 0.027698286793883663 Centerline is valid? [True, True] Translation: X:157.86, Y:-20.92, Z:-4.44 [[ 9.78933320e-01 2.03746733e-01 1.32975255e-02 1.57857198e+02] [-2.03731517e-01 9.79023596e-01 -2.50336564e-03 -2.09207752e+01] [-1.35286438e-02 -2.58497008e-04 9.99908450e-01 -4.43822841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.334203822 meters 0.02563803221158418 Centerline is valid? [True, True] Translation: X:157.89, Y:-20.93, Z:-4.44 [[ 9.78889523e-01 2.03888988e-01 1.43032110e-02 1.57885344e+02] [-2.03871416e-01 9.78993974e-01 -2.69154047e-03 -2.09277045e+01] [-1.45515329e-02 -2.81295118e-04 9.99894081e-01 -4.43566393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364203822 meters 0.02554410940724338 Centerline is valid? [True, True] Translation: X:157.91, Y:-20.93, Z:-4.44 [[ 9.78972319e-01 2.03506108e-01 1.40877151e-02 1.57911984e+02] [-2.03489024e-01 9.79073639e-01 -2.65081915e-03 -2.09332455e+01] [-1.43323684e-02 -2.71616833e-04 9.99897249e-01 -4.43744904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.394203822 meters 0.02527256422069312 Centerline is valid? [True, True] Translation: X:157.94, Y:-20.94, Z:-4.44 [[ 9.79169108e-01 2.02629895e-01 1.29993613e-02 1.57938733e+02] [-2.02615286e-01 9.79255364e-01 -2.44490846e-03 -2.09408176e+01] [-1.32251059e-02 -2.39890480e-04 9.99912516e-01 -4.44076367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424203822 meters 0.024688227370845618 Centerline is valid? [True, True] Translation: X:157.97, Y:-20.95, Z:-4.44 [[ 9.79256405e-01 2.02210062e-01 1.29609045e-02 1.57967118e+02] [-2.02195520e-01 9.79342144e-01 -2.43639381e-03 -2.09458429e+01] [-1.31858233e-02 -2.34782581e-04 9.99913036e-01 -4.44139269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.454203822 meters 0.023666655450545433 Centerline is valid? [True, True] Translation: X:158.00, Y:-20.95, Z:-4.44 [[ 9.79386264e-01 2.01608719e-01 1.25087943e-02 1.57995606e+02] [-2.01595132e-01 9.79466118e-01 -2.35085742e-03 -2.09505918e+01] [-1.27258936e-02 -2.19314577e-04 9.99918998e-01 -4.44244632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.484203822 meters 0.023091511478217776 Centerline is valid? [True, True] Translation: X:158.02, Y:-20.95, Z:-4.45 [[ 9.79789322e-01 1.99745418e-01 1.07076010e-02 1.58022671e+02] [-1.99735348e-01 9.79847815e-01 -2.01264452e-03 -2.09546647e+01] [-1.08938360e-02 -1.66718809e-04 9.99940647e-01 -4.44731369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.514203822 meters 0.02220076706605068 Centerline is valid? [True, True] Translation: X:158.05, Y:-20.96, Z:-4.45 [[ 9.80014940e-01 1.98663861e-01 1.01680266e-02 1.58050313e+02] [-1.98654736e-01 9.80067675e-01 -1.90981801e-03 -2.09612727e+01] [-1.03447661e-02 -1.48276471e-04 9.99946480e-01 -4.44962985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54420382200001 meters 0.020464187695847957 Centerline is valid? [True, True] Translation: X:158.08, Y:-20.97, Z:-4.45 [[ 9.80213609e-01 1.97691967e-01 9.95823951e-03 1.58077888e+02] [-1.97683169e-01 9.80264183e-01 -1.86998717e-03 -2.09688225e+01] [-1.01313870e-02 -1.35589467e-04 9.99948667e-01 -4.44932669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57420382200002 meters 0.020268270077548216 Centerline is valid? [True, True] Translation: X:158.11, Y:-20.97, Z:-4.45 [[ 9.80173515e-01 1.97856989e-01 1.06062943e-02 1.58106925e+02] [-1.97847025e-01 9.80230886e-01 -1.99107006e-03 -2.09724234e+01] [-1.07905644e-02 -1.46829634e-04 9.99941769e-01 -4.44759273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60420382200002 meters 0.021449799642485338 Centerline is valid? [True, True] Translation: X:158.14, Y:-20.97, Z:-4.45 [[ 9.79955460e-01 1.98936981e-01 1.05534296e-02 1.58136301e+02] [-1.98927184e-01 9.80012272e-01 -1.98061700e-03 -2.09735693e+01] [-1.07365085e-02 -1.58447602e-04 9.99942349e-01 -4.44780139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63420382200002 meters 0.02582825240112382 Centerline is valid? [True, True] Translation: X:158.17, Y:-20.97, Z:-4.45 [[ 9.79248038e-01 2.02330390e-01 1.16487175e-02 1.58166103e+02] [-2.02318700e-01 9.79317296e-01 -2.18564604e-03 -2.09661801e+01] [-1.18500131e-02 -2.16463781e-04 9.99929763e-01 -4.44854840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66420382200002 meters 0.02630232927658858 Centerline is valid? [True, True] Translation: X:158.19, Y:-20.97, Z:-4.45 [[ 9.78968887e-01 2.03622052e-01 1.25689006e-02 1.58194954e+02] [-2.03608540e-01 9.79049538e-01 -2.35906686e-03 -2.09687351e+01] [-1.27859344e-02 -2.49682446e-04 9.99918225e-01 -4.44734913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69420382200002 meters 0.02630232927658858 Centerline is valid? [True, True] Translation: X:158.22, Y:-20.97, Z:-4.45 [[ 9.79007515e-01 2.03436229e-01 1.25692245e-02 1.58221990e+02] [-2.03422723e-01 9.79088167e-01 -2.35733909e-03 -2.09735995e+01] [-1.27859472e-02 -2.49013197e-04 9.99918225e-01 -4.44812938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724203822 meters 0.027919708791871792 Centerline is valid? [True, True] Translation: X:158.25, Y:-20.97, Z:-4.45 [[ 9.78762318e-01 2.04575532e-01 1.31596878e-02 1.58249761e+02] [-2.04560889e-01 9.78850741e-01 -2.46368643e-03 -2.09749417e+01] [-1.33853801e-02 -2.80593985e-04 9.99910372e-01 -4.44843444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754203822 meters 0.029849109038514343 Centerline is valid? [True, True] Translation: X:158.28, Y:-20.97, Z:-4.45 [[ 9.78418630e-01 2.06165203e-01 1.38885805e-02 1.58280034e+02] [-2.06149057e-01 9.78517147e-01 -2.59984331e-03 -2.09712187e+01] [-1.41262114e-02 -3.19382640e-04 9.99900169e-01 -4.44762146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784203822 meters 0.03041106917229047 Centerline is valid? [True, True] Translation: X:158.31, Y:-20.97, Z:-4.45 [[ 9.78423533e-01 2.06125454e-01 1.41310627e-02 1.58308080e+02] [-2.06108766e-01 9.78525519e-01 -2.64306629e-03 -2.09707406e+01] [-1.43724087e-02 -3.26497641e-04 9.99896658e-01 -4.44846332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814203822 meters 0.02874299779439696 Centerline is valid? [True, True] Translation: X:158.34, Y:-20.97, Z:-4.45 [[ 9.78545579e-01 2.05550225e-01 1.40589804e-02 1.58336815e+02] [-2.05533690e-01 9.78646516e-01 -2.62662054e-03 -2.09741780e+01] [-1.42986747e-02 -3.19326202e-04 9.99897718e-01 -4.44883648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844203822 meters 0.02653308880297418 Centerline is valid? [True, True] Translation: X:158.36, Y:-20.98, Z:-4.45 [[ 9.79180645e-01 2.02571633e-01 1.30382947e-02 1.58364212e+02] [-2.02557195e-01 9.79267413e-01 -2.43234795e-03 -2.09777033e+01] [-1.32607018e-02 -2.59292365e-04 9.99912039e-01 -4.45156641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.874203822 meters 0.025108332128466793 Centerline is valid? [True, True] Translation: X:158.39, Y:-20.98, Z:-4.45 [[ 9.79608302e-01 2.00505964e-01 1.28426075e-02 1.58392083e+02] [-2.00491768e-01 9.79692455e-01 -2.39671329e-03 -2.09823921e+01] [-1.30623610e-02 -2.26996841e-04 9.99914658e-01 -4.45327452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904203822 meters 0.01997091683286505 Centerline is valid? [True, True] Translation: X:158.42, Y:-20.99, Z:-4.45 [[ 9.80556597e-01 1.95818987e-01 1.27938917e-02 1.58420181e+02] [-1.95804551e-01 9.80640044e-01 -2.38362289e-03 -2.09885403e+01] [-1.30129612e-02 -1.67825076e-04 9.99915314e-01 -4.45308645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.934203822 meters 0.01779348613595236 Centerline is valid? [True, True] Translation: X:158.45, Y:-20.99, Z:-4.45 [[ 9.81088128e-01 1.93138016e-01 1.27981153e-02 1.58447086e+02] [-1.93123348e-01 9.81171590e-01 -2.38396495e-03 -2.09938937e+01] [-1.30175814e-02 -1.32735175e-04 9.99915259e-01 -4.45419810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964203822 meters 0.01452655786243952 Centerline is valid? [True, True] Translation: X:158.48, Y:-21.00, Z:-4.45 [[ 9.81692870e-01 1.90021990e-01 1.30672534e-02 1.58475671e+02] [-1.90006413e-01 9.81779830e-01 -2.43478940e-03 -2.10010863e+01] [-1.32918293e-02 -9.26465504e-05 9.99911655e-01 -4.45266952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.994203822 meters 0.012753431517186995 Centerline is valid? [True, True] Translation: X:158.50, Y:-21.01, Z:-4.45 [[ 9.82240497e-01 1.87124916e-01 1.37066343e-02 1.58504007e+02] [-1.87107552e-01 9.82336125e-01 -2.54987609e-03 -2.10068461e+01] [-1.39416674e-02 -6.00232361e-05 9.99902808e-01 -4.45316268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024203822 meters 0.011943159849771475 Centerline is valid? [True, True] Translation: X:158.53, Y:-21.02, Z:-4.45 [[ 9.83458718e-01 1.80618962e-01 1.36286673e-02 1.58531457e+02] [-1.80601178e-01 9.83553145e-01 -2.53469700e-03 -2.10159143e+01] [-1.38623329e-02 3.14164911e-05 9.99903913e-01 -4.45438447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.054203822 meters 0.013435205312853126 Centerline is valid? [True, True] Translation: X:158.56, Y:-21.03, Z:-4.46 [[ 9.84076671e-01 1.77228536e-01 1.35333295e-02 1.58557974e+02] [-1.77210686e-01 9.84169721e-01 -2.51647965e-03 -2.10251637e+01] [-1.37650851e-02 7.81583112e-05 9.99905254e-01 -4.45599039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084203822 meters 0.017639805665696024 Centerline is valid? [True, True] Translation: X:158.59, Y:-21.04, Z:-4.46 [[ 9.85311746e-01 1.70213946e-01 1.37104317e-02 1.58585482e+02] [-1.70194961e-01 9.85407114e-01 -2.54839033e-03 -2.10373912e+01] [-1.39441286e-02 1.77512528e-04 9.99902760e-01 -4.45501678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.114203822 meters 0.020180155387472785 Centerline is valid? [True, True] Translation: X:158.61, Y:-21.04, Z:-4.46 [[ 9.85884216e-01 1.66875406e-01 1.35982392e-02 1.58613274e+02] [-1.66856422e-01 9.85977966e-01 -2.52685057e-03 -2.10445051e+01] [-1.38292335e-02 2.22228539e-04 9.99904347e-01 -4.45608138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144203822 meters 0.024779550079564013 Centerline is valid? [True, True] Translation: X:158.64, Y:-21.05, Z:-4.46 [[ 9.86393944e-01 1.63899401e-01 1.28052035e-02 1.58640576e+02] [-1.63882326e-01 9.86477027e-01 -2.37873151e-03 -2.10541194e+01] [-1.30219117e-02 2.47819833e-04 9.99915181e-01 -4.46013223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.174203822 meters 0.029807201056988128 Centerline is valid? [True, True] Translation: X:158.67, Y:-21.06, Z:-4.46 [[ 9.87222940e-01 1.58882634e-01 1.21316261e-02 1.58669478e+02] [-1.58866941e-01 9.87297433e-01 -2.25261676e-03 -2.10648373e+01] [-1.23354249e-02 2.96520622e-04 9.99923872e-01 -4.46193474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204203822 meters 0.032079789203840275 Centerline is valid? [True, True] Translation: X:158.70, Y:-21.07, Z:-4.46 [[ 9.87547984e-01 1.56830406e-01 1.23775563e-02 1.58697013e+02] [-1.56813901e-01 9.87625493e-01 -2.29901969e-03 -2.10729790e+01] [-1.25849464e-02 3.29419371e-04 9.99920752e-01 -4.46252578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.234203822 meters 0.03382561311478599 Centerline is valid? [True, True] Translation: X:158.73, Y:-21.08, Z:-4.46 [[ 9.88094078e-01 1.53424796e-01 1.14422171e-02 1.58725451e+02] [-1.53410474e-01 9.88160267e-01 -2.12426381e-03 -2.10828175e+01] [-1.16326591e-02 3.43616535e-04 9.99932279e-01 -4.46383406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.264203822 meters 0.03875090158495746 Centerline is valid? [True, True] Translation: X:158.75, Y:-21.10, Z:-4.47 [[ 9.88309793e-01 1.52063050e-01 1.09810113e-02 1.58751290e+02] [-1.52049768e-01 9.88370735e-01 -2.03934137e-03 -2.10956525e+01] [-1.11634187e-02 3.45840815e-04 9.99937627e-01 -4.46832403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29420382200001 meters 0.038309467799423264 Centerline is valid? [True, True] Translation: X:158.78, Y:-21.10, Z:-4.47 [[ 9.88510446e-01 1.50769971e-01 1.07477581e-02 1.58778919e+02] [-1.50757178e-01 9.88568810e-01 -1.99538733e-03 -2.11019744e+01] [-1.09257429e-02 3.52159545e-04 9.99940250e-01 -4.46815078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32420382200002 meters 0.03679174552835349 Centerline is valid? [True, True] Translation: X:158.81, Y:-21.11, Z:-4.47 [[ 9.88700932e-01 1.49464928e-01 1.14325192e-02 1.58807149e+02] [-1.49450377e-01 9.88766951e-01 -2.12155599e-03 -2.11081390e+01] [-1.16211954e-02 3.88990081e-04 9.99932396e-01 -4.46522090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35420382200002 meters 0.04005523286729354 Centerline is valid? [True, True] Translation: X:158.83, Y:-21.12, Z:-4.47 [[ 9.88732317e-01 1.49184202e-01 1.23482489e-02 1.58833666e+02] [-1.49167210e-01 9.88809332e-01 -2.29101745e-03 -2.11196168e+01] [-1.25518474e-02 4.23249148e-04 9.99921133e-01 -4.46633126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38420382200002 meters 0.04041372945657768 Centerline is valid? [True, True] Translation: X:158.86, Y:-21.13, Z:-4.47 [[ 9.88741709e-01 1.49069477e-01 1.29662826e-02 1.58861032e+02] [-1.49050750e-01 9.88826624e-01 -2.40430505e-03 -2.11291738e+01] [-1.31798139e-02 4.44602541e-04 9.99913044e-01 -4.46630332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41420382200002 meters 0.03609211505333695 Centerline is valid? [True, True] Translation: X:158.89, Y:-21.14, Z:-4.46 [[ 9.88656645e-01 1.49635918e-01 1.29279074e-02 1.58888986e+02] [-1.49617353e-01 9.88741069e-01 -2.39694764e-03 -2.11376310e+01] [-1.31410224e-02 4.35518931e-04 9.99913558e-01 -4.46472414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44420382200002 meters 0.037682004217938304 Centerline is valid? [True, True] Translation: X:158.91, Y:-21.15, Z:-4.47 [[ 9.88523628e-01 1.50523596e-01 1.27938677e-02 1.58914897e+02] [-1.50505494e-01 9.88606328e-01 -2.37165007e-03 -2.11485303e+01] [-1.30050879e-02 4.18884742e-04 9.99915343e-01 -4.46677889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474203822 meters 0.032290266846720456 Centerline is valid? [True, True] Translation: X:158.94, Y:-21.16, Z:-4.47 [[ 9.88008285e-01 1.53873149e-01 1.27547240e-02 1.58943819e+02] [-1.53855456e-01 9.88090540e-01 -2.36285421e-03 -2.11569612e+01] [-1.29664019e-02 3.72135660e-04 9.99915863e-01 -4.46665093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504203822 meters 0.031736835011516716 Centerline is valid? [True, True] Translation: X:158.97, Y:-21.17, Z:-4.47 [[ 9.87596790e-01 1.56495737e-01 1.27147470e-02 1.58971379e+02] [-1.56478369e-01 9.87678577e-01 -2.35566849e-03 -2.11660188e+01] [-1.29267353e-02 3.36867767e-04 9.99916390e-01 -4.46882357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534203822 meters 0.026552969592837802 Centerline is valid? [True, True] Translation: X:159.00, Y:-21.17, Z:-4.47 [[ 9.87073770e-01 1.59782845e-01 1.24424885e-02 1.59000939e+02] [-1.59766479e-01 9.87152146e-01 -2.30478255e-03 -2.11683958e+01] [-1.26508940e-02 2.87097815e-04 9.99919933e-01 -4.46808006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564203822 meters 0.019867049785074507 Centerline is valid? [True, True] Translation: X:159.03, Y:-21.17, Z:-4.47 [[ 9.85670797e-01 1.68115263e-01 1.37963047e-02 1.59030994e+02] [-1.68095970e-01 9.85767325e-01 -2.55462459e-03 -2.11702795e+01] [-1.40294178e-02 1.98915633e-04 9.99901563e-01 -4.46826820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.594203822 meters 0.015379123749606942 Centerline is valid? [True, True] Translation: X:159.06, Y:-21.17, Z:-4.47 [[ 9.84802597e-01 1.73101222e-01 1.41355038e-02 1.59060483e+02] [-1.73081481e-01 9.84904031e-01 -2.61750498e-03 -2.11713492e+01] [-1.43752080e-02 1.31131773e-04 9.99896663e-01 -4.46817281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624203822 meters 0.012009603718388846 Centerline is valid? [True, True] Translation: X:159.09, Y:-21.17, Z:-4.47 [[ 9.82914545e-01 1.83599615e-01 1.30452820e-02 1.59090221e+02] [-1.83583727e-01 9.83001109e-01 -2.41541398e-03 -2.11678915e+01] [-1.32669958e-02 -2.07559496e-05 9.99911989e-01 -4.47082078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.654203822 meters 0.0143016987660284 Centerline is valid? [True, True] Translation: X:159.12, Y:-21.17, Z:-4.47 [[ 9.82006046e-01 1.88411183e-01 1.28589202e-02 1.59119285e+02] [-1.88396165e-01 9.82090230e-01 -2.38029708e-03 -2.11687351e+01] [-1.30770945e-02 -8.51051404e-05 9.99914488e-01 -4.47220967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684203822 meters 0.0179191176670619 Centerline is valid? [True, True] Translation: X:159.15, Y:-21.17, Z:-4.47 [[ 9.81163324e-01 1.92734578e-01 1.31116062e-02 1.59147056e+02] [-1.92719351e-01 9.81250916e-01 -2.42702986e-03 -2.11694780e+01] [-1.33335482e-02 -1.45547562e-04 9.99911094e-01 -4.47362006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.714203822 meters 0.021689539356260047 Centerline is valid? [True, True] Translation: X:159.18, Y:-21.17, Z:-4.47 [[ 9.80454199e-01 1.96301611e-01 1.32378583e-02 1.59175116e+02] [-1.96286437e-01 9.80543542e-01 -2.44870464e-03 -2.11709785e+01] [-1.34609811e-02 -1.97569285e-04 9.99909377e-01 -4.47478210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744203822 meters 0.02695142601724478 Centerline is valid? [True, True] Translation: X:159.20, Y:-21.17, Z:-4.48 [[ 9.79430246e-01 2.01400706e-01 1.24156760e-02 1.59204691e+02] [-2.01387781e-01 9.79508904e-01 -2.29559829e-03 -2.11725445e+01] [-1.26236003e-02 -2.51987039e-04 9.99920287e-01 -4.47628118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.774203822 meters 0.027127088962382702 Centerline is valid? [True, True] Translation: X:159.23, Y:-21.18, Z:-4.48 [[ 9.79099979e-01 2.03006617e-01 1.23103405e-02 1.59232635e+02] [-2.02994037e-01 9.79177328e-01 -2.27609257e-03 -2.11777123e+01] [-1.25160682e-02 -2.70403522e-04 9.99921634e-01 -4.47603023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804203822 meters 0.031029009842340534 Centerline is valid? [True, True] Translation: X:159.26, Y:-21.18, Z:-4.48 [[ 9.78698032e-01 2.04934723e-01 1.23256585e-02 1.59260147e+02] [-2.04922271e-01 9.78775598e-01 -2.27833821e-03 -2.11785119e+01] [-1.25309644e-02 -2.95996812e-04 9.99921441e-01 -4.47891135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.834203822 meters 0.033151366272849044 Centerline is valid? [True, True] Translation: X:159.29, Y:-21.18, Z:-4.48 [[ 9.78606622e-01 2.05365379e-01 1.24153726e-02 1.59288342e+02] [-2.05352789e-01 9.78685327e-01 -2.29422377e-03 -2.11811993e+01] [-1.26218972e-02 -3.04388828e-04 9.99920294e-01 -4.48106767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864203822 meters 0.03115689065716188 Centerline is valid? [True, True] Translation: X:159.32, Y:-21.19, Z:-4.48 [[ 9.78617560e-01 2.05313880e-01 1.24049374e-02 1.59315875e+02] [-2.05301324e-01 9.78696132e-01 -2.29090800e-03 -2.11891230e+01] [-1.26110195e-02 -3.04827276e-04 9.99920431e-01 -4.48047054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.894203822 meters 0.030037767767460453 Centerline is valid? [True, True] Translation: X:159.34, Y:-21.20, Z:-4.48 [[ 9.78672715e-01 2.05045077e-01 1.24993216e-02 1.59343442e+02] [-2.05032324e-01 9.78752483e-01 -2.30705867e-03 -2.11961595e+01] [-1.27067931e-02 -3.04909599e-04 9.99919219e-01 -4.48050258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924203822 meters 0.0272584486721079 Centerline is valid? [True, True] Translation: X:159.37, Y:-21.21, Z:-4.48 [[ 9.79039457e-01 2.03319960e-01 1.19471826e-02 1.59370530e+02] [-2.03308187e-01 9.79112313e-01 -2.20463778e-03 -2.12070860e+01] [-1.21458804e-02 -2.70532646e-04 9.99926199e-01 -4.48139178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.954203822 meters 0.028581958606159 Centerline is valid? [True, True] Translation: X:159.40, Y:-21.21, Z:-4.48 [[ 9.79269246e-01 2.02214234e-01 1.18805257e-02 1.59398408e+02] [-2.02202509e-01 9.79341278e-01 -2.19243030e-03 -2.12108698e+01] [-1.20784299e-02 -2.55292539e-04 9.99927021e-01 -4.48444468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.984203822 meters 0.026465578661553066 Centerline is valid? [True, True] Translation: X:159.43, Y:-21.21, Z:-4.48 [[ 9.79686458e-01 2.00126131e-01 1.28053285e-02 1.59426220e+02] [-2.00112356e-01 9.79770111e-01 -2.36119592e-03 -2.12149175e+01] [-1.30188151e-02 -2.49272785e-04 9.99915221e-01 -4.48356747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.014203822 meters 0.02667906788711903 Centerline is valid? [True, True] Translation: X:159.45, Y:-21.22, Z:-4.48 [[ 9.79840419e-01 1.99336520e-01 1.33305882e-02 1.59453649e+02] [-1.99321525e-01 9.79931064e-01 -2.45759679e-03 -2.12179022e+01] [-1.35529463e-02 -2.49020508e-04 9.99908124e-01 -4.48415945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04420382200001 meters 0.022476766185222655 Centerline is valid? [True, True] Translation: X:159.48, Y:-21.23, Z:-4.48 [[ 9.80007277e-01 1.98506897e-01 1.34442679e-02 1.59481520e+02] [-1.98491591e-01 9.80099461e-01 -2.47680099e-03 -2.12276082e+01] [-1.36683818e-02 -2.41291131e-04 9.99906554e-01 -4.48114217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07420382200002 meters 0.021409389886169746 Centerline is valid? [True, True] Translation: X:159.51, Y:-21.23, Z:-4.48 [[ 9.80391142e-01 1.96605697e-01 1.33943685e-02 1.59509161e+02] [-1.96590337e-01 9.80482613e-01 -2.46693423e-03 -2.12334518e+01] [-1.36179587e-02 -2.14642940e-04 9.99907248e-01 -4.48256886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10420382200002 meters 0.020012643772104453 Centerline is valid? [True, True] Translation: X:159.54, Y:-21.24, Z:-4.48 [[ 9.80615723e-01 1.95489287e-01 1.32944602e-02 1.59537548e+02] [-1.95474061e-01 9.80705817e-01 -2.44787058e-03 -2.12396334e+01] [-1.35164870e-02 -1.98301753e-04 9.99908628e-01 -4.48332482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13420382200002 meters 0.01910533669888551 Centerline is valid? [True, True] Translation: X:159.56, Y:-21.24, Z:-4.48 [[ 9.80916229e-01 1.93967952e-01 1.34084171e-02 1.59564501e+02] [-1.93952324e-01 9.81007850e-01 -2.46871564e-03 -2.12448822e+01] [-1.36326142e-02 -1.78990421e-04 9.99907056e-01 -4.48451097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16420382200002 meters 0.01642901715366625 Centerline is valid? [True, True] Translation: X:159.59, Y:-21.25, Z:-4.49 [[ 9.81604581e-01 1.90430478e-01 1.37360388e-02 1.59591584e+02] [-1.90413753e-01 9.81700675e-01 -2.52737980e-03 -2.12518324e+01] [-1.39659687e-02 -1.34643113e-04 9.99902462e-01 -4.48525959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19420382200002 meters 0.015194914218402198 Centerline is valid? [True, True] Translation: X:159.62, Y:-21.26, Z:-4.49 [[ 9.81945044e-01 1.88638525e-01 1.41222644e-02 1.59619187e+02] [-1.88620675e-01 9.82046584e-01 -2.59749822e-03 -2.12565229e+01] [-1.43587098e-02 -1.13150548e-04 9.99896902e-01 -4.48543140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224203822 meters 0.012783593067401186 Centerline is valid? [True, True] Translation: X:159.65, Y:-21.26, Z:-4.49 [[ 9.82595219e-01 1.85210829e-01 1.42682782e-02 1.59647270e+02] [-1.85192262e-01 9.82698807e-01 -2.62329924e-03 -2.12620907e+01] [-1.45072834e-02 -6.47334271e-05 9.99894762e-01 -4.48532143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254203822 meters 0.012195621003782612 Centerline is valid? [True, True] Translation: X:159.68, Y:-21.27, Z:-4.49 [[ 9.82836273e-01 1.83915893e-01 1.44154151e-02 1.59675961e+02] [-1.83896814e-01 9.82941983e-01 -2.64947209e-03 -2.12680114e+01] [-1.46567968e-02 -4.69516485e-05 9.99892582e-01 -4.48638675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284203822 meters 0.012638242327582603 Centerline is valid? [True, True] Translation: X:159.70, Y:-21.27, Z:-4.49 [[ 9.83143911e-01 1.82303467e-01 1.39102697e-02 1.59703319e+02] [-1.82285542e-01 9.83242313e-01 -2.55649506e-03 -2.12742199e+01] [-1.41432237e-02 -2.22384957e-05 9.99899979e-01 -4.48976079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314203822 meters 0.012164040737297445 Centerline is valid? [True, True] Translation: X:159.73, Y:-21.28, Z:-4.49 [[ 9.83313780e-01 1.81427654e-01 1.33422730e-02 1.59731364e+02] [-1.81411097e-01 9.83404294e-01 -2.45102197e-03 -2.12805777e+01] [-1.35655317e-02 -1.03127014e-05 9.99907984e-01 -4.48972712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344203822 meters 0.011704851362102232 Centerline is valid? [True, True] Translation: X:159.76, Y:-21.29, Z:-4.49 [[ 9.83467364e-01 1.80609933e-01 1.31147528e-02 1.59759854e+02] [-1.80593866e-01 9.83554804e-01 -2.40898487e-03 -2.12868081e+01] [-1.33341647e-02 7.14080910e-07 9.99911096e-01 -4.48891883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.374203822 meters 0.01123841123934324 Centerline is valid? [True, True] Translation: X:159.79, Y:-21.29, Z:-4.49 [[ 9.83622794e-01 1.79685263e-01 1.41210849e-02 1.59788182e+02] [-1.79666553e-01 9.83724151e-01 -2.59301309e-03 -2.12910292e+01] [-1.43571785e-02 1.34601270e-05 9.99896930e-01 -4.48687123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404203822 meters 0.01122177762299793 Centerline is valid? [True, True] Translation: X:159.82, Y:-21.29, Z:-4.49 [[ 9.83662921e-01 1.79459073e-01 1.42020810e-02 1.59815618e+02] [-1.79440130e-01 9.83765440e-01 -2.60750034e-03 -2.12941996e+01] [-1.44394561e-02 1.64781387e-05 9.99895745e-01 -4.48715693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.434203822 meters 0.011474242909580639 Centerline is valid? [True, True] Translation: X:159.84, Y:-21.30, Z:-4.49 [[ 9.83682959e-01 1.79332321e-01 1.44137019e-02 1.59843111e+02] [-1.79312809e-01 9.83788554e-01 -2.64540587e-03 -2.12963115e+01] [-1.46544417e-02 1.76793008e-05 9.99892618e-01 -4.48940953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464203822 meters 0.011367364120250755 Centerline is valid? [True, True] Translation: X:159.87, Y:-21.30, Z:-4.49 [[ 9.83702979e-01 1.79218862e-01 1.44585265e-02 1.59870099e+02] [-1.79199238e-01 9.83809229e-01 -2.65217538e-03 -2.13022601e+01] [-1.46997517e-02 1.79958816e-05 9.99891953e-01 -4.49006025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.494203822 meters 0.011733498860185708 Centerline is valid? [True, True] Translation: X:159.90, Y:-21.31, Z:-4.49 [[ 9.83777761e-01 1.78837439e-01 1.40885623e-02 1.59896533e+02] [-1.78818784e-01 9.83878636e-01 -2.58315258e-03 -2.13105120e+01] [-1.43233999e-02 2.19484827e-05 9.99897415e-01 -4.49232371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524203822 meters 0.012272782934806555 Centerline is valid? [True, True] Translation: X:159.92, Y:-21.32, Z:-4.49 [[ 9.84145253e-01 1.76858166e-01 1.33906423e-02 1.59923787e+02] [-1.76841142e-01 9.84236347e-01 -2.45427975e-03 -2.13222632e+01] [-1.36136163e-02 4.73512774e-05 9.99907329e-01 -4.49382378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.554203822 meters 0.013214637420451343 Centerline is valid? [True, True] Translation: X:159.95, Y:-21.33, Z:-4.50 [[ 9.84435801e-01 1.75237754e-01 1.33372778e-02 1.59950675e+02] [-1.75220721e-01 9.84526142e-01 -2.44420533e-03 -2.13300696e+01] [-1.35592157e-02 6.91957925e-05 9.99908067e-01 -4.49581553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584203822 meters 0.013214637420451343 Centerline is valid? [True, True] Translation: X:159.98, Y:-21.33, Z:-4.50 [[ 9.84448145e-01 1.75168381e-01 1.33374573e-02 1.59977735e+02] [-1.75151355e-01 9.84538488e-01 -2.44322533e-03 -2.13348871e+01] [-1.35592159e-02 6.91549209e-05 9.99908067e-01 -4.49659597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.614203822 meters 0.015998621986376426 Centerline is valid? [True, True] Translation: X:160.00, Y:-21.35, Z:-4.50 [[ 9.85087898e-01 1.71622120e-01 1.21524137e-02 1.60003681e+02] [-1.71607726e-01 9.85162848e-01 -2.22524230e-03 -2.13492167e+01] [-1.23540073e-02 1.06611175e-04 9.99923681e-01 -4.50039313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644203822 meters 0.017214600450688247 Centerline is valid? [True, True] Translation: X:160.03, Y:-21.36, Z:-4.50 [[ 9.85340844e-01 1.70218600e-01 1.13600232e-02 1.60031006e+02] [-1.70205938e-01 9.85406320e-01 -2.07937032e-03 -2.13588555e+01] [-1.15481861e-02 1.15345106e-04 9.99933311e-01 -4.50274643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.674203822 meters 0.017792892776146436 Centerline is valid? [True, True] Translation: X:160.06, Y:-21.37, Z:-4.50 [[ 9.85460736e-01 1.69576607e-01 1.05314561e-02 1.60058292e+02] [-1.69565690e-01 9.85517002e-01 -1.92751377e-03 -2.13668264e+01] [-1.07057903e-02 1.13715523e-04 9.99942685e-01 -4.50441542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704203822 meters 0.017818420664538367 Centerline is valid? [True, True] Translation: X:160.09, Y:-21.37, Z:-4.51 [[ 9.85387231e-01 1.70024070e-01 1.01892481e-02 1.60085555e+02] [-1.70013881e-01 9.85439904e-01 -1.86431208e-03 -2.13742253e+01] [-1.03578696e-02 1.04755708e-04 9.99946350e-01 -4.50647259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.734203822 meters 0.014420244081621248 Centerline is valid? [True, True] Translation: X:160.11, Y:-21.38, Z:-4.50 [[ 9.84772752e-01 1.73542608e-01 1.02756654e-02 1.60114236e+02] [-1.73532445e-01 9.84826360e-01 -1.87930983e-03 -2.13797948e+01] [-1.04458865e-02 6.75317697e-05 9.99945438e-01 -4.50402546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.764203822 meters 0.013647754075266496 Centerline is valid? [True, True] Translation: X:160.14, Y:-21.38, Z:-4.51 [[ 9.84183323e-01 1.76858703e-01 1.02071267e-02 1.60141951e+02] [-1.76848857e-01 9.84236251e-01 -1.86649185e-03 -2.13816189e+01] [-1.03763295e-02 3.18514621e-05 9.99946164e-01 -4.50601491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79420382200001 meters 0.015161437304092668 Centerline is valid? [True, True] Translation: X:160.17, Y:-21.38, Z:-4.51 [[ 9.82728717e-01 1.84769314e-01 1.02259624e-02 1.60171098e+02] [-1.84759866e-01 9.82781918e-01 -1.86924798e-03 -2.13764155e+01] [-1.03952706e-02 -5.23837783e-05 9.99945966e-01 -4.50822484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82420382200002 meters 0.01666560552425359 Centerline is valid? [True, True] Translation: X:160.20, Y:-21.38, Z:-4.51 [[ 9.82115464e-01 1.87988444e-01 1.04671132e-02 1.60199694e+02] [-1.87978737e-01 9.82171236e-01 -1.91245609e-03 -2.13791348e+01] [-1.06400171e-02 -8.93420193e-05 9.99943389e-01 -4.50794841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85420382200002 meters 0.0285953571834004 Centerline is valid? [True, True] Translation: X:160.23, Y:-21.38, Z:-4.51 [[ 9.81024756e-01 1.93611178e-01 1.02537428e-02 1.60229927e+02] [-1.93602179e-01 9.81078330e-01 -1.87257245e-03 -2.13788625e+01] [-1.04222758e-02 -1.48107016e-04 9.99945676e-01 -4.50942958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88420382200002 meters 0.022965451177198754 Centerline is valid? [True, True] Translation: X:160.26, Y:-21.38, Z:-4.51 [[ 9.80658325e-01 1.95443039e-01 1.05483428e-02 1.60258745e+02] [-1.95433620e-01 9.80715040e-01 -1.92651463e-03 -2.13814006e+01] [-1.07214423e-02 -1.72248198e-04 9.99942509e-01 -4.50962474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91420382200002 meters 0.023294020086858862 Centerline is valid? [True, True] Translation: X:160.29, Y:-21.39, Z:-4.51 [[ 9.80403132e-01 1.96672652e-01 1.13827288e-02 1.60286861e+02] [-1.96661774e-01 9.80469187e-01 -2.07825013e-03 -2.13855523e+01] [-1.15691499e-02 -2.01024709e-04 9.99933055e-01 -4.50855417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94420382200002 meters 0.02493961551832619 Centerline is valid? [True, True] Translation: X:160.31, Y:-21.39, Z:-4.51 [[ 9.80330223e-01 1.96942729e-01 1.28924187e-02 1.60314584e+02] [-1.96928806e-01 9.80414967e-01 -2.35324497e-03 -2.13890234e+01] [-1.31033747e-02 -2.31931457e-04 9.99914120e-01 -4.50884211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974203822 meters 0.02527749565580659 Centerline is valid? [True, True] Translation: X:160.34, Y:-21.39, Z:-4.51 [[ 9.80448416e-01 1.96358893e-01 1.28096920e-02 1.60341570e+02] [-1.96345108e-01 9.80532067e-01 -2.33732767e-03 -2.13948710e+01] [-1.30192688e-02 -2.23491150e-04 9.99915221e-01 -4.51084885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004203822 meters 0.020326692994156993 Centerline is valid? [True, True] Translation: X:160.37, Y:-21.41, Z:-4.51 [[ 9.80972704e-01 1.93706350e-01 1.30538678e-02 1.60368530e+02] [-1.93691805e-01 9.81059536e-01 -2.38149969e-03 -2.14114021e+01] [-1.32679331e-02 -1.92241021e-04 9.99911959e-01 -4.50839474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034203822 meters 0.017428681057455615 Centerline is valid? [True, True] Translation: X:160.40, Y:-21.42, Z:-4.51 [[ 9.81397371e-01 1.91492477e-01 1.37779165e-02 1.60395700e+02] [-1.91476082e-01 9.81494066e-01 -2.51173404e-03 -2.14217382e+01] [-1.40039214e-02 -1.73132278e-04 9.99901925e-01 -4.50666060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064203822 meters 0.015748477736005764 Centerline is valid? [True, True] Translation: X:160.42, Y:-21.43, Z:-4.51 [[ 9.81891728e-01 1.88890664e-01 1.44551377e-02 1.60422197e+02] [-1.88872345e-01 9.81998114e-01 -2.63455503e-03 -2.14299727e+01] [-1.46925608e-02 -1.43327958e-04 9.99892048e-01 -4.50762678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.094203822 meters 0.014098035611549981 Centerline is valid? [True, True] Translation: X:160.45, Y:-21.44, Z:-4.51 [[ 9.82465370e-01 1.85882364e-01 1.44755962e-02 1.60448414e+02] [-1.85863680e-01 9.82572001e-01 -2.63734779e-03 -2.14392230e+01] [-1.47135519e-02 -9.93847038e-05 9.99891745e-01 -4.50957843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124203822 meters 0.011681368914562333 Centerline is valid? [True, True] Translation: X:160.47, Y:-21.46, Z:-4.51 [[ 9.83707027e-01 1.79278903e-01 1.33999930e-02 1.60474112e+02] [-1.79262292e-01 9.83798290e-01 -2.44049329e-03 -2.14575113e+01] [-1.36204192e-02 -1.38305878e-06 9.99907238e-01 -4.51140325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.154203822 meters 0.012699648667482395 Centerline is valid? [True, True] Translation: X:160.50, Y:-21.47, Z:-4.51 [[ 9.84306607e-01 1.75947819e-01 1.35229052e-02 1.60500365e+02] [-1.75930593e-01 9.84399494e-01 -2.46236602e-03 -2.14705049e+01] [-1.37451889e-02 4.46304044e-05 9.99905529e-01 -4.51385951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184203822 meters 0.015572011323599195 Centerline is valid? [True, True] Translation: X:160.53, Y:-21.49, Z:-4.51 [[ 9.85269578e-01 1.70499230e-01 1.31859918e-02 1.60526842e+02] [-1.70482381e-01 9.85357803e-01 -2.39970552e-03 -2.14903267e+01] [-1.34020679e-02 1.16377558e-04 9.99910181e-01 -4.51424347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.214203822 meters 0.016224086383031553 Centerline is valid? [True, True] Translation: X:160.56, Y:-21.50, Z:-4.51 [[ 9.85563443e-01 1.68819205e-01 1.28365328e-02 1.60556255e+02] [-1.68803104e-01 9.85647025e-01 -2.33543896e-03 -2.14997063e+01] [-1.30465573e-02 1.34876680e-04 9.99914881e-01 -4.51378007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244203822 meters 0.0181882816768906 Centerline is valid? [True, True] Translation: X:160.58, Y:-21.51, Z:-4.52 [[ 9.85704319e-01 1.67983067e-01 1.29878816e-02 1.60584057e+02] [-1.67966513e-01 9.85789870e-01 -2.36281300e-03 -2.15096200e+01] [-1.32002346e-02 1.47505794e-04 9.99912862e-01 -4.51610715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.274203822 meters 0.016504760833470473 Centerline is valid? [True, True] Translation: X:160.61, Y:-21.52, Z:-4.52 [[ 9.85530320e-01 1.69010974e-01 1.28561176e-02 1.60613450e+02] [-1.68994838e-01 9.85614160e-01 -2.33914153e-03 -2.15161440e+01] [-1.30665121e-02 1.32677389e-04 9.99914621e-01 -4.51527413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304203822 meters 0.015206977057670469 Centerline is valid? [True, True] Translation: X:160.64, Y:-21.52, Z:-4.52 [[ 9.85267837e-01 1.70591991e-01 1.20690323e-02 1.60643939e+02] [-1.70577889e-01 9.85341749e-01 -2.19593313e-03 -2.15205215e+01] [-1.22667300e-02 1.04872241e-04 9.99924755e-01 -4.51645951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.334203822 meters 0.014760610134582791 Centerline is valid? [True, True] Translation: X:160.67, Y:-21.52, Z:-4.52 [[ 9.84847579e-01 1.73033209e-01 1.16083701e-02 1.60672631e+02] [-1.73020326e-01 9.84915988e-01 -2.11273380e-03 -2.15241616e+01] [-1.17988424e-02 7.22367943e-05 9.99930389e-01 -4.52046671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364203822 meters 0.01342455229090688 Centerline is valid? [True, True] Translation: X:160.70, Y:-21.52, Z:-4.52 [[ 9.83819612e-01 1.78867412e-01 1.02673976e-02 1.60702352e+02] [-1.78857651e-01 9.83873187e-01 -1.86859307e-03 -2.15235432e+01] [-1.04360476e-02 1.95588797e-06 9.99945543e-01 -4.52403703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.394203822 meters 0.013286673687230053 Centerline is valid? [True, True] Translation: X:160.73, Y:-21.53, Z:-4.52 [[ 9.83299900e-01 1.81715156e-01 1.00453505e-02 1.60731120e+02] [-1.81705966e-01 9.83351210e-01 -1.82776423e-03 -2.15267716e+01] [-1.02102400e-02 -2.80597203e-05 9.99947874e-01 -4.52283144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424203822 meters 0.01558350712396093 Centerline is valid? [True, True] Translation: X:160.76, Y:-21.53, Z:-4.52 [[ 9.82374410e-01 1.86556986e-01 1.17051443e-02 1.60759997e+02] [-1.86544858e-01 9.82444137e-01 -2.12914608e-03 -2.15257182e+01] [-1.18968575e-02 -9.19158595e-05 9.99929226e-01 -4.52157608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.454203822 meters 0.01777303636622966 Centerline is valid? [True, True] Translation: X:160.79, Y:-21.53, Z:-4.52 [[ 9.81948762e-01 1.88712236e-01 1.28188026e-02 1.60787954e+02] [-1.88697887e-01 9.82032421e-01 -2.33070907e-03 -2.15262009e+01] [-1.30283131e-02 -1.30244086e-04 9.99915119e-01 -4.52168898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.484203822 meters 0.01823520151545418 Centerline is valid? [True, True] Translation: X:160.82, Y:-21.53, Z:-4.52 [[ 9.81608332e-01 1.90390289e-01 1.40221191e-02 1.60816646e+02] [-1.90373308e-01 9.81708465e-01 -2.54832189e-03 -2.15300753e+01] [-1.42508087e-02 -1.67983193e-04 9.99898438e-01 -4.51854621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.514203822 meters 0.02052102652079916 Centerline is valid? [True, True] Translation: X:160.84, Y:-21.53, Z:-4.51 [[ 9.81189720e-01 1.92341804e-01 1.64731389e-02 1.60844787e+02] [-1.92318660e-01 9.81327966e-01 -2.99274858e-03 -2.15347969e+01] [-1.67411825e-02 -2.31637848e-04 9.99859830e-01 -4.51409455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54420382200001 meters 0.020939519236000955 Centerline is valid? [True, True] Translation: X:160.87, Y:-21.54, Z:-4.52 [[ 9.81015072e-01 1.93225690e-01 1.65306111e-02 1.60872666e+02] [-1.93202520e-01 9.81154305e-01 -3.00250266e-03 -2.15367626e+01] [-1.67992409e-02 -2.48255371e-04 9.99858852e-01 -4.51569044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57420382200002 meters 0.02052988520225808 Centerline is valid? [True, True] Translation: X:160.90, Y:-21.54, Z:-4.52 [[ 9.80868388e-01 1.93990926e-01 1.62704240e-02 1.60901208e+02] [-1.93968604e-01 9.81003289e-01 -2.95412778e-03 -2.15420571e+01] [-1.65344135e-02 -2.58340880e-04 9.99863264e-01 -4.51600105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60420382200002 meters 0.024370665350518416 Centerline is valid? [True, True] Translation: X:160.93, Y:-21.54, Z:-4.52 [[ 9.80508070e-01 1.95837413e-01 1.58629383e-02 1.60928889e+02] [-1.95816444e-01 9.80636338e-01 -2.87968645e-03 -2.15422771e+01] [-1.61197241e-02 -2.82668361e-04 9.99870029e-01 -4.51940094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63420382200002 meters 0.024250529730067555 Centerline is valid? [True, True] Translation: X:160.96, Y:-21.55, Z:-4.52 [[ 9.80257294e-01 1.97164318e-01 1.48952833e-02 1.60957024e+02] [-1.97146002e-01 9.80370414e-01 -2.70272814e-03 -2.15466083e+01] [-1.51357766e-02 -2.87176574e-04 9.99885406e-01 -4.52011188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66420382200002 meters 0.028043998805183882 Centerline is valid? [True, True] Translation: X:160.99, Y:-21.54, Z:-4.52 [[ 9.79629239e-01 2.00384667e-01 1.31354194e-02 1.60987724e+02] [-2.00370719e-01 9.79717253e-01 -2.38295940e-03 -2.15413156e+01] [-1.33465055e-02 -2.97536709e-04 9.99910887e-01 -4.52424151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69420382200002 meters 0.030797171474047955 Centerline is valid? [True, True] Translation: X:161.02, Y:-21.54, Z:-4.53 [[ 9.79282246e-01 2.02102770e-01 1.26788334e-02 1.61015596e+02] [-2.02089922e-01 9.79364270e-01 -2.29985328e-03 -2.15400164e+01] [-1.28820031e-02 -3.10058957e-04 9.99916975e-01 -4.52682071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724203822 meters 0.03481839925993697 Centerline is valid? [True, True] Translation: X:161.04, Y:-21.54, Z:-4.53 [[ 9.79039580e-01 2.03325871e-01 1.18359725e-02 1.61044190e+02] [-2.03314775e-01 9.79111075e-01 -2.14601745e-03 -2.15380598e+01] [-1.20250727e-02 -3.05392067e-04 9.99927650e-01 -4.53106466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754203822 meters 0.03029501982752824 Centerline is valid? [True, True] Translation: X:161.07, Y:-21.54, Z:-4.53 [[ 9.79087770e-01 2.03135694e-01 1.10918569e-02 1.61073037e+02] [-2.03125945e-01 9.79150555e-01 -2.01037887e-03 -2.15426645e+01] [-1.12689776e-02 -2.84706546e-04 9.99936463e-01 -4.53014561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784203822 meters 0.031089489119631313 Centerline is valid? [True, True] Translation: X:161.10, Y:-21.54, Z:-4.53 [[ 9.79380215e-01 2.01703035e-01 1.14139934e-02 1.61101169e+02] [-2.01692619e-01 9.79446685e-01 -2.06836105e-03 -2.15427991e+01] [-1.15965927e-02 -2.76406342e-04 9.99932719e-01 -4.53298950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814203822 meters 0.02652079212252327 Centerline is valid? [True, True] Translation: X:161.13, Y:-21.55, Z:-4.54 [[ 9.80540566e-01 1.95963083e-01 1.17757599e-02 1.61129806e+02] [-1.95951599e-01 9.80611250e-01 -2.13251295e-03 -2.15492708e+01] [-1.19653364e-02 -2.16463520e-04 9.99928389e-01 -4.53572105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844203822 meters 0.020897714225382967 Centerline is valid? [True, True] Translation: X:161.16, Y:-21.56, Z:-4.53 [[ 9.81367183e-01 1.91760757e-01 1.20939545e-02 1.61156912e+02] [-1.91748324e-01 9.81441686e-01 -2.19020696e-03 -2.15604999e+01] [-1.22895069e-02 -1.69598272e-04 9.99924467e-01 -4.53477645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.874203822 meters 0.015249125325788803 Centerline is valid? [True, True] Translation: X:161.18, Y:-21.57, Z:-4.53 [[ 9.82348474e-01 1.86678116e-01 1.19480527e-02 1.61183591e+02] [-1.86665611e-01 9.82421127e-01 -2.16327378e-03 -2.15736287e+01] [-1.21418553e-02 -1.05201853e-04 9.99926279e-01 -4.53359997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904203822 meters 0.012829967540172509 Centerline is valid? [True, True] Translation: X:161.21, Y:-21.59, Z:-4.54 [[ 9.83442900e-01 1.80823636e-01 1.19530002e-02 1.61209839e+02] [-1.80810693e-01 9.83515537e-01 -2.16376284e-03 -2.15863190e+01] [-1.21472208e-02 -3.32930444e-05 9.99926219e-01 -4.53605582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.934203822 meters 0.016760667789917763 Centerline is valid? [True, True] Translation: X:161.23, Y:-21.61, Z:-4.54 [[ 9.85633259e-01 1.68418507e-01 1.27391213e-02 1.61233875e+02] [-1.68402790e-01 9.85715573e-01 -2.30426768e-03 -2.16117501e+01] [-1.29452316e-02 1.25859292e-04 9.99916199e-01 -4.53654747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964203822 meters 0.021953249617082372 Centerline is valid? [True, True] Translation: X:161.26, Y:-21.63, Z:-4.54 [[ 9.86619537e-01 1.62471546e-01 1.35972504e-02 1.61263399e+02] [-1.62453082e-01 9.86713205e-01 -2.45898083e-03 -2.16264593e+01] [-1.38161009e-02 2.17163296e-04 9.99904530e-01 -4.53559587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.994203822 meters 0.02960306798994752 Centerline is valid? [True, True] Translation: X:161.29, Y:-21.64, Z:-4.53 [[ 9.88147463e-01 1.52858540e-01 1.41017092e-02 1.61291688e+02] [-1.52837691e-01 9.88248012e-01 -2.55087954e-03 -2.16413370e+01] [-1.43259098e-02 3.65372486e-04 9.99897312e-01 -4.53352415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024203822 meters 0.033425999113857865 Centerline is valid? [True, True] Translation: X:161.32, Y:-21.65, Z:-4.54 [[ 9.88649124e-01 1.49633384e-01 1.35188731e-02 1.61320146e+02] [-1.49613920e-01 9.88741470e-01 -2.44551115e-03 -2.16514623e+01] [-1.37326006e-02 3.95140853e-04 9.99905625e-01 -4.53533811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.054203822 meters 0.03529083416875348 Centerline is valid? [True, True] Translation: X:161.35, Y:-21.66, Z:-4.54 [[ 9.89065334e-01 1.46914999e-01 1.28743081e-02 1.61350046e+02] [-1.46897122e-01 9.89149035e-01 -2.32853586e-03 -2.16613511e+01] [-1.30767063e-02 4.11875294e-04 9.99914411e-01 -4.53662554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084203822 meters 0.038284705197424065 Centerline is valid? [True, True] Translation: X:161.38, Y:-21.67, Z:-4.54 [[ 9.88981612e-01 1.47522477e-01 1.23486843e-02 1.61379319e+02] [-1.47506100e-01 9.89058628e-01 -2.23162635e-03 -2.16719721e+01] [-1.25427878e-02 3.85531165e-04 9.99921262e-01 -4.54003628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.114203822 meters 0.03687256087223355 Centerline is valid? [True, True] Translation: X:161.41, Y:-21.68, Z:-4.54 [[ 9.88724164e-01 1.49249240e-01 1.22144227e-02 1.61411344e+02] [-1.49233326e-01 9.88799542e-01 -2.20921407e-03 -2.16774727e+01] [-1.24073390e-02 3.61504406e-04 9.99922961e-01 -4.54135808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144203822 meters 0.028782262215632393 Centerline is valid? [True, True] Translation: X:161.44, Y:-21.67, Z:-4.54 [[ 9.87960636e-01 1.54233456e-01 1.20757348e-02 1.61443214e+02] [-1.54218220e-01 9.88034388e-01 -2.18850272e-03 -2.16737589e+01] [-1.22687816e-02 2.99856206e-04 9.99924691e-01 -4.53908980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.174203822 meters 0.02604355510553139 Centerline is valid? [True, True] Translation: X:161.47, Y:-21.68, Z:-4.54 [[ 9.87478498e-01 1.57271231e-01 1.23278501e-02 1.61474715e+02] [-1.57255589e-01 9.87555410e-01 -2.23415831e-03 -2.16753742e+01] [-1.25258039e-02 2.67559970e-04 9.99921513e-01 -4.53956728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204203822 meters 0.024383223499807392 Centerline is valid? [True, True] Translation: X:161.50, Y:-21.68, Z:-4.54 [[ 9.86952449e-01 1.60497378e-01 1.28629601e-02 1.61504758e+02] [-1.60480627e-01 9.87036238e-01 -2.33074299e-03 -2.16781883e+01] [-1.30702859e-02 2.36076588e-04 9.99914552e-01 -4.54142676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.234203822 meters 0.018682505338096473 Centerline is valid? [True, True] Translation: X:161.54, Y:-21.68, Z:-4.54 [[ 9.85991614e-01 1.66202467e-01 1.40455555e-02 1.61535849e+02] [-1.66183036e-01 9.86091633e-01 -2.54756649e-03 -2.16769063e+01] [-1.42736166e-02 1.77746134e-04 9.99898111e-01 -4.54133971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.264203822 meters 0.018127558934879613 Centerline is valid? [True, True] Translation: X:161.57, Y:-21.68, Z:-4.54 [[ 9.85645375e-01 1.68249907e-01 1.39701060e-02 1.61565119e+02] [-1.68230895e-01 9.85744362e-01 -2.53351890e-03 -2.16820062e+01] [-1.41972176e-02 1.46947737e-04 9.99899204e-01 -4.54450552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29420382200001 meters 0.0147979178304493 Centerline is valid? [True, True] Translation: X:161.59, Y:-21.69, Z:-4.54 [[ 9.85189900e-01 1.70892921e-01 1.40167735e-02 1.61594670e+02] [-1.70874049e-01 9.85289601e-01 -2.54198031e-03 -2.16850739e+01] [-1.42449876e-02 1.09230484e-04 9.99898529e-01 -4.54393616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32420382200002 meters 0.013616197204884658 Centerline is valid? [True, True] Translation: X:161.62, Y:-21.69, Z:-4.54 [[ 9.85037651e-01 1.71800800e-01 1.36128926e-02 1.61624059e+02] [-1.71783090e-01 9.85131705e-01 -2.46844033e-03 -2.16894920e+01] [-1.38345722e-02 9.30418978e-05 9.99904293e-01 -4.54390400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35420382200002 meters 0.013408339264106103 Centerline is valid? [True, True] Translation: X:161.65, Y:-21.69, Z:-4.55 [[ 9.84917021e-01 1.72549831e-01 1.28459540e-02 1.61653193e+02] [-1.72534128e-01 9.85000787e-01 -2.32909015e-03 -2.16940704e+01] [-1.30551589e-02 7.75950452e-05 9.99914775e-01 -4.54589297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38420382200002 meters 0.014066245861428654 Centerline is valid? [True, True] Translation: X:161.68, Y:-21.70, Z:-4.55 [[ 9.84685098e-01 1.73987697e-01 1.11147968e-02 1.61681171e+02] [-1.73976033e-01 9.84747825e-01 -2.01523988e-03 -2.16983901e+01] [-1.12958989e-02 5.06684349e-05 9.99936198e-01 -4.55175995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41420382200002 meters 0.01347904122187327 Centerline is valid? [True, True] Translation: X:161.71, Y:-21.70, Z:-4.55 [[ 9.84586640e-01 1.74540353e-01 1.11719799e-02 1.61710790e+02] [-1.74528611e-01 9.84650021e-01 -2.02496358e-03 -2.17037005e+01] [-1.13539281e-02 4.39219597e-05 9.99935541e-01 -4.55163934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44420382200002 meters 0.012918242339688548 Centerline is valid? [True, True] Translation: X:161.74, Y:-21.71, Z:-4.55 [[ 9.84362165e-01 1.75740808e-01 1.20953217e-02 1.61738864e+02] [-1.75727138e-01 9.84436472e-01 -2.19216196e-03 -2.17103574e+01] [-1.22923281e-02 3.24050293e-05 9.99924446e-01 -4.55202037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47420382200002 meters 0.012583412842105847 Centerline is valid? [True, True] Translation: X:161.77, Y:-21.72, Z:-4.55 [[ 9.84284288e-01 1.76184802e-01 1.19731553e-02 1.61767532e+02] [-1.76171447e-01 9.84357107e-01 -2.16939707e-03 -2.17161500e+01] [-1.21680753e-02 2.59753661e-05 9.99925966e-01 -4.55197920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504203822 meters 0.012583412842105847 Centerline is valid? [True, True] Translation: X:161.80, Y:-21.72, Z:-4.55 [[ 9.84288555e-01 1.76160956e-01 1.19732077e-02 1.61796231e+02] [-1.76147603e-01 9.84361375e-01 -2.16910789e-03 -2.17213024e+01] [-1.21680753e-02 2.59762438e-05 9.99925966e-01 -4.55280707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534203822 meters 0.012492221652423802 Centerline is valid? [True, True] Translation: X:161.83, Y:-21.73, Z:-4.55 [[ 9.84207796e-01 1.76650679e-01 1.13820765e-02 1.61825200e+02] [-1.76638647e-01 9.84273609e-01 -2.06177045e-03 -2.17273744e+01] [-1.15672906e-02 1.86959646e-05 9.99933096e-01 -4.55420740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564203822 meters 0.012759538385155277 Centerline is valid? [True, True] Translation: X:161.85, Y:-21.73, Z:-4.56 [[ 9.84164500e-01 1.76924469e-01 1.08613585e-02 1.61854555e+02] [-1.76913533e-01 9.84224432e-01 -1.96720096e-03 -2.17335725e+01] [-1.10380604e-02 1.45280433e-05 9.99939079e-01 -4.55625795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.594203822 meters 0.0277019782917912 Centerline is valid? [True, True] Translation: X:161.88, Y:-21.74, Z:-4.56 [[ 9.84062045e-01 1.77484607e-01 1.10048321e-02 1.61882829e+02] [-1.77473418e-01 9.84123577e-01 -1.99289400e-03 -2.17382669e+01] [-1.11838227e-02 8.06618312e-06 9.99937459e-01 -4.55897440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624203822 meters 0.01287008210571671 Centerline is valid? [True, True] Translation: X:161.91, Y:-21.74, Z:-4.56 [[ 9.83957994e-01 1.78082364e-01 1.06460008e-02 1.61912471e+02] [-1.78071930e-01 9.84015585e-01 -1.92767811e-03 -2.17432388e+01] [-1.08191162e-02 1.00037478e-06 9.99941472e-01 -4.55912478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.654203822 meters 0.013573575301970833 Centerline is valid? [True, True] Translation: X:161.94, Y:-21.75, Z:-4.56 [[ 9.83678092e-01 1.79636708e-01 1.03954208e-02 1.61939572e+02] [-1.79626842e-01 9.83733019e-01 -1.88271436e-03 -2.17474996e+01] [-1.05645233e-02 -1.53117400e-05 9.99944194e-01 -4.56158371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684203822 meters 0.013248168915807036 Centerline is valid? [True, True] Translation: X:161.97, Y:-21.75, Z:-4.56 [[ 9.83464035e-01 1.80761706e-01 1.11219773e-02 1.61967753e+02] [-1.80750496e-01 9.83526921e-01 -2.01327117e-03 -2.17519287e+01] [-1.13026864e-02 -3.03231250e-05 9.99936122e-01 -4.56024129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.714203822 meters 0.013804555268215975 Centerline is valid? [True, True] Translation: X:162.00, Y:-21.75, Z:-4.56 [[ 9.83164901e-01 1.82349803e-01 1.16330378e-02 1.61995904e+02] [-1.82337656e-01 9.83233719e-01 -2.10533993e-03 -2.17549230e+01] [-1.18219033e-02 -5.12445151e-05 9.99930118e-01 -4.56042154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744203822 meters 0.015103002726644556 Centerline is valid? [True, True] Translation: X:162.03, Y:-21.75, Z:-4.56 [[ 9.82457921e-01 1.86099230e-01 1.19795482e-02 1.62025194e+02] [-1.86086639e-01 9.82530949e-01 -2.16710175e-03 -2.17535493e+01] [-1.21735728e-02 -1.00147578e-04 9.99925894e-01 -4.55845696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.774203822 meters 0.01645798287698124 Centerline is valid? [True, True] Translation: X:162.05, Y:-21.75, Z:-4.56 [[ 9.82044410e-01 1.88218079e-01 1.27566019e-02 1.62054050e+02] [-1.88203989e-01 9.82127251e-01 -2.30693205e-03 -2.17537221e+01] [-1.29628127e-02 -1.35333638e-04 9.99915970e-01 -4.55779673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804203822 meters 0.019114964758325113 Centerline is valid? [True, True] Translation: X:162.08, Y:-21.75, Z:-4.56 [[ 9.81622181e-01 1.90397640e-01 1.29086427e-02 1.62082920e+02] [-1.90383406e-01 9.81707039e-01 -2.33406864e-03 -2.17525999e+01] [-1.31169066e-02 -1.66417813e-04 9.99913956e-01 -4.55952007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.834203822 meters 0.02542276589912649 Centerline is valid? [True, True] Translation: X:162.11, Y:-21.74, Z:-4.56 [[ 9.80616689e-01 1.95586977e-01 1.16894626e-02 1.62113057e+02] [-1.95575685e-01 9.80686335e-01 -2.11262389e-03 -2.17433324e+01] [-1.18768979e-02 -2.14500402e-04 9.99929444e-01 -4.56362751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864203822 meters 0.0275629875311993 Centerline is valid? [True, True] Translation: X:162.14, Y:-21.74, Z:-4.56 [[ 9.80113387e-01 1.98100345e-01 1.15759000e-02 1.62141936e+02] [-1.98089451e-01 9.80181715e-01 -2.09173588e-03 -2.17424117e+01] [-1.17608591e-02 -2.42925325e-04 9.99930809e-01 -4.56403331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.894203822 meters 0.031514836612265285 Centerline is valid? [True, True] Translation: X:162.17, Y:-21.74, Z:-4.57 [[ 9.79324393e-01 2.01952639e-01 1.17841201e-02 1.62173109e+02] [-2.01941643e-01 9.79395244e-01 -2.12804352e-03 -2.17368393e+01] [-1.19710752e-02 -2.95659655e-04 9.99928300e-01 -4.56510073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924203822 meters 0.03365448782627753 Centerline is valid? [True, True] Translation: X:162.20, Y:-21.74, Z:-4.57 [[ 9.79111598e-01 2.02987964e-01 1.16775248e-02 1.62201191e+02] [-2.02977230e-01 9.79181185e-01 -2.10957578e-03 -2.17361481e+01] [-1.18626311e-02 -3.04761532e-04 9.99929590e-01 -4.56647803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.954203822 meters 0.03350287442106617 Centerline is valid? [True, True] Translation: X:162.23, Y:-21.74, Z:-4.57 [[ 9.79025185e-01 2.03394833e-01 1.18418207e-02 1.62229726e+02] [-2.03383846e-01 9.79096748e-01 -2.13750727e-03 -2.17385479e+01] [-1.20290460e-02 -3.15761577e-04 9.99927599e-01 -4.56663118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.984203822 meters 0.02947367821123146 Centerline is valid? [True, True] Translation: X:162.26, Y:-21.74, Z:-4.57 [[ 9.79417411e-01 2.01503348e-01 1.17446437e-02 1.62258144e+02] [-2.01492411e-01 9.79487783e-01 -2.11944488e-03 -2.17429905e+01] [-1.19308102e-02 -2.90635349e-04 9.99928783e-01 -4.56637587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.014203822 meters 0.027179299536643768 Centerline is valid? [True, True] Translation: X:162.29, Y:-21.75, Z:-4.57 [[ 9.79879324e-01 1.99247579e-01 1.17009740e-02 1.62287020e+02] [-1.99236571e-01 9.79949148e-01 -2.11078243e-03 -2.17481220e+01] [-1.18869278e-02 -2.62949876e-04 9.99929313e-01 -4.56772237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04420382200001 meters 0.02589246669485334 Centerline is valid? [True, True] Translation: X:162.31, Y:-21.75, Z:-4.57 [[ 9.80518377e-01 1.96069108e-01 1.18582356e-02 1.62314393e+02] [-1.96057571e-01 9.80590053e-01 -2.13908833e-03 -2.17524636e+01] [-1.20474771e-02 -2.27481463e-04 9.99927401e-01 -4.57051280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07420382200002 meters 0.016971006235958402 Centerline is valid? [True, True] Translation: X:162.34, Y:-21.77, Z:-4.57 [[ 9.82154131e-01 1.87724250e-01 1.15269258e-02 1.62341304e+02] [-1.87712788e-01 9.82221763e-01 -2.07803386e-03 -2.17695059e+01] [-1.17120947e-02 -1.22801833e-04 9.99931404e-01 -4.57045991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10420382200002 meters 0.014542878080037019 Centerline is valid? [True, True] Translation: X:162.37, Y:-21.78, Z:-4.57 [[ 9.83028066e-01 1.83114007e-01 1.11839926e-02 1.62367938e+02] [-1.83102914e-01 9.83091682e-01 -2.01667695e-03 -2.17796364e+01] [-1.13641719e-02 -6.53715830e-05 9.99935424e-01 -4.57281099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13420382200002 meters 0.01299993498868331 Centerline is valid? [True, True] Translation: X:162.40, Y:-21.79, Z:-4.57 [[ 9.83862641e-01 1.78600905e-01 1.07712755e-02 1.62395188e+02] [-1.78590355e-01 9.83921601e-01 -1.94125785e-03 -2.17900506e+01] [-1.09448011e-02 -1.37148540e-05 9.99940104e-01 -4.57391003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16420382200002 meters 0.015828545646040013 Centerline is valid? [True, True] Translation: X:162.42, Y:-21.81, Z:-4.58 [[ 9.85250950e-01 1.70832603e-01 9.83801630e-03 1.62420001e+02] [-1.70823413e-01 9.85300065e-01 -1.77313654e-03 -2.18059026e+01] [-9.99630763e-03 6.64209412e-05 9.99950033e-01 -4.57780404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19420382200002 meters 0.01682387630700707 Centerline is valid? [True, True] Translation: X:162.45, Y:-21.81, Z:-4.58 [[ 9.85752656e-01 1.67893948e-01 1.01648446e-02 1.62448060e+02] [-1.67883994e-01 9.85805058e-01 -1.83078015e-03 -2.18146948e+01] [-1.03279321e-02 9.81816807e-05 9.99946661e-01 -4.57569375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22420382200002 meters 0.01894085210363463 Centerline is valid? [True, True] Translation: X:162.47, Y:-21.82, Z:-4.57 [[ 9.86246255e-01 1.64855261e-01 1.18772147e-02 1.62474962e+02] [-1.64841459e-01 9.86317758e-01 -2.13856250e-03 -2.18225217e+01] [-1.20672610e-02 1.51291861e-04 9.99927177e-01 -4.57349652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254203822 meters 0.019165598874660312 Centerline is valid? [True, True] Translation: X:162.50, Y:-21.83, Z:-4.57 [[ 9.86292935e-01 1.64558872e-01 1.21088354e-02 1.62503086e+02] [-1.64544519e-01 9.86367251e-01 -2.17910555e-03 -2.18277396e+01] [-1.23023498e-02 1.56793925e-04 9.99924311e-01 -4.57405266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284203822 meters 0.02003053126551843 Centerline is valid? [True, True] Translation: X:162.53, Y:-21.83, Z:-4.58 [[ 9.86222519e-01 1.64996160e-01 1.18915951e-02 1.62530170e+02] [-1.64982349e-01 9.86294198e-01 -2.13997656e-03 -2.18336808e+01] [-1.20816992e-02 1.48589784e-04 9.99927003e-01 -4.57680009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314203822 meters 0.01807290615296551 Centerline is valid? [True, True] Translation: X:162.56, Y:-21.84, Z:-4.58 [[ 9.86062036e-01 1.65989018e-01 1.13713126e-02 1.62559266e+02] [-1.65976464e-01 9.86127593e-01 -2.04554506e-03 -2.18358125e+01] [-1.15531031e-02 1.29664078e-04 9.99933252e-01 -4.57584112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344203822 meters 0.016254860803569922 Centerline is valid? [True, True] Translation: X:162.59, Y:-21.83, Z:-4.58 [[ 9.85455443e-01 1.69502747e-01 1.20991423e-02 1.62588364e+02] [-1.69488808e-01 9.85529710e-01 -2.17579283e-03 -2.18337178e+01] [-1.22928671e-02 9.34776801e-05 9.99924435e-01 -4.57818283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.374203822 meters 0.028022500422796106 Centerline is valid? [True, True] Translation: X:162.62, Y:-21.83, Z:-4.58 [[ 9.85036349e-01 1.71935398e-01 1.18999808e-02 1.62618037e+02] [-1.71922098e-01 9.85108225e-01 -2.13942119e-03 -2.18318052e+01] [-1.20906112e-02 6.15379759e-05 9.99926904e-01 -4.57750100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404203822 meters 0.012646262119944867 Centerline is valid? [True, True] Translation: X:162.65, Y:-21.83, Z:-4.58 [[ 9.84612166e-01 1.74360375e-01 1.17192681e-02 1.62647069e+02] [-1.74347654e-01 9.84681907e-01 -2.10639889e-03 -2.18315515e+01] [-1.19070238e-02 3.07590713e-05 9.99929108e-01 -4.57713496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.434203822 meters 0.01250705336220947 Centerline is valid? [True, True] Translation: X:162.68, Y:-21.83, Z:-4.58 [[ 9.83744341e-01 1.79209957e-01 1.14395251e-02 1.62677131e+02] [-1.79198172e-01 9.83810851e-01 -2.05539438e-03 -2.18278570e+01] [-1.16226760e-02 -2.79593969e-05 9.99932454e-01 -4.57802646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464203822 meters 0.01397080270040801 Centerline is valid? [True, True] Translation: X:162.71, Y:-21.83, Z:-4.58 [[ 9.83434034e-01 1.80897822e-01 1.15533442e-02 1.62705482e+02] [-1.80885918e-01 9.83501894e-01 -2.07581069e-03 -2.18283946e+01] [-1.17382455e-02 -4.84143889e-05 9.99931103e-01 -4.58146607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.494203822 meters 0.014450084726715481 Centerline is valid? [True, True] Translation: X:162.73, Y:-21.83, Z:-4.58 [[ 9.83114140e-01 1.82618469e-01 1.17082655e-02 1.62734282e+02] [-1.82606377e-01 9.83183854e-01 -2.10265316e-03 -2.18286087e+01] [-1.18953608e-02 -7.08558907e-05 9.99929245e-01 -4.58097072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524203822 meters 0.01426263939134679 Centerline is valid? [True, True] Translation: X:162.76, Y:-21.83, Z:-4.58 [[ 9.83148232e-01 1.82479578e-01 1.09889566e-02 1.62762296e+02] [-1.82468923e-01 9.83209642e-01 -1.97303855e-03 -2.18339623e+01] [-1.11644873e-02 -6.53537063e-05 9.99937673e-01 -4.58174256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.554203822 meters 0.014208005527778168 Centerline is valid? [True, True] Translation: X:162.79, Y:-21.84, Z:-4.58 [[ 9.83317725e-01 1.81570321e-01 1.08843857e-02 1.62789068e+02] [-1.81559811e-01 9.83377962e-01 -1.95436345e-03 -2.18390792e+01] [-1.10583195e-02 -5.44067989e-05 9.99938853e-01 -4.58332903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584203822 meters 0.012997328824937997 Centerline is valid? [True, True] Translation: X:162.82, Y:-21.84, Z:-4.58 [[ 9.83496941e-01 1.80555538e-01 1.15526760e-02 1.62817150e+02] [-1.80543648e-01 9.83564790e-01 -2.07260540e-03 -2.18439232e+01] [-1.17370257e-02 -4.73611867e-05 9.99931118e-01 -4.58094349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.614203822 meters 0.012463230105761948 Centerline is valid? [True, True] Translation: X:162.85, Y:-21.85, Z:-4.58 [[ 9.83794572e-01 1.78825297e-01 1.30289124e-02 1.62845017e+02] [-1.78810029e-01 9.83880843e-01 -2.33692942e-03 -2.18463244e+01] [-1.32367994e-02 -3.06417266e-05 9.99912389e-01 -4.58087927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644203822 meters 0.01161001707477613 Centerline is valid? [True, True] Translation: X:162.87, Y:-21.85, Z:-4.58 [[ 9.84028179e-01 1.77503631e-01 1.34537786e-02 1.62872996e+02] [-1.77487246e-01 9.84120146e-01 -2.41178050e-03 -2.18520012e+01] [-1.36682344e-02 -1.46141421e-05 9.99906585e-01 -4.57943773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.674203822 meters 0.011652424631297792 Centerline is valid? [True, True] Translation: X:162.90, Y:-21.86, Z:-4.58 [[ 9.84148622e-01 1.76776862e-01 1.41926561e-02 1.62900162e+02] [-1.76758561e-01 9.84250954e-01 -2.54361410e-03 -2.18564300e+01] [-1.44187875e-02 -5.37916083e-06 9.99896044e-01 -4.58076882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.704203822 meters 0.011968487602616804 Centerline is valid? [True, True] Translation: X:162.93, Y:-21.86, Z:-4.58 [[ 9.84263441e-01 1.76127618e-01 1.43017933e-02 1.62926611e+02] [-1.76108975e-01 9.84367341e-01 -2.56257408e-03 -2.18606385e+01] [-1.45295584e-02 3.57382148e-06 9.99894440e-01 -4.58253403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.734203822 meters 0.011813515300444334 Centerline is valid? [True, True] Translation: X:162.95, Y:-21.87, Z:-4.58 [[ 9.84546496e-01 1.74585870e-01 1.37102780e-02 1.62954879e+02] [-1.74568610e-01 9.84641952e-01 -2.45502779e-03 -2.18670434e+01] [-1.39283280e-02 2.37048416e-05 9.99902996e-01 -4.58233933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.764203822 meters 0.01208922648762416 Centerline is valid? [True, True] Translation: X:162.98, Y:-21.87, Z:-4.58 [[ 9.84641304e-01 1.74064678e-01 1.35273548e-02 1.62982600e+02] [-1.74047832e-01 9.84734221e-01 -2.42180252e-03 -2.18719672e+01] [-1.37423995e-02 3.02000103e-05 9.99905568e-01 -4.58331808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79420382200001 meters 0.011642365410256648 Centerline is valid? [True, True] Translation: X:163.01, Y:-21.88, Z:-4.58 [[ 9.84663503e-01 1.73919550e-01 1.37758974e-02 1.63011451e+02] [-1.73902079e-01 9.84759864e-01 -2.46528232e-03 -2.18758731e+01] [-1.39947116e-02 3.18163259e-05 9.99902069e-01 -4.58191837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82420382200002 meters 0.01147583190472071 Centerline is valid? [True, True] Translation: X:163.04, Y:-21.88, Z:-4.58 [[ 9.84586902e-01 1.74307785e-01 1.43327521e-02 1.63038715e+02] [-1.74288924e-01 9.84691218e-01 -2.56433008e-03 -2.18789515e+01] [-1.45603179e-02 2.67658653e-05 9.99893993e-01 -4.58166702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85420382200002 meters 0.011513791850350666 Centerline is valid? [True, True] Translation: X:163.07, Y:-21.88, Z:-4.58 [[ 9.84538603e-01 1.74590279e-01 1.42117726e-02 1.63065949e+02] [-1.74571774e-01 9.84641170e-01 -2.54198539e-03 -2.18838698e+01] [-1.44373023e-02 2.17083881e-05 9.99895776e-01 -4.58287338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88420382200002 meters 0.011714827412675132 Centerline is valid? [True, True] Translation: X:163.09, Y:-21.89, Z:-4.58 [[ 9.84360405e-01 1.75602056e-01 1.40894105e-02 1.63092583e+02] [-1.75583979e-01 9.84461232e-01 -2.51957940e-03 -2.18865387e+01] [-1.43129217e-02 6.29944782e-06 9.99897565e-01 -4.58466689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91420382200002 meters 0.011571026818249537 Centerline is valid? [True, True] Translation: X:163.12, Y:-21.89, Z:-4.58 [[ 9.84188826e-01 1.76571794e-01 1.39555239e-02 1.63121572e+02] [-1.76554190e-01 9.84287764e-01 -2.49327632e-03 -2.18885029e+01] [-1.41764936e-02 -1.00515174e-05 9.99899508e-01 -4.58482094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94420382200002 meters 0.012233861561843359 Centerline is valid? [True, True] Translation: X:163.15, Y:-21.89, Z:-4.59 [[ 9.83930201e-01 1.78050942e-01 1.33873625e-02 1.63149636e+02] [-1.78034885e-01 9.84021271e-01 -2.39134768e-03 -2.18896789e+01] [-1.35992312e-02 -3.04983497e-05 9.99907526e-01 -4.58694865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97420382200002 meters 0.014433387779353681 Centerline is valid? [True, True] Translation: X:163.18, Y:-21.89, Z:-4.59 [[ 9.83225161e-01 1.81951818e-01 1.27207688e-02 1.63179060e+02] [-1.81937658e-01 9.83307444e-01 -2.27140318e-03 -2.18873771e+01] [-1.29217126e-02 -8.10861296e-05 9.99916508e-01 -4.58920887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004203822 meters 0.015899273721383767 Centerline is valid? [True, True] Translation: X:163.21, Y:-21.89, Z:-4.59 [[ 9.82846435e-01 1.83993579e-01 1.26193319e-02 1.63208102e+02] [-1.83979820e-01 9.82927439e-01 -2.25269314e-03 -2.18888138e+01] [-1.28183687e-02 -1.07651002e-04 9.99917836e-01 -4.59043978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034203822 meters 0.01905038894857622 Centerline is valid? [True, True] Translation: X:163.24, Y:-21.89, Z:-4.59 [[ 9.82089504e-01 1.87950690e-01 1.32190846e-02 1.63237501e+02] [-1.87935959e-01 9.82178451e-01 -2.35905715e-03 -2.18878234e+01] [-1.34268864e-02 -1.67536070e-04 9.99909841e-01 -4.58985470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064203822 meters 0.021508077188628127 Centerline is valid? [True, True] Translation: X:163.27, Y:-21.89, Z:-4.59 [[ 9.81757503e-01 1.89659980e-01 1.34646577e-02 1.63265282e+02] [-1.89644858e-01 9.81849812e-01 -2.40280659e-03 -2.18884538e+01] [-1.36759879e-02 -1.94529715e-04 9.99906460e-01 -4.59060660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.094203822 meters 0.021174950681083392 Centerline is valid? [True, True] Translation: X:163.29, Y:-21.89, Z:-4.59 [[ 9.81430692e-01 1.91340072e-01 1.35193525e-02 1.63293550e+02] [-1.91325010e-01 9.81523779e-01 -2.41093171e-03 -2.18917890e+01] [-1.37308738e-02 -2.20427868e-04 9.99905703e-01 -4.58791858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124203822 meters 0.025137628658934773 Centerline is valid? [True, True] Translation: X:163.32, Y:-21.89, Z:-4.59 [[ 9.81138375e-01 1.92784894e-01 1.41941478e-02 1.63321920e+02] [-1.92768449e-01 9.81241010e-01 -2.53070196e-03 -2.18884894e+01] [-1.44157610e-02 -2.53215052e-04 9.99896055e-01 -4.59006071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.154203822 meters 0.02503073908004827 Centerline is valid? [True, True] Translation: X:163.35, Y:-21.89, Z:-4.59 [[ 9.80735875e-01 1.94779940e-01 1.47620316e-02 1.63351150e+02] [-1.94762410e-01 9.80846924e-01 -2.62986773e-03 -2.18887311e+01] [-1.49915388e-02 -2.95883233e-04 9.99887577e-01 -4.58807422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184203822 meters 0.02708485679885487 Centerline is valid? [True, True] Translation: X:163.38, Y:-21.89, Z:-4.59 [[ 9.80691994e-01 1.95035481e-01 1.42959654e-02 1.63378862e+02] [-1.95019075e-01 9.80796144e-01 -2.54633223e-03 -2.18900793e+01] [-1.45180529e-02 -2.90818325e-04 9.99894565e-01 -4.59121175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.214203822 meters 0.025301762486546107 Centerline is valid? [True, True] Translation: X:163.41, Y:-21.90, Z:-4.59 [[ 9.80964050e-01 1.93682565e-01 1.40212698e-02 1.63406766e+02] [-1.93666659e-01 9.81064215e-01 -2.49638461e-03 -2.18954961e+01] [-1.42392723e-02 -2.66588935e-04 9.99898581e-01 -4.59255756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244203822 meters 0.024113494063029234 Centerline is valid? [True, True] Translation: X:163.43, Y:-21.90, Z:-4.59 [[ 9.81230805e-01 1.92272384e-01 1.47457537e-02 1.63434156e+02] [-1.92254637e-01 9.81341563e-01 -2.62512042e-03 -2.18999261e+01] [-1.49753592e-02 -2.59090507e-04 9.99887829e-01 -4.59256610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.274203822 meters 0.019896084995396877 Centerline is valid? [True, True] Translation: X:163.46, Y:-21.91, Z:-4.59 [[ 9.81880759e-01 1.88967993e-01 1.41870388e-02 1.63461694e+02] [-1.88951246e-01 9.81983226e-01 -2.52393300e-03 -2.19085906e+01] [-1.44083767e-02 -2.02457410e-04 9.99896173e-01 -4.59352500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304203822 meters 0.019326989384442172 Centerline is valid? [True, True] Translation: X:163.49, Y:-21.91, Z:-4.60 [[ 9.82182191e-01 1.87455268e-01 1.33665752e-02 1.63489049e+02] [-1.87440267e-01 9.82273126e-01 -2.37756286e-03 -2.19142601e+01] [-1.35753143e-02 -1.70234526e-04 9.99907837e-01 -4.59603087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.334203822 meters 0.018286880570853935 Centerline is valid? [True, True] Translation: X:163.52, Y:-21.92, Z:-4.60 [[ 9.82433153e-01 1.86153043e-01 1.31203458e-02 1.63516604e+02] [-1.86138484e-01 9.82520749e-01 -2.33297608e-03 -2.19198996e+01] [-1.33253026e-02 -1.50208230e-04 9.99911203e-01 -4.59768175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364203822 meters 0.016462650244264503 Centerline is valid? [True, True] Translation: X:163.54, Y:-21.93, Z:-4.60 [[ 9.82581317e-01 1.85403664e-01 1.26268630e-02 1.63544065e+02] [-1.85390123e-01 9.82662436e-01 -2.24476844e-03 -2.19257433e+01] [-1.28241322e-02 -1.35228156e-04 9.99917758e-01 -4.59694404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.394203822 meters 0.016462650244264503 Centerline is valid? [True, True] Translation: X:163.57, Y:-21.93, Z:-4.60 [[ 9.82595024e-01 1.85330994e-01 1.26270290e-02 1.63571148e+02] [-1.85317460e-01 9.82676144e-01 -2.24383405e-03 -2.19304191e+01] [-1.28241322e-02 -1.35228765e-04 9.99917758e-01 -4.59772453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424203822 meters 0.017985950350061237 Centerline is valid? [True, True] Translation: X:163.60, Y:-21.93, Z:-4.60 [[ 9.82663533e-01 1.85050703e-01 1.13409704e-02 1.63599094e+02] [-1.85039776e-01 9.82728967e-01 -2.01443559e-03 -2.19309761e+01] [-1.15178728e-02 -1.19018228e-04 9.99933660e-01 -4.60330684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.454203822 meters 0.017089155249152492 Centerline is valid? [True, True] Translation: X:163.63, Y:-21.93, Z:-4.60 [[ 9.82662693e-01 1.85078439e-01 1.09545882e-02 1.63627388e+02] [-1.85068256e-01 9.82723744e-01 -1.94495837e-03 -2.19346552e+01] [-1.11253038e-02 -1.16108493e-04 9.99938105e-01 -4.60282476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.484203822 meters 0.01887949356659677 Centerline is valid? [True, True] Translation: X:163.65, Y:-21.93, Z:-4.61 [[ 9.82653258e-01 1.85129248e-01 1.09424357e-02 1.63654672e+02] [-1.85119079e-01 9.82714174e-01 -1.94373719e-03 -2.19321917e+01] [-1.11131292e-02 -1.15633936e-04 9.99938241e-01 -4.60712975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.514203822 meters 0.01834982852789102 Centerline is valid? [True, True] Translation: X:163.68, Y:-21.94, Z:-4.61 [[ 9.82765874e-01 1.84554910e-01 1.05224330e-02 1.63683061e+02] [-1.84545506e-01 9.82822198e-01 -1.86625236e-03 -2.19371617e+01] [-1.06861068e-02 -1.07778582e-04 9.99942896e-01 -4.60892002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54420382200001 meters 0.016789997921151725 Centerline is valid? [True, True] Translation: X:163.71, Y:-21.94, Z:-4.61 [[ 9.82991140e-01 1.83367821e-01 1.02303526e-02 1.63710986e+02] [-1.83358871e-01 9.83044370e-01 -1.81402085e-03 -2.19445067e+01] [-1.03895236e-02 -9.26594746e-05 9.99946023e-01 -4.60895366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57420382200002 meters 0.014969986994680972 Centerline is valid? [True, True] Translation: X:163.74, Y:-21.95, Z:-4.61 [[ 9.83650220e-01 1.79761482e-01 1.08653298e-02 1.63737185e+02] [-1.79751166e-01 9.83710225e-01 -1.92668782e-03 -2.19536901e+01] [-1.10346803e-02 -5.78687974e-05 9.99939114e-01 -4.61063912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60420382200002 meters 0.013764743240308599 Centerline is valid? [True, True] Translation: X:163.77, Y:-21.96, Z:-4.61 [[ 9.84057114e-01 1.77512415e-01 1.09972198e-02 1.63765294e+02] [-1.77501725e-01 9.84118561e-01 -1.94834148e-03 -2.19613729e+01] [-1.11684229e-02 -3.47461949e-05 9.99937631e-01 -4.61055514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63420382200002 meters 0.012505196915930362 Centerline is valid? [True, True] Translation: X:163.79, Y:-21.97, Z:-4.61 [[ 9.84406705e-01 1.75540737e-01 1.13529272e-02 1.63793113e+02] [-1.75529220e-01 9.84472168e-01 -2.01079434e-03 -2.19681271e+01] [-1.15296172e-02 -1.33310316e-05 9.99933532e-01 -4.60858694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66420382200002 meters 0.011921583953259604 Centerline is valid? [True, True] Translation: X:163.82, Y:-21.97, Z:-4.61 [[ 9.85016492e-01 1.72003562e-01 1.25413489e-02 1.63821455e+02] [-1.71989231e-01 9.85096327e-01 -2.22052340e-03 -2.19749076e+01] [-1.27363747e-02 3.02752159e-05 9.99918889e-01 -4.60577772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69420382200002 meters 0.01225569904153384 Centerline is valid? [True, True] Translation: X:163.85, Y:-21.98, Z:-4.61 [[ 9.85249778e-01 1.70641980e-01 1.28136643e-02 1.63848832e+02] [-1.70626908e-01 9.85333097e-01 -2.26843684e-03 -2.19810593e+01] [-1.30128181e-02 4.86209751e-05 9.99915329e-01 -4.60655196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72420382200002 meters 0.012968791693404227 Centerline is valid? [True, True] Translation: X:163.88, Y:-21.99, Z:-4.61 [[ 9.85459620e-01 1.69487578e-01 1.19707145e-02 1.63876219e+02] [-1.69474351e-01 9.85532322e-01 -2.11824014e-03 -2.19882824e+01] [-1.21565414e-02 5.87110545e-05 9.99926105e-01 -4.60902743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754203822 meters 0.016001616460787394 Centerline is valid? [True, True] Translation: X:163.90, Y:-22.00, Z:-4.62 [[ 9.85859183e-01 1.67204226e-01 1.11542685e-02 1.63902483e+02] [-1.67192602e-01 9.85922279e-01 -1.97318341e-03 -2.19997750e+01] [-1.13271664e-02 8.03698143e-05 9.99935842e-01 -4.61525090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784203822 meters 0.015403666305213112 Centerline is valid? [True, True] Translation: X:163.93, Y:-22.00, Z:-4.61 [[ 9.85980088e-01 1.66466753e-01 1.14928898e-02 1.63930325e+02] [-1.66454370e-01 9.86047064e-01 -2.03247917e-03 -2.20044558e+01] [-1.16708704e-02 9.09422642e-05 9.99931889e-01 -4.61322437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814203822 meters 0.01578559242603667 Centerline is valid? [True, True] Translation: X:163.96, Y:-22.01, Z:-4.62 [[ 9.86007112e-01 1.66368008e-01 1.05669345e-02 1.63958315e+02] [-1.66357538e-01 9.86063730e-01 -1.86838705e-03 -2.20084452e+01] [-1.07305107e-02 8.43537153e-05 9.99942423e-01 -4.61548554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844203822 meters 0.01867129383343004 Centerline is valid? [True, True] Translation: X:163.99, Y:-22.01, Z:-4.62 [[ 9.85923182e-01 1.66938465e-01 9.32887125e-03 1.63986618e+02] [-1.66930342e-01 9.85967314e-01 -1.64822134e-03 -2.20115163e+01] [-9.47311367e-03 6.77479560e-05 9.99955127e-01 -4.61823028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.874203822 meters 0.015065013624502932 Centerline is valid? [True, True] Translation: X:164.02, Y:-22.01, Z:-4.62 [[ 9.85764566e-01 1.67879667e-01 9.19992805e-03 1.64015168e+02] [-1.67871812e-01 9.85807493e-01 -1.62503859e-03 -2.20134645e+01] [-9.34216895e-03 5.74968691e-05 9.99956359e-01 -4.61871248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904203822 meters 0.015122871759005226 Centerline is valid? [True, True] Translation: X:164.04, Y:-22.02, Z:-4.62 [[ 9.85483667e-01 1.69580478e-01 8.02519463e-03 1.64042721e+02] [-1.69574552e-01 9.85516342e-01 -1.41814843e-03 -2.20155661e+01] [-8.14945075e-03 3.66933371e-05 9.99966792e-01 -4.62281257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.934203822 meters 0.015090954995563384 Centerline is valid? [True, True] Translation: X:164.07, Y:-22.02, Z:-4.62 [[ 9.85371253e-01 1.70250134e-01 7.64100233e-03 1.64071023e+02] [-1.70244793e-01 9.85400878e-01 -1.34883058e-03 -2.20201638e+01] [-7.75908899e-03 2.82580122e-05 9.99969897e-01 -4.62474998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964203822 meters 0.014453353968218572 Centerline is valid? [True, True] Translation: X:164.10, Y:-22.02, Z:-4.62 [[ 9.85141694e-01 1.71562472e-01 7.88417407e-03 1.64099912e+02] [-1.71556831e-01 9.85173243e-01 -1.39134887e-03 -2.20244825e+01] [-8.00598058e-03 1.80918588e-05 9.99967951e-01 -4.62429455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.994203822 meters 0.013532763919169908 Centerline is valid? [True, True] Translation: X:164.13, Y:-22.03, Z:-4.62 [[ 9.85060427e-01 1.72010183e-01 8.27359898e-03 1.64129162e+02] [-1.72003983e-01 9.85095171e-01 -1.46056048e-03 -2.20277987e+01] [-8.40151368e-03 1.56483588e-05 9.99964707e-01 -4.62234493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024203822 meters 0.014940007873529254 Centerline is valid? [True, True] Translation: X:164.16, Y:-22.03, Z:-4.63 [[ 9.84934919e-01 1.72719959e-01 8.42742028e-03 1.64157274e+02] [-1.72713565e-01 9.84970972e-01 -1.48617192e-03 -2.20301866e+01] [-8.55745590e-03 8.25282115e-06 9.99963384e-01 -4.62749755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.054203822 meters 0.014039529479960807 Centerline is valid? [True, True] Translation: X:164.19, Y:-22.03, Z:-4.63 [[ 9.84844594e-01 1.73205780e-01 8.99350513e-03 1.64186746e+02] [-1.73198528e-01 9.84885657e-01 -1.58503372e-03 -2.20318315e+01] [-9.13211121e-03 3.35004936e-06 9.99958301e-01 -4.62586487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084203822 meters 0.013667057197931787 Centerline is valid? [True, True] Translation: X:164.22, Y:-22.04, Z:-4.63 [[ 9.84906457e-01 1.72833079e-01 9.38067662e-03 1.64215336e+02] [-1.72825176e-01 9.84951129e-01 -1.65277654e-03 -2.20377255e+01] [-9.52516248e-03 6.61320002e-06 9.99954635e-01 -4.62542959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.114203822 meters 0.014077229500883108 Centerline is valid? [True, True] Translation: X:164.24, Y:-22.04, Z:-4.63 [[ 9.85017992e-01 1.72172244e-01 9.81196796e-03 1.64242622e+02] [-1.72163568e-01 9.85066860e-01 -1.72844034e-03 -2.20447806e+01] [-9.96303392e-03 1.32814142e-05 9.99950368e-01 -4.62750259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144203822 meters 0.014430580783247477 Centerline is valid? [True, True] Translation: X:164.27, Y:-22.05, Z:-4.63 [[ 9.85384215e-01 1.70076602e-01 9.58635754e-03 1.64269914e+02] [-1.70068229e-01 9.85430844e-01 -1.68792069e-03 -2.20544808e+01] [-9.73376822e-03 3.29155562e-05 9.99952625e-01 -4.62824891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.174203822 meters 0.0144053494518559 Centerline is valid? [True, True] Translation: X:164.30, Y:-22.06, Z:-4.63 [[ 9.85607142e-01 1.68798877e-01 9.24662880e-03 1.64297617e+02] [-1.68791034e-01 9.85650515e-01 -1.62774507e-03 -2.20618303e+01] [-9.38870597e-03 4.35691366e-05 9.99955924e-01 -4.62780486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.204203822 meters 0.015563919981675752 Centerline is valid? [True, True] Translation: X:164.32, Y:-22.07, Z:-4.63 [[ 9.86169215e-01 1.65453410e-01 9.76975340e-03 1.64324652e+02] [-1.65444496e-01 9.86217604e-01 -1.71929326e-03 -2.20743169e+01] [-9.91956572e-03 7.91621555e-05 9.99950797e-01 -4.62678776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.234203822 meters 0.016777561217326 Centerline is valid? [True, True] Translation: X:164.35, Y:-22.08, Z:-4.63 [[ 9.86431823e-01 1.63862479e-01 1.00671423e-02 1.64351447e+02] [-1.63852934e-01 9.86483187e-01 -1.77130002e-03 -2.20832205e+01] [-1.02213162e-02 9.77358989e-05 9.99947756e-01 -4.62733663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.264203822 meters 0.017243774014000023 Centerline is valid? [True, True] Translation: X:164.38, Y:-22.09, Z:-4.63 [[ 9.86670264e-01 1.62413725e-01 1.01770110e-02 1.64379103e+02] [-1.62403902e-01 9.86722742e-01 -1.78978103e-03 -2.20910000e+01] [-1.03325732e-02 1.13137421e-04 9.99946611e-01 -4.62705075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29420382200001 meters 0.019001964828201795 Centerline is valid? [True, True] Translation: X:164.41, Y:-22.10, Z:-4.63 [[ 9.86826265e-01 1.61467711e-01 1.01044858e-02 1.64406051e+02] [-1.61457981e-01 9.86877988e-01 -1.77674894e-03 -2.21001161e+01] [-1.02587822e-02 1.21892643e-04 9.99947370e-01 -4.62993742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32420382200002 meters 0.018323087020479422 Centerline is valid? [True, True] Translation: X:164.43, Y:-22.11, Z:-4.63 [[ 9.86878030e-01 1.61119716e-01 1.05920395e-02 1.64433262e+02] [-1.61109015e-01 9.86934861e-01 -1.86150282e-03 -2.21099137e+01] [-1.07535778e-02 1.30603183e-04 9.99942170e-01 -4.62853177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35420382200002 meters 0.018705874267591124 Centerline is valid? [True, True] Translation: X:164.46, Y:-22.12, Z:-4.63 [[ 9.86758753e-01 1.61841402e-01 1.07015847e-02 1.64459778e+02] [-1.61830525e-01 9.86816774e-01 -1.88041938e-03 -2.21169552e+01] [-1.08648330e-02 1.23677207e-04 9.99940968e-01 -4.63026152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38420382200002 meters 0.01528377017807049 Centerline is valid? [True, True] Translation: X:164.49, Y:-22.12, Z:-4.63 [[ 9.86227405e-01 1.65047664e-01 1.07132931e-02 1.64488543e+02] [-1.65036961e-01 9.86285588e-01 -1.88162339e-03 -2.21194194e+01] [-1.08769241e-02 8.76192193e-05 9.99940841e-01 -4.62869820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41420382200002 meters 0.014812111691799665 Centerline is valid? [True, True] Translation: X:164.52, Y:-22.12, Z:-4.63 [[ 9.85864995e-01 1.67251085e-01 9.86342584e-03 1.64515325e+02] [-1.67242120e-01 9.85914333e-01 -1.73265237e-03 -2.21218580e+01] [-1.00142809e-02 5.85810711e-05 9.99949854e-01 -4.63177266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44420382200002 meters 0.012777138040152493 Centerline is valid? [True, True] Translation: X:164.54, Y:-22.12, Z:-4.63 [[ 9.84926171e-01 1.72739856e-01 9.02107886e-03 1.64544387e+02] [-1.72732594e-01 9.84967483e-01 -1.58392622e-03 -2.21187908e+01] [-9.15907653e-03 1.81604275e-06 9.99958055e-01 -4.63085955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47420382200002 meters 0.013216963421732881 Centerline is valid? [True, True] Translation: X:164.57, Y:-22.12, Z:-4.63 [[ 9.84478540e-01 1.75258378e-01 9.30079902e-03 1.64571736e+02] [-1.75250777e-01 9.84522473e-01 -1.63248804e-03 -2.21205150e+01] [-9.44295286e-03 -2.28228079e-05 9.99955414e-01 -4.63271413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504203822 meters 0.015208728411358048 Centerline is valid? [True, True] Translation: X:164.60, Y:-22.12, Z:-4.64 [[ 9.84094611e-01 1.77416092e-01 9.01818427e-03 1.64599936e+02] [-1.77409042e-01 9.84135930e-01 -1.58217780e-03 -2.21226476e+01] [-9.15582296e-03 -4.28947907e-05 9.99958084e-01 -4.63731877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534203822 meters 0.01654412406347687 Centerline is valid? [True, True] Translation: X:164.63, Y:-22.13, Z:-4.64 [[ 9.83752379e-01 1.79325274e-01 8.58506068e-03 1.64628464e+02] [-1.79318972e-01 9.83789837e-01 -1.50465121e-03 -2.21259857e+01] [-8.71571744e-03 -5.92600475e-05 9.99962016e-01 -4.63889812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564203822 meters 0.017779836785536348 Centerline is valid? [True, True] Translation: X:164.66, Y:-22.13, Z:-4.64 [[ 9.83179237e-01 1.82456829e-01 8.25182074e-03 1.64657376e+02] [-1.82451119e-01 9.83213862e-01 -1.44594442e-03 -2.21288723e+01] [-8.37712697e-03 -8.39313975e-05 9.99964908e-01 -4.63775878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.594203822 meters 0.01994899454160113 Centerline is valid? [True, True] Translation: X:164.69, Y:-22.13, Z:-4.64 [[ 9.82967769e-01 1.83591972e-01 8.26753509e-03 1.64685480e+02] [-1.83586281e-01 9.83002533e-01 -1.44852302e-03 -2.21311155e+01] [-8.39294513e-03 -9.39545812e-05 9.99964774e-01 -4.64083993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624203822 meters 0.020999992755987608 Centerline is valid? [True, True] Translation: X:164.71, Y:-22.13, Z:-4.64 [[ 9.82595955e-01 1.85531854e-01 9.11702512e-03 1.64714317e+02] [-1.85525027e-01 9.82638243e-01 -1.59634500e-03 -2.21348529e+01] [-9.25491040e-03 -1.22874189e-04 9.99957165e-01 -4.63965264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.654203822 meters 0.020546270910006284 Centerline is valid? [True, True] Translation: X:164.74, Y:-22.14, Z:-4.64 [[ 9.82485533e-01 1.86092117e-01 9.58646876e-03 1.64741547e+02] [-1.86084596e-01 9.82532292e-01 -1.67848811e-03 -2.21400576e+01] [-9.73136853e-03 -1.34803884e-04 9.99952640e-01 -4.63801085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684203822 meters 0.021611608292344316 Centerline is valid? [True, True] Translation: X:164.77, Y:-22.14, Z:-4.64 [[ 9.82361894e-01 1.86716447e-01 1.01033330e-02 1.64768280e+02] [-1.86708133e-01 9.82413837e-01 -1.76832545e-03 -2.21421801e+01] [-1.02558295e-02 -1.49238892e-04 9.99947396e-01 -4.63900674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.714203822 meters 0.021260508789172745 Centerline is valid? [True, True] Translation: X:164.80, Y:-22.15, Z:-4.64 [[ 9.82389320e-01 1.86574871e-01 1.00519749e-02 1.64796363e+02] [-1.86566645e-01 9.82440734e-01 -1.75823710e-03 -2.21453957e+01] [-1.02035125e-02 -1.48089892e-04 9.99947932e-01 -4.64034350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744203822 meters 0.02041726938589871 Centerline is valid? [True, True] Translation: X:164.82, Y:-22.15, Z:-4.64 [[ 9.82593911e-01 1.85487980e-01 1.01693570e-02 1.64824617e+02] [-1.85479515e-01 9.82646523e-01 -1.77753275e-03 -2.21513146e+01] [-1.03225942e-02 -1.39614540e-04 9.99946711e-01 -4.64098155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.774203822 meters 0.019251716793753124 Centerline is valid? [True, True] Translation: X:164.85, Y:-22.16, Z:-4.64 [[ 9.82897499e-01 1.83851627e-01 1.05396832e-02 1.64852220e+02] [-1.83842446e-01 9.82953998e-01 -1.84168180e-03 -2.21579437e+01] [-1.06986200e-02 -1.27456708e-04 9.99942760e-01 -4.64198647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804203822 meters 0.015654098478500748 Centerline is valid? [True, True] Translation: X:164.88, Y:-22.17, Z:-4.64 [[ 9.83693745e-01 1.79486787e-01 1.14503134e-02 1.64879227e+02] [-1.79475662e-01 9.83760380e-01 -2.00030596e-03 -2.21665287e+01] [-1.16233931e-02 -8.73641116e-05 9.99932442e-01 -4.64114972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.834203822 meters 0.014598664365702818 Centerline is valid? [True, True] Translation: X:164.91, Y:-22.17, Z:-4.64 [[ 9.84060863e-01 1.77441230e-01 1.17825399e-02 1.64906327e+02] [-1.77429313e-01 9.84131396e-01 -2.05756016e-03 -2.21731087e+01] [-1.19606634e-02 -6.58035235e-05 9.99928467e-01 -4.64225191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864203822 meters 0.012911093502527393 Centerline is valid? [True, True] Translation: X:164.93, Y:-22.19, Z:-4.64 [[ 9.84730704e-01 1.73657081e-01 1.21925562e-02 1.64933380e+02] [-1.73644041e-01 9.84806183e-01 -2.12816914e-03 -2.21855444e+01] [-1.23768764e-02 -2.14912391e-05 9.99923403e-01 -4.64169575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.894203822 meters 0.012138772636229644 Centerline is valid? [True, True] Translation: X:164.96, Y:-22.19, Z:-4.64 [[ 9.84987493e-01 1.72208457e-01 1.19952532e-02 1.64960971e+02] [-1.72195730e-01 9.85060530e-01 -2.09361689e-03 -2.21925942e+01] [-1.21765890e-02 -3.34492730e-06 9.99925863e-01 -4.63983475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924203822 meters 0.012608057076996611 Centerline is valid? [True, True] Translation: X:164.99, Y:-22.20, Z:-4.64 [[ 9.85184868e-01 1.71078553e-01 1.19543037e-02 1.64987154e+02] [-1.71065838e-01 9.85257392e-01 -2.08576852e-03 -2.21969986e+01] [-1.21348964e-02 9.89459420e-06 9.99926369e-01 -4.64188470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.954203822 meters 0.012438733789924146 Centerline is valid? [True, True] Translation: X:165.02, Y:-22.20, Z:-4.64 [[ 9.85375057e-01 1.69987641e-01 1.18405269e-02 1.65015766e+02] [-1.69975108e-01 9.85446194e-01 -2.06428871e-03 -2.22010252e+01] [-1.20191057e-02 2.15037693e-05 9.99927768e-01 -4.64197761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.984203822 meters 0.012530334978904396 Centerline is valid? [True, True] Translation: X:165.04, Y:-22.21, Z:-4.64 [[ 9.85452848e-01 1.69560997e-01 1.14783701e-02 1.65043673e+02] [-1.69549196e-01 9.85519694e-01 -2.00063232e-03 -2.22059821e+01] [-1.16513890e-02 2.53803971e-05 9.99932120e-01 -4.64283706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.014203822 meters 0.012693959571078536 Centerline is valid? [True, True] Translation: X:165.07, Y:-22.21, Z:-4.64 [[ 9.85512038e-01 1.69232877e-01 1.12363757e-02 1.65071819e+02] [-1.69221553e-01 9.85576092e-01 -1.95791442e-03 -2.22106514e+01] [-1.14056467e-02 2.81112985e-05 9.99934953e-01 -4.64380923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04420382200001 meters 0.013335632143633085 Centerline is valid? [True, True] Translation: X:165.10, Y:-22.22, Z:-4.65 [[ 9.85759797e-01 1.67669392e-01 1.28295304e-02 1.65098666e+02] [-1.67654503e-01 9.85843280e-01 -2.23505071e-03 -2.22165671e+01] [-1.30226560e-02 5.22945960e-05 9.99915200e-01 -4.64524600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07420382200002 meters 0.013557700695039771 Centerline is valid? [True, True] Translation: X:165.13, Y:-22.22, Z:-4.64 [[ 9.86020195e-01 1.66117479e-01 1.30061015e-02 1.65126816e+02] [-1.66102060e-01 9.86105967e-01 -2.26441062e-03 -2.22236341e+01] [-1.32015525e-02 7.24143445e-05 9.99912853e-01 -4.64430677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10420382200002 meters 0.014004212348021183 Centerline is valid? [True, True] Translation: X:165.15, Y:-22.23, Z:-4.64 [[ 9.86298255e-01 1.64449574e-01 1.31182734e-02 1.65154447e+02] [-1.64433749e-01 9.86385487e-01 -2.28330956e-03 -2.22304630e+01] [-1.33151638e-02 9.49373607e-05 9.99911345e-01 -4.64408513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13420382200002 meters 0.017886769618359184 Centerline is valid? [True, True] Translation: X:165.18, Y:-22.24, Z:-4.65 [[ 9.86910457e-01 1.60664122e-01 1.39566977e-02 1.65180206e+02] [-1.60645839e-01 9.87009127e-01 -2.42862850e-03 -2.22419796e+01] [-1.41655815e-02 1.54753437e-04 9.99899651e-01 -4.64600625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16420382200002 meters 0.01819871506639212 Centerline is valid? [True, True] Translation: X:165.21, Y:-22.25, Z:-4.64 [[ 9.87178358e-01 1.58970050e-01 1.44018362e-02 1.65208613e+02] [-1.58950419e-01 9.87283389e-01 -2.50495696e-03 -2.22493423e+01] [-1.46169068e-02 1.83661393e-04 9.99893150e-01 -4.64491273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19420382200002 meters 0.019683418778763066 Centerline is valid? [True, True] Translation: X:165.23, Y:-22.26, Z:-4.65 [[ 9.87381962e-01 1.57750475e-01 1.38437140e-02 1.65234941e+02] [-1.57732221e-01 9.87478987e-01 -2.40753883e-03 -2.22583235e+01] [-1.40501671e-02 1.93560655e-04 9.99901273e-01 -4.64694091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22420382200002 meters 0.01989313964461045 Centerline is valid? [True, True] Translation: X:165.26, Y:-22.27, Z:-4.65 [[ 9.87609775e-01 1.56464063e-01 1.20801391e-02 1.65262586e+02] [-1.56450078e-01 9.87683635e-01 -2.09997277e-03 -2.22680213e+01] [-1.22599260e-02 1.84014929e-04 9.99924827e-01 -4.64864010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254203822 meters 0.021056486495771673 Centerline is valid? [True, True] Translation: X:165.29, Y:-22.28, Z:-4.65 [[ 9.87614464e-01 1.56445758e-01 1.19329477e-02 1.65288978e+02] [-1.56432115e-01 9.87686535e-01 -2.07400262e-03 -2.22755278e+01] [-1.21104807e-02 1.81618745e-04 9.99926649e-01 -4.65158548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284203822 meters 0.021056486495771673 Centerline is valid? [True, True] Translation: X:165.32, Y:-22.28, Z:-4.65 [[ 9.87621785e-01 1.56399521e-01 1.19331105e-02 1.65316899e+02] [-1.56385886e-01 9.87693858e-01 -2.07306505e-03 -2.22802870e+01] [-1.21104863e-02 1.81234137e-04 9.99926649e-01 -4.65238973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314203822 meters 0.021025374363002163 Centerline is valid? [True, True] Translation: X:165.35, Y:-22.29, Z:-4.65 [[ 9.87596311e-01 1.56595835e-01 1.14573236e-02 1.65345136e+02] [-1.56583285e-01 9.87662754e-01 -1.98991046e-03 -2.22855274e+01] [-1.16275835e-02 1.71202860e-04 9.99932383e-01 -4.65401589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344203822 meters 0.01995001387998571 Centerline is valid? [True, True] Translation: X:165.37, Y:-22.29, Z:-4.66 [[ 9.87378477e-01 1.57995516e-01 1.10073040e-02 1.65373256e+02] [-1.57984025e-01 9.87439818e-01 -1.91127370e-03 -2.22914482e+01] [-1.11710230e-02 1.48172320e-04 9.99937591e-01 -4.65532652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.374203822 meters 0.019207624013785778 Centerline is valid? [True, True] Translation: X:165.40, Y:-22.30, Z:-4.66 [[ 9.87183845e-01 1.59209145e-01 1.09774229e-02 1.65400881e+02] [-1.59197795e-01 9.87244868e-01 -1.90576056e-03 -2.22968188e+01] [-1.11408190e-02 1.33754515e-04 9.99937930e-01 -4.65666550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404203822 meters 0.01612710570757791 Centerline is valid? [True, True] Translation: X:165.43, Y:-22.30, Z:-4.66 [[ 9.86615212e-01 1.62640818e-01 1.17638199e-02 1.65429823e+02] [-1.62628039e-01 9.86685337e-01 -2.04126040e-03 -2.23007554e+01] [-1.19391809e-02 1.00811587e-04 9.99928720e-01 -4.65590012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.434203822 meters 0.014659903098412372 Centerline is valid? [True, True] Translation: X:165.46, Y:-22.30, Z:-4.66 [[ 9.86285630e-01 1.64589616e-01 1.22847346e-02 1.65457932e+02] [-1.64575840e-01 9.86362130e-01 -2.13100465e-03 -2.23049446e+01] [-1.24679383e-02 8.00087429e-05 9.99922269e-01 -4.65598313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464203822 meters 0.013730163661859597 Centerline is valid? [True, True] Translation: X:165.49, Y:-22.31, Z:-4.66 [[ 9.85961686e-01 1.66509129e-01 1.24202874e-02 1.65485295e+02] [-1.66495205e-01 9.86039911e-01 -2.15409241e-03 -2.23096072e+01] [-1.26055752e-02 5.59342856e-05 9.99920545e-01 -4.65702695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.494203822 meters 0.012855972361006728 Centerline is valid? [True, True] Translation: X:165.51, Y:-22.31, Z:-4.66 [[ 9.85648026e-01 1.68364325e-01 1.23054359e-02 1.65514000e+02] [-1.68350812e-01 9.85724836e-01 -2.13328311e-03 -2.23139701e+01] [-1.24889425e-02 3.10361703e-05 9.99922010e-01 -4.65670170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524203822 meters 0.012380020045282894 Centerline is valid? [True, True] Translation: X:165.54, Y:-22.31, Z:-4.66 [[ 9.84797408e-01 1.73299808e-01 1.18845214e-02 1.65542795e+02] [-1.73287569e-01 9.84869116e-01 -2.05982743e-03 -2.23147315e+01] [-1.20616658e-02 -3.09271078e-05 9.99927255e-01 -4.65565173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.554203822 meters 0.016832189474604447 Centerline is valid? [True, True] Translation: X:165.57, Y:-22.31, Z:-4.66 [[ 9.83775915e-01 1.79081248e-01 1.07170740e-02 1.65571138e+02] [-1.79071636e-01 9.83834284e-01 -1.85765925e-03 -2.23121445e+01] [-1.08764968e-02 -9.16035408e-05 9.99940845e-01 -4.66171146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584203822 meters 0.019344917428657696 Centerline is valid? [True, True] Translation: X:165.60, Y:-22.31, Z:-4.66 [[ 9.83245104e-01 1.81988635e-01 1.04499566e-02 1.65600243e+02] [-1.81979676e-01 9.83300626e-01 -1.80987835e-03 -2.23133528e+01] [-1.06048262e-02 -1.22125706e-04 9.99943760e-01 -4.66276015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.614203822 meters 0.021219900351758515 Centerline is valid? [True, True] Translation: X:165.63, Y:-22.32, Z:-4.66 [[ 9.82760763e-01 1.84558416e-01 1.09303965e-02 1.65629233e+02] [-1.84548779e-01 9.82821533e-01 -1.89250369e-03 -2.23152936e+01] [-1.10919065e-02 -1.57312956e-04 9.99938471e-01 -4.66200810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644203822 meters 0.025367924102583882 Centerline is valid? [True, True] Translation: X:165.66, Y:-22.32, Z:-4.66 [[ 9.81917945e-01 1.88862938e-01 1.29591430e-02 1.65657229e+02] [-1.88849776e-01 9.82003427e-01 -2.24305300e-03 -2.23152696e+01] [-1.31495524e-02 -2.44837248e-04 9.99913511e-01 -4.65998721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.674203822 meters 0.024483964701722344 Centerline is valid? [True, True] Translation: X:165.68, Y:-22.32, Z:-4.66 [[ 9.81690092e-01 1.90033506e-01 1.31083947e-02 1.65684878e+02] [-1.90020154e-01 9.81777570e-01 -2.26811375e-03 -2.23216651e+01] [-1.33005455e-02 -2.64274379e-04 9.99911509e-01 -4.65846473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.704203822 meters 0.028849103501038764 Centerline is valid? [True, True] Translation: X:165.71, Y:-22.32, Z:-4.66 [[ 9.81598168e-01 1.90508836e-01 1.30927260e-02 1.65712933e+02] [-1.90495569e-01 9.81685444e-01 -2.26456482e-03 -2.23215197e+01] [-1.32843582e-02 -2.71213620e-04 9.99911722e-01 -4.66282751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.734203822 meters 0.02682919306876979 Centerline is valid? [True, True] Translation: X:165.74, Y:-22.33, Z:-4.66 [[ 9.81688633e-01 1.90063961e-01 1.27718211e-02 1.65740553e+02] [-1.90051312e-01 9.81771676e-01 -2.20807463e-03 -2.23302367e+01] [-1.29586876e-02 -2.59659587e-04 9.99915999e-01 -4.66276635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.764203822 meters 0.025402119385881373 Centerline is valid? [True, True] Translation: X:165.77, Y:-22.34, Z:-4.66 [[ 9.81915868e-01 1.88878565e-01 1.28886096e-02 1.65768655e+02] [-1.88865590e-01 9.82000421e-01 -2.22763212e-03 -2.23375420e+01] [-1.30773720e-02 -2.46867525e-04 9.99914457e-01 -4.66313628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79420382200001 meters 0.021249836189055276 Centerline is valid? [True, True] Translation: X:165.80, Y:-22.35, Z:-4.66 [[ 9.82772465e-01 1.84292791e-01 1.39444879e-02 1.65795961e+02] [-1.84277157e-01 9.82871368e-01 -2.40899175e-03 -2.23513540e+01] [-1.41495978e-02 -2.02159828e-04 9.99899869e-01 -4.66349708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82420382200002 meters 0.0173000441686336 Centerline is valid? [True, True] Translation: X:165.82, Y:-22.36, Z:-4.66 [[ 9.83326764e-01 1.81279693e-01 1.43578253e-02 1.65823196e+02] [-1.81262797e-01 9.83431567e-01 -2.48037653e-03 -2.23644131e+01] [-1.45695805e-02 -1.63518943e-04 9.99893845e-01 -4.66191006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85420382200002 meters 0.015213671845784737 Centerline is valid? [True, True] Translation: X:165.85, Y:-22.38, Z:-4.66 [[ 9.83921031e-01 1.78032655e-01 1.42751147e-02 1.65849376e+02] [-1.78015619e-01 9.84024573e-01 -2.46555160e-03 -2.23753156e+01] [-1.44860123e-02 -1.15285312e-04 9.99895066e-01 -4.66341167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88420382200002 meters 0.012045938638600654 Centerline is valid? [True, True] Translation: X:165.88, Y:-22.39, Z:-4.66 [[ 9.85037862e-01 1.71736722e-01 1.43843240e-02 1.65875075e+02] [-1.71718768e-01 9.85142882e-01 -2.48333395e-03 -2.23930021e+01] [-1.45970940e-02 -2.38804359e-05 9.99893456e-01 -4.66357609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91420382200002 meters 0.012046961295823472 Centerline is valid? [True, True] Translation: X:165.90, Y:-22.40, Z:-4.66 [[ 9.85520219e-01 1.68944580e-01 1.44092892e-02 1.65901097e+02] [-1.68926273e-01 9.85625552e-01 -2.48709215e-03 -2.24033046e+01] [-1.46223444e-02 1.69720762e-05 9.99893088e-01 -4.66384237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94420382200002 meters 0.012120574794735687 Centerline is valid? [True, True] Translation: X:165.93, Y:-22.41, Z:-4.66 [[ 9.85869110e-01 1.66917003e-01 1.41707869e-02 1.65929734e+02] [-1.66899107e-01 9.85970949e-01 -2.44462578e-03 -2.24129865e+01] [-1.43800338e-02 4.49893561e-05 9.99896601e-01 -4.66307913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97420382200002 meters 0.013505910722817248 Centerline is valid? [True, True] Translation: X:165.96, Y:-22.43, Z:-4.67 [[ 9.86227788e-01 1.64939692e-01 1.22330669e-02 1.65957917e+02] [-1.64926206e-01 9.86303652e-01 -2.11013608e-03 -2.24253611e+01] [-1.24135637e-02 6.35215317e-05 9.99922947e-01 -4.66687428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004203822 meters 0.014036333257814866 Centerline is valid? [True, True] Translation: X:165.99, Y:-22.43, Z:-4.67 [[ 9.86127900e-01 1.65560914e-01 1.18890313e-02 1.65985908e+02] [-1.65548222e-01 9.86199564e-01 -2.05071095e-03 -2.24316740e+01] [-1.20644750e-02 5.40552952e-05 9.99927220e-01 -4.67046658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034203822 meters 0.01325962452097459 Centerline is valid? [True, True] Translation: X:166.01, Y:-22.43, Z:-4.67 [[ 9.85697310e-01 1.68100586e-01 1.19585073e-02 1.66013125e+02] [-1.68087933e-01 9.85769848e-01 -2.06260163e-03 -2.24348565e+01] [-1.21350605e-02 2.30200978e-05 9.99926367e-01 -4.67126296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064203822 meters 0.012508634837003823 Centerline is valid? [True, True] Translation: X:166.04, Y:-22.44, Z:-4.67 [[ 9.85466847e-01 1.69427397e-01 1.22250155e-02 1.66041791e+02] [-1.69414287e-01 9.85542671e-01 -2.10763968e-03 -2.24390613e+01] [-1.24053664e-02 5.91674170e-06 9.99923050e-01 -4.66971354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.094203822 meters 0.012850053315742863 Centerline is valid? [True, True] Translation: X:166.07, Y:-22.44, Z:-4.67 [[ 9.85277776e-01 1.70516399e-01 1.23232314e-02 1.66069449e+02] [-1.70503169e-01 9.85354838e-01 -2.12413676e-03 -2.24430697e+01] [-1.25049559e-02 -8.28525787e-06 9.99921810e-01 -4.67135846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124203822 meters 0.012455755682671583 Centerline is valid? [True, True] Translation: X:166.10, Y:-22.45, Z:-4.67 [[ 9.85010684e-01 1.72015253e-01 1.28337089e-02 1.66098508e+02] [-1.72001045e-01 9.85094286e-01 -2.21108092e-03 -2.24463389e+01] [-1.30227529e-02 -2.94730104e-05 9.99915200e-01 -4.66953184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.154203822 meters 0.012942026542650658 Centerline is valid? [True, True] Translation: X:166.13, Y:-22.45, Z:-4.67 [[ 9.84992551e-01 1.72120253e-01 1.28176753e-02 1.66125674e+02] [-1.72106095e-01 9.85075945e-01 -2.20785974e-03 -2.24520057e+01] [-1.30064010e-02 -3.12746462e-05 9.99915413e-01 -4.67206034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184203822 meters 0.013041867048177416 Centerline is valid? [True, True] Translation: X:166.15, Y:-22.46, Z:-4.67 [[ 9.85052552e-01 1.71795622e-01 1.25591951e-02 1.66153688e+02] [-1.71782015e-01 9.85132612e-01 -2.16236425e-03 -2.24593869e+01] [-1.27439573e-02 -2.74014118e-05 9.99918792e-01 -4.67331990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.214203822 meters 0.012855046028332148 Centerline is valid? [True, True] Translation: X:166.18, Y:-22.47, Z:-4.67 [[ 9.85197378e-01 1.71019305e-01 1.17696447e-02 1.66182384e+02] [-1.71007310e-01 9.85267678e-01 -2.02555678e-03 -2.24686860e+01] [-1.19426598e-02 -1.71220381e-05 9.99928684e-01 -4.67396934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244203822 meters 0.013265812392320648 Centerline is valid? [True, True] Translation: X:166.21, Y:-22.48, Z:-4.68 [[ 9.85248407e-01 1.70745690e-01 1.14666830e-02 1.66210325e+02] [-1.70734290e-01 9.85315132e-01 -1.97316217e-03 -2.24752893e+01] [-1.16352053e-02 -1.37011024e-05 9.99932309e-01 -4.67649300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.274203822 meters 0.01263304748105629 Centerline is valid? [True, True] Translation: X:166.24, Y:-22.48, Z:-4.67 [[ 9.85282365e-01 1.70530201e-01 1.17521099e-02 1.66239160e+02] [-1.70518214e-01 9.85352450e-01 -2.02195132e-03 -2.24839421e+01] [-1.19247740e-02 -1.17558088e-05 9.99928897e-01 -4.67499889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304203822 meters 0.013566784125606747 Centerline is valid? [True, True] Translation: X:166.27, Y:-22.49, Z:-4.68 [[ 9.85275290e-01 1.70540723e-01 1.21846222e-02 1.66266908e+02] [-1.70527840e-01 9.85350629e-01 -2.09622818e-03 -2.24890487e+01] [-1.23636174e-02 -1.24554804e-05 9.99923567e-01 -4.67875184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.334203822 meters 0.012596528643405975 Centerline is valid? [True, True] Translation: X:166.30, Y:-22.49, Z:-4.68 [[ 9.85229768e-01 1.70809090e-01 1.21061580e-02 1.66296500e+02] [-1.70796400e-01 9.85304143e-01 -2.08208164e-03 -2.24943794e+01] [-1.22838861e-02 -1.63594000e-05 9.99924550e-01 -4.67568676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364203822 meters 0.013162969523172708 Centerline is valid? [True, True] Translation: X:166.33, Y:-22.50, Z:-4.68 [[ 9.85122003e-01 1.71438218e-01 1.19823346e-02 1.66325152e+02] [-1.71425835e-01 9.85194872e-01 -2.06069117e-03 -2.24990826e+01] [-1.21582159e-02 -2.40495012e-05 9.99926086e-01 -4.67804205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.394203822 meters 0.01426518556684548 Centerline is valid? [True, True] Translation: X:166.35, Y:-22.50, Z:-4.68 [[ 9.84747203e-01 1.73598380e-01 1.16853724e-02 1.66352955e+02] [-1.73586753e-01 9.84816531e-01 -2.00968824e-03 -2.25029988e+01] [-1.18568265e-02 -4.93909813e-05 9.99929704e-01 -4.67964681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424203822 meters 0.014670880787357564 Centerline is valid? [True, True] Translation: X:166.38, Y:-22.51, Z:-4.68 [[ 9.84470369e-01 1.75173866e-01 1.14981956e-02 1.66382044e+02] [-1.75162729e-01 9.84537512e-01 -1.97646628e-03 -2.25057992e+01] [-1.16666301e-02 -6.82828272e-05 9.99931940e-01 -4.67934288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.454203822 meters 0.01693704126667273 Centerline is valid? [True, True] Translation: X:166.41, Y:-22.51, Z:-4.68 [[ 9.84186662e-01 1.76779758e-01 1.12041174e-02 1.66409834e+02] [-1.76769291e-01 9.84250430e-01 -1.92560003e-03 -2.25056915e+01] [-1.13680645e-02 -8.53940237e-05 9.99935378e-01 -4.68335959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.484203822 meters 0.017849428195373062 Centerline is valid? [True, True] Translation: X:166.44, Y:-22.51, Z:-4.68 [[ 9.83824064e-01 1.78832150e-01 1.04534255e-02 1.66438543e+02] [-1.78823162e-01 9.83879592e-01 -1.79583773e-03 -2.25085954e+01] [-1.06060656e-02 -1.02526231e-04 9.99943749e-01 -4.68430635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.514203822 meters 0.01726486614660781 Centerline is valid? [True, True] Translation: X:166.47, Y:-22.51, Z:-4.68 [[ 9.83776913e-01 1.79129377e-01 9.78018470e-03 1.66466375e+02] [-1.79121528e-01 9.83825521e-01 -1.67983443e-03 -2.25146372e+01] [-9.92290301e-03 -9.92592907e-05 9.99950762e-01 -4.68411656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54420382200001 meters 0.01859546421947149 Centerline is valid? [True, True] Translation: X:166.49, Y:-22.52, Z:-4.69 [[ 9.83819516e-01 1.78938626e-01 8.95138970e-03 1.66493972e+02] [-1.78932044e-01 9.83860234e-01 -1.53738335e-03 -2.25173460e+01] [-9.08201363e-03 -8.91827081e-05 9.99958754e-01 -4.68855175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57420382200002 meters 0.01682545928872386 Centerline is valid? [True, True] Translation: X:166.52, Y:-22.52, Z:-4.69 [[ 9.83907786e-01 1.78451888e-01 8.96615041e-03 1.66521967e+02] [-1.78445271e-01 9.83948635e-01 -1.53912919e-03 -2.25239343e+01] [-9.09689197e-03 -8.56059375e-05 9.99958619e-01 -4.68669922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60420382200002 meters 0.024407468301728366 Centerline is valid? [True, True] Translation: X:166.55, Y:-22.53, Z:-4.69 [[ 9.84048853e-01 1.77634733e-01 9.68281711e-03 1.66548987e+02] [-1.77626980e-01 9.84096486e-01 -1.66180988e-03 -2.25284909e+01] [-9.82402145e-03 -8.46274503e-05 9.99951740e-01 -4.68984073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63420382200002 meters 0.015289789428168771 Centerline is valid? [True, True] Translation: X:166.58, Y:-22.54, Z:-4.69 [[ 9.84437890e-01 1.75432720e-01 1.02665187e-02 1.66576576e+02] [-1.75423895e-01 9.84491420e-01 -1.76092512e-03 -2.25380404e+01] [-1.04162235e-02 -6.74712899e-05 9.99945747e-01 -4.68750080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66420382200002 meters 0.014626949859261357 Centerline is valid? [True, True] Translation: X:166.60, Y:-22.54, Z:-4.69 [[ 9.84646031e-01 1.74271956e-01 1.00736567e-02 1.66604549e+02] [-1.74263403e-01 9.84697559e-01 -1.72737632e-03 -2.25448388e+01] [-1.02205384e-02 -5.46154623e-05 9.99947767e-01 -4.68839114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69420382200002 meters 0.014854128952007847 Centerline is valid? [True, True] Translation: X:166.63, Y:-22.55, Z:-4.69 [[ 9.84832695e-01 1.73238913e-01 9.63544599e-03 1.66632682e+02] [-1.73231046e-01 9.84879829e-01 -1.65157859e-03 -2.25516210e+01] [-9.77587408e-03 -4.26297886e-05 9.99952214e-01 -4.69171752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72420382200002 meters 0.014128475734971118 Centerline is valid? [True, True] Translation: X:166.66, Y:-22.56, Z:-4.69 [[ 9.85157257e-01 1.71356625e-01 1.01037379e-02 1.66661347e+02] [-1.71347881e-01 9.85209067e-01 -1.73118544e-03 -2.25616915e+01] [-1.02509443e-02 -2.57641781e-05 9.99947457e-01 -4.69204494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754203822 meters 0.013228435197919034 Centerline is valid? [True, True] Translation: X:166.69, Y:-22.57, Z:-4.69 [[ 9.85223147e-01 1.70941289e-01 1.06970729e-02 1.66690674e+02] [-1.70931467e-01 9.85281216e-01 -1.83256220e-03 -2.25670666e+01] [-1.08528855e-02 -2.29836625e-05 9.99941105e-01 -4.68965866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784203822 meters 0.013448015005576523 Centerline is valid? [True, True] Translation: X:166.72, Y:-22.57, Z:-4.69 [[ 9.85286865e-01 1.70605131e-01 1.01825097e-02 1.66720450e+02] [-1.70596216e-01 9.85339479e-01 -1.74418785e-03 -2.25706097e+01] [-1.03307962e-02 -1.85722455e-05 9.99946636e-01 -4.69111222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814203822 meters 0.014186494214483298 Centerline is valid? [True, True] Translation: X:166.75, Y:-22.58, Z:-4.69 [[ 9.85268830e-01 1.70715565e-01 1.00761152e-02 1.66748545e+02] [-1.70706841e-01 9.85320352e-01 -1.72593890e-03 -2.25756359e+01] [-1.02228460e-02 -1.95479905e-05 9.99947745e-01 -4.69469305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844203822 meters 0.02617709686255818 Centerline is valid? [True, True] Translation: X:166.78, Y:-22.58, Z:-4.69 [[ 9.85195331e-01 1.71147428e-01 9.93565255e-03 1.66778109e+02] [-1.71138973e-01 9.85245430e-01 -1.70129336e-03 -2.25815611e+01] [-1.00802283e-02 -2.42710971e-05 9.99949193e-01 -4.69354842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.874203822 meters 0.014089353838761988 Centerline is valid? [True, True] Translation: X:166.81, Y:-22.59, Z:-4.69 [[ 9.85051241e-01 1.71934238e-01 1.06146602e-02 1.66805989e+02] [-1.71924636e-01 9.85108429e-01 -1.81746188e-03 -2.25865887e+01] [-1.07690752e-02 -3.46285130e-05 9.99942011e-01 -4.69347540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904203822 meters 0.014288451047486056 Centerline is valid? [True, True] Translation: X:166.84, Y:-22.59, Z:-4.69 [[ 9.85014799e-01 1.72145106e-01 1.05786733e-02 1.66835561e+02] [-1.72135587e-01 9.85071602e-01 -1.81068441e-03 -2.25916546e+01] [-1.07324511e-02 -3.74151997e-05 9.99942405e-01 -4.69455523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.934203822 meters 0.014308471083911018 Centerline is valid? [True, True] Translation: X:166.86, Y:-22.60, Z:-4.70 [[ 9.85183666e-01 1.71203700e-01 1.01211026e-02 1.66864234e+02] [-1.71194939e-01 9.85235653e-01 -1.73214867e-03 -2.26008493e+01] [-1.02682214e-02 -2.61969708e-05 9.99947280e-01 -4.69693793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964203822 meters 0.014022139158607401 Centerline is valid? [True, True] Translation: X:166.89, Y:-22.61, Z:-4.70 [[ 9.85317024e-01 1.70450580e-01 9.84692815e-03 1.66893254e+02] [-1.70442252e-01 9.85366226e-01 -1.68501221e-03 -2.26084307e+01] [-9.99004174e-03 -1.80614018e-05 9.99950098e-01 -4.69742895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.994203822 meters 0.01334469803667785 Centerline is valid? [True, True] Translation: X:166.92, Y:-22.62, Z:-4.70 [[ 9.85431839e-01 1.69754961e-01 1.03606601e-02 1.66921827e+02] [-1.69745706e-01 9.85486303e-01 -1.77264415e-03 -2.26151086e+01] [-1.05112038e-02 -1.18575845e-05 9.99944756e-01 -4.69606213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024203822 meters 0.013189827440917658 Centerline is valid? [True, True] Translation: X:166.95, Y:-22.62, Z:-4.70 [[ 9.85666335e-01 1.68296973e-01 1.17475791e-02 1.66949769e+02] [-1.68284978e-01 9.85736338e-01 -2.00934326e-03 -2.26249502e+01] [-1.19181820e-02 3.60091075e-06 9.99928976e-01 -4.69640186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.054203822 meters 0.02116237567431355 Centerline is valid? [True, True] Translation: X:166.98, Y:-22.63, Z:-4.70 [[ 9.85794280e-01 1.67574301e-01 1.13354295e-02 1.66979407e+02] [-1.67563089e-01 9.85859449e-01 -1.93851045e-03 -2.26337117e+01] [-1.14999849e-02 1.15729236e-05 9.99933873e-01 -4.69761057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084203822 meters 0.012981369772241477 Centerline is valid? [True, True] Translation: X:167.01, Y:-22.64, Z:-4.70 [[ 9.85820546e-01 1.67414995e-01 1.14048842e-02 1.67009575e+02] [-1.67403639e-01 9.85886514e-01 -1.94997016e-03 -2.26424153e+01] [-1.15703758e-02 1.31015286e-05 9.99933061e-01 -4.69613722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.114203822 meters 0.01298326695439856 Centerline is valid? [True, True] Translation: X:167.04, Y:-22.65, Z:-4.70 [[ 9.85699845e-01 1.68059857e-01 1.23166280e-02 1.67039180e+02] [-1.68046656e-01 9.85776792e-01 -2.10642319e-03 -2.26518870e+01] [-1.24954512e-02 6.53286996e-06 9.99921929e-01 -4.69635549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144203822 meters 0.0135430933027609 Centerline is valid? [True, True] Translation: X:167.07, Y:-22.66, Z:-4.70 [[ 9.85523392e-01 1.69074685e-01 1.25457036e-02 1.67068601e+02] [-1.69061068e-01 9.85603242e-01 -2.14577072e-03 -2.26577412e+01] [-1.27278817e-02 -6.28281681e-06 9.99918997e-01 -4.69898339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.174203822 meters 0.012575691456113836 Centerline is valid? [True, True] Translation: X:167.10, Y:-22.66, Z:-4.69 [[ 9.85054727e-01 1.71697228e-01 1.36838309e-02 1.67099418e+02] [-1.71681282e-01 9.85149765e-01 -2.34044751e-03 -2.26626967e+01] [-1.38824711e-02 -4.37887402e-05 9.99903633e-01 -4.69412935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.204203822 meters 0.012575691456113836 Centerline is valid? [True, True] Translation: X:167.13, Y:-22.67, Z:-4.70 [[ 9.85025922e-01 1.71862378e-01 1.36841263e-02 1.67130601e+02] [-1.71846471e-01 9.85120968e-01 -2.33872188e-03 -2.26681842e+01] [-1.38824581e-02 -4.78671370e-05 9.99903633e-01 -4.69502841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.234203822 meters 0.013131024996857985 Centerline is valid? [True, True] Translation: X:167.16, Y:-22.67, Z:-4.70 [[ 9.84778646e-01 1.73241322e-01 1.40876985e-02 1.67161437e+02] [-1.73224565e-01 9.84879404e-01 -2.41045310e-03 -2.26723710e+01] [-1.42922742e-02 -6.65727169e-05 9.99897858e-01 -4.69592658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.264203822 meters 0.013290015847075015 Centerline is valid? [True, True] Translation: X:167.19, Y:-22.68, Z:-4.70 [[ 9.84590061e-01 1.74315424e-01 1.40194618e-02 1.67192653e+02] [-1.74298880e-01 9.84689863e-01 -2.40287131e-03 -2.26769977e+01] [-1.42236795e-02 -7.77332804e-05 9.99898835e-01 -4.69603929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29420382200001 meters 0.014836866218047497 Centerline is valid? [True, True] Translation: X:167.22, Y:-22.68, Z:-4.70 [[ 9.84241276e-01 1.76328264e-01 1.33212046e-02 1.67222521e+02] [-1.76313505e-01 9.84331414e-01 -2.28367288e-03 -2.26819208e+01] [-1.35151562e-02 -1.01023153e-04 9.99908661e-01 -4.69885848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32420382200002 meters 0.01569418521757591 Centerline is valid? [True, True] Translation: X:167.25, Y:-22.69, Z:-4.70 [[ 9.84061629e-01 1.77337145e-01 1.32002794e-02 1.67252107e+02] [-1.77322748e-01 9.84150153e-01 -2.26246853e-03 -2.26883895e+01] [-1.33922767e-02 -1.14301353e-04 9.99910313e-01 -4.70105967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35420382200002 meters 0.017246627794405795 Centerline is valid? [True, True] Translation: X:167.28, Y:-22.70, Z:-4.70 [[ 9.83808202e-01 1.78775186e-01 1.26828341e-02 1.67281198e+02] [-1.78761999e-01 9.83889941e-01 -2.17508277e-03 -2.26971205e+01] [-1.28673637e-02 -1.27344510e-04 9.99917204e-01 -4.70332249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38420382200002 meters 0.01741006500540569 Centerline is valid? [True, True] Translation: X:167.31, Y:-22.70, Z:-4.70 [[ 9.83690095e-01 1.79434496e-01 1.25323319e-02 1.67310724e+02] [-1.79421670e-01 9.83769914e-01 -2.14960540e-03 -2.27032355e+01] [-1.27146444e-02 -1.34026374e-04 9.99919157e-01 -4.70342974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41420382200002 meters 0.018043174480653828 Centerline is valid? [True, True] Translation: X:167.34, Y:-22.71, Z:-4.70 [[ 9.83491793e-01 1.80529053e-01 1.23755798e-02 1.67341263e+02] [-1.80516632e-01 9.83569641e-01 -2.12271854e-03 -2.27082752e+01] [-1.25554570e-02 -1.46321736e-04 9.99921166e-01 -4.70344096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44420382200002 meters 0.019609690496513798 Centerline is valid? [True, True] Translation: X:167.37, Y:-22.71, Z:-4.70 [[ 9.83279226e-01 1.81658207e-01 1.27380718e-02 1.67370376e+02] [-1.81645145e-01 9.83361718e-01 -2.18473807e-03 -2.27111137e+01] [-1.29230077e-02 -1.65601328e-04 9.99916481e-01 -4.70474335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47420382200002 meters 0.02174410775010927 Centerline is valid? [True, True] Translation: X:167.40, Y:-22.71, Z:-4.70 [[ 9.82755504e-01 1.84468148e-01 1.27718957e-02 1.67400881e+02] [-1.84455247e-01 9.82838472e-01 -2.19101279e-03 -2.27106961e+01] [-1.29568825e-02 -2.02613302e-04 9.99916036e-01 -4.70463043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504203822 meters 0.023175670969390973 Centerline is valid? [True, True] Translation: X:167.43, Y:-22.71, Z:-4.71 [[ 9.82458378e-01 1.86012482e-01 1.32246558e-02 1.67430773e+02] [-1.85998790e-01 9.82547354e-01 -2.26869032e-03 -2.27124697e+01] [-1.34158553e-02 -2.30876168e-04 9.99909977e-01 -4.70527656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534203822 meters 0.026521770701003547 Centerline is valid? [True, True] Translation: X:167.46, Y:-22.71, Z:-4.70 [[ 9.81873620e-01 1.88986640e-01 1.44306748e-02 1.67460198e+02] [-1.88970661e-01 9.81979614e-01 -2.47533019e-03 -2.27127430e+01] [-1.46384328e-02 -2.96512751e-04 9.99892808e-01 -4.70462354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564203822 meters 0.028250835379549418 Centerline is valid? [True, True] Translation: X:167.49, Y:-22.71, Z:-4.71 [[ 9.81650525e-01 1.90136116e-01 1.45087599e-02 1.67489137e+02] [-1.90120097e-01 9.81757688e-01 -2.48818480e-03 -2.27148170e+01] [-1.47171804e-02 -3.15878932e-04 9.99891647e-01 -4.70572803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.594203822 meters 0.029261636231264026 Centerline is valid? [True, True] Translation: X:167.52, Y:-22.72, Z:-4.71 [[ 9.81510421e-01 1.90877779e-01 1.42466845e-02 1.67518277e+02] [-1.90862416e-01 9.81613758e-01 -2.44291030e-03 -2.27168495e+01] [-1.44510388e-02 -3.21414701e-04 9.99895527e-01 -4.70727288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624203822 meters 0.028891656987251463 Centerline is valid? [True, True] Translation: X:167.55, Y:-22.72, Z:-4.71 [[ 9.81667915e-01 1.90085554e-01 1.39852592e-02 1.67546685e+02] [-1.90070677e-01 9.81767482e-01 -2.39760969e-03 -2.27180233e+01] [-1.41860237e-02 -3.04531179e-04 9.99899327e-01 -4.70976136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.654203822 meters 0.024907742045086435 Centerline is valid? [True, True] Translation: X:167.58, Y:-22.73, Z:-4.71 [[ 9.81936586e-01 1.88742307e-01 1.32996939e-02 1.67575128e+02] [-1.88728745e-01 9.82026612e-01 -2.27888545e-03 -2.27263705e+01] [-1.34907755e-02 -2.72313555e-04 9.99908958e-01 -4.70909597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684203822 meters 0.02134912770688057 Centerline is valid? [True, True] Translation: X:167.60, Y:-22.73, Z:-4.71 [[ 9.82744145e-01 1.84531070e-01 1.27369260e-02 1.67604046e+02] [-1.84518282e-01 9.82826659e-01 -2.18216792e-03 -2.27331670e+01] [-1.29208682e-02 -2.05682954e-04 9.99916501e-01 -4.71159448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.714203822 meters 0.021077435411717207 Centerline is valid? [True, True] Translation: X:167.63, Y:-22.74, Z:-4.72 [[ 9.83224039e-01 1.81937726e-01 1.30059174e-02 1.67633126e+02] [-1.81924178e-01 9.83310039e-01 -2.22719231e-03 -2.27382031e+01] [-1.31940595e-02 -1.76261822e-04 9.99912939e-01 -4.71527234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744203822 meters 0.017469537154685834 Centerline is valid? [True, True] Translation: X:167.66, Y:-22.75, Z:-4.71 [[ 9.83684633e-01 1.79409953e-01 1.32895415e-02 1.67661997e+02] [-1.79395567e-01 9.83774389e-01 -2.27661061e-03 -2.27484525e+01] [-1.34823572e-02 -1.44617967e-04 9.99909098e-01 -4.71348105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.774203822 meters 0.015129655356611349 Centerline is valid? [True, True] Translation: X:167.69, Y:-22.76, Z:-4.72 [[ 9.84329737e-01 1.75852483e-01 1.30718152e-02 1.67690699e+02] [-1.75838256e-01 9.84416525e-01 -2.23879860e-03 -2.27580865e+01] [-1.32618092e-02 -9.48091513e-05 9.99912054e-01 -4.71525831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804203822 meters 0.014400398975049867 Centerline is valid? [True, True] Translation: X:167.72, Y:-22.76, Z:-4.72 [[ 9.84505002e-01 1.74877807e-01 1.29481188e-02 1.67720453e+02] [-1.74863760e-01 9.84590141e-01 -2.21794860e-03 -2.27635496e+01] [-1.31364601e-02 -8.05752491e-05 9.99913710e-01 -4.71589171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.834203822 meters 0.014576223403456092 Centerline is valid? [True, True] Translation: X:167.75, Y:-22.77, Z:-4.72 [[ 9.84591390e-01 1.74376903e-01 1.31335607e-02 1.67749387e+02] [-1.74362404e-01 9.84678978e-01 -2.24989307e-03 -2.27667211e+01] [-1.33246705e-02 -7.47738542e-05 9.99911220e-01 -4.71748945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864203822 meters 0.014019829510848786 Centerline is valid? [True, True] Translation: X:167.78, Y:-22.77, Z:-4.72 [[ 9.84413522e-01 1.75359500e-01 1.33814423e-02 1.67780262e+02] [-1.75344544e-01 9.84504463e-01 -2.29201315e-03 -2.27675912e+01] [-1.35760159e-02 -9.00741509e-05 9.99907838e-01 -4.71505296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.894203822 meters 0.01539926475867148 Centerline is valid? [True, True] Translation: X:167.81, Y:-22.77, Z:-4.72 [[ 9.84234365e-01 1.76369823e-01 1.32815635e-02 1.67809986e+02] [-1.76355183e-01 9.84323969e-01 -2.27475201e-03 -2.27684442e+01] [-1.34745589e-02 -1.03383452e-04 9.99909209e-01 -4.71815084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924203822 meters 0.015440832403502441 Centerline is valid? [True, True] Translation: X:167.84, Y:-22.77, Z:-4.72 [[ 9.84067352e-01 1.77329134e-01 1.28772704e-02 1.67840000e+02] [-1.77315448e-01 9.84151597e-01 -2.20597994e-03 -2.27712374e+01] [-1.30643707e-02 -1.12506125e-04 9.99914651e-01 -4.71780983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.954203822 meters 0.017162816466295035 Centerline is valid? [True, True] Translation: X:167.87, Y:-22.77, Z:-4.72 [[ 9.83669361e-01 1.79607489e-01 1.16506438e-02 1.67870198e+02] [-1.79596445e-01 9.83738346e-01 -1.99594532e-03 -2.27709306e+01] [-1.18196718e-02 -1.29063955e-04 9.99930137e-01 -4.72011204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.984203822 meters 0.019354899533685625 Centerline is valid? [True, True] Translation: X:167.90, Y:-22.77, Z:-4.72 [[ 9.83493440e-01 1.80602341e-01 1.11106734e-02 1.67899127e+02] [-1.80592361e-01 9.83556189e-01 -1.90340128e-03 -2.27711984e+01] [-1.12717303e-02 -1.34520063e-04 9.99936463e-01 -4.72374154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.014203822 meters 0.02028385617524534 Centerline is valid? [True, True] Translation: X:167.93, Y:-22.77, Z:-4.72 [[ 9.83239147e-01 1.81969494e-01 1.13085687e-02 1.67928794e+02] [-1.81959248e-01 9.83304164e-01 -1.93704167e-03 -2.27686078e+01] [-1.14722451e-02 -1.53123457e-04 9.99934180e-01 -4.72413959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04420382200001 meters 0.020754813468900225 Centerline is valid? [True, True] Translation: X:167.96, Y:-22.77, Z:-4.73 [[ 9.83190931e-01 1.82220077e-01 1.14646243e-02 1.67956346e+02] [-1.82209568e-01 9.83257758e-01 -1.96339099e-03 -2.27697636e+01] [-1.16304500e-02 -1.58576019e-04 9.99932351e-01 -4.72511656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07420382200002 meters 0.020237963327471863 Centerline is valid? [True, True] Translation: X:167.99, Y:-22.77, Z:-4.72 [[ 9.83225273e-01 1.81990082e-01 1.21520600e-02 1.67985240e+02] [-1.81978270e-01 9.83300352e-01 -2.08009490e-03 -2.27707705e+01] [-1.23276815e-02 -1.66208987e-04 9.99923997e-01 -4.72444427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10420382200002 meters 0.01920888333129203 Centerline is valid? [True, True] Translation: X:168.01, Y:-22.77, Z:-4.72 [[ 9.83290448e-01 1.81631270e-01 1.22464886e-02 1.68014187e+02] [-1.81619253e-01 9.83366694e-01 -2.09567252e-03 -2.27749554e+01] [-1.24234287e-02 -1.63543340e-04 9.99922813e-01 -4.72396970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13420382200002 meters 0.018799422465748016 Centerline is valid? [True, True] Translation: X:168.04, Y:-22.78, Z:-4.73 [[ 9.83395883e-01 1.81082614e-01 1.19005922e-02 1.68042721e+02] [-1.81071233e-01 9.83467876e-01 -2.03593214e-03 -2.27791123e+01] [-1.20725221e-02 -1.52727622e-04 9.99927113e-01 -4.72564826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16420382200002 meters 0.019280029944869333 Centerline is valid? [True, True] Translation: X:168.07, Y:-22.78, Z:-4.73 [[ 9.83576522e-01 1.80142799e-01 1.12159158e-02 1.68070295e+02] [-1.80132632e-01 9.83640460e-01 -1.91852589e-03 -2.27828744e+01] [-1.13780372e-02 -1.33335407e-04 9.99935259e-01 -4.72963975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19420382200002 meters 0.017823047829420235 Centerline is valid? [True, True] Translation: X:168.10, Y:-22.79, Z:-4.73 [[ 9.83912836e-01 1.78304435e-01 1.10932144e-02 1.68098649e+02] [-1.78294383e-01 9.83975363e-01 -1.89662173e-03 -2.27879765e+01] [-1.12536257e-02 -1.11747342e-04 9.99936670e-01 -4.73062803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22420382200002 meters 0.016959444653930948 Centerline is valid? [True, True] Translation: X:168.13, Y:-22.79, Z:-4.73 [[ 9.84059165e-01 1.77481345e-01 1.13106731e-02 1.68126862e+02] [-1.77470847e-01 9.84124159e-01 -1.93323786e-03 -2.27917298e+01] [-1.14742203e-02 -1.04894304e-04 9.99934163e-01 -4.73021876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254203822 meters 0.015310898615439777 Centerline is valid? [True, True] Translation: X:168.15, Y:-22.80, Z:-4.73 [[ 9.84356596e-01 1.75794172e-01 1.17686514e-02 1.68154944e+02] [-1.75782693e-01 9.84426940e-01 -2.01090421e-03 -2.27964118e+01] [-1.19388827e-02 -8.92784143e-05 9.99928725e-01 -4.72949160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284203822 meters 0.014531298699794663 Centerline is valid? [True, True] Translation: X:168.18, Y:-22.80, Z:-4.73 [[ 9.84495004e-01 1.75005662e-01 1.19417680e-02 1.68183712e+02] [-1.74993795e-01 9.84567424e-01 -2.03967926e-03 -2.28022477e+01] [-1.21144312e-02 -8.16812669e-05 9.99926614e-01 -4.72884214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314203822 meters 0.015417501870962141 Centerline is valid? [True, True] Translation: X:168.21, Y:-22.81, Z:-4.73 [[ 9.84590830e-01 1.74474009e-01 1.18202101e-02 1.68211468e+02] [-1.74462344e-01 9.84661777e-01 -2.01888274e-03 -2.28057014e+01] [-1.19911516e-02 -7.44081272e-05 9.99928101e-01 -4.73259377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344203822 meters 0.014456829706014062 Centerline is valid? [True, True] Translation: X:168.24, Y:-22.81, Z:-4.73 [[ 9.84740535e-01 1.73602299e-01 1.21786633e-02 1.68239642e+02] [-1.73589862e-01 9.84815839e-01 -2.07906205e-03 -2.28104935e+01] [-1.23546705e-02 -6.67558031e-05 9.99923676e-01 -4.73267885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.374203822 meters 0.014445247906948 Centerline is valid? [True, True] Translation: X:168.27, Y:-22.82, Z:-4.73 [[ 9.84774655e-01 1.73363224e-01 1.28090700e-02 1.68267402e+02] [-1.73349452e-01 9.84857953e-01 -2.18616351e-03 -2.28152136e+01] [-1.29941148e-02 -6.75668570e-05 9.99915571e-01 -4.73371379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404203822 meters 0.014122411106688135 Centerline is valid? [True, True] Translation: X:168.30, Y:-22.82, Z:-4.73 [[ 9.84759097e-01 1.73446585e-01 1.28764532e-02 1.68296051e+02] [-1.73432688e-01 9.84843275e-01 -2.19668616e-03 -2.28206066e+01] [-1.30622960e-02 -6.99912092e-05 9.99914682e-01 -4.73316986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.434203822 meters 0.014148007189479665 Centerline is valid? [True, True] Translation: X:168.32, Y:-22.82, Z:-4.73 [[ 9.84791285e-01 1.73249803e-01 1.30625562e-02 1.68323976e+02] [-1.73235490e-01 9.84877912e-01 -2.22795662e-03 -2.28247944e+01] [-1.32510161e-02 -6.88260583e-05 9.99912199e-01 -4.73424493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464203822 meters 0.013956508315575145 Centerline is valid? [True, True] Translation: X:168.35, Y:-22.83, Z:-4.73 [[ 9.84849537e-01 1.72904860e-01 1.32400369e-02 1.68352125e+02] [-1.72890139e-01 9.84938529e-01 -2.25722371e-03 -2.28291734e+01] [-1.34309074e-02 -6.60460862e-05 9.99909799e-01 -4.73492642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.494203822 meters 0.01374645825164686 Centerline is valid? [True, True] Translation: X:168.38, Y:-22.83, Z:-4.74 [[ 9.84956234e-01 1.72287418e-01 1.33514726e-02 1.68379427e+02] [-1.72272397e-01 9.85046721e-01 -2.27573985e-03 -2.28342258e+01] [-1.35439057e-02 -5.85860460e-05 9.99908275e-01 -4.73596152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524203822 meters 0.013226271028474724 Centerline is valid? [True, True] Translation: X:168.41, Y:-22.84, Z:-4.74 [[ 9.85278223e-01 1.70444830e-01 1.32432331e-02 1.68406210e+02] [-1.70429895e-01 9.85367220e-01 -2.25649748e-03 -2.28426444e+01] [-1.34340562e-02 -3.37650103e-05 9.99909758e-01 -4.73679275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.554203822 meters 0.012792760365801289 Centerline is valid? [True, True] Translation: X:168.43, Y:-22.85, Z:-4.74 [[ 9.85435837e-01 1.69494563e-01 1.37041839e-02 1.68434588e+02] [-1.69478494e-01 9.85531122e-01 -2.33399326e-03 -2.28497805e+01] [-1.39014989e-02 -2.25638400e-05 9.99903369e-01 -4.73671444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584203822 meters 0.012122609522873402 Centerline is valid? [True, True] Translation: X:168.46, Y:-22.86, Z:-4.74 [[ 9.85607220e-01 1.68390032e-01 1.49400375e-02 1.68461924e+02] [-1.68370822e-01 9.85720446e-01 -2.54349459e-03 -2.28586435e+01] [-1.51549995e-02 -8.57975070e-06 9.99885156e-01 -4.73525572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.614203822 meters 0.012185766171241496 Centerline is valid? [True, True] Translation: X:168.49, Y:-22.87, Z:-4.74 [[ 9.85604518e-01 1.68399147e-01 1.50153447e-02 1.68491386e+02] [-1.68379754e-01 9.85718888e-01 -2.55562891e-03 -2.28651400e+01] [-1.52312747e-02 -9.44066199e-06 9.99883997e-01 -4.73639716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644203822 meters 0.0123874093800447 Centerline is valid? [True, True] Translation: X:168.52, Y:-22.87, Z:-4.74 [[ 9.85549422e-01 1.68749855e-01 1.46909578e-02 1.68520814e+02] [-1.68731335e-01 9.85658910e-01 -2.50008719e-03 -2.28711853e+01] [-1.49021628e-02 -1.48654277e-05 9.99888957e-01 -4.73755283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.674203822 meters 0.012292404104530604 Centerline is valid? [True, True] Translation: X:168.55, Y:-22.88, Z:-4.74 [[ 9.85235332e-01 1.70553915e-01 1.49232344e-02 1.68550567e+02] [-1.70535017e-01 9.85348345e-01 -2.53926944e-03 -2.28764006e+01] [-1.51376667e-02 -4.31560634e-05 9.99885418e-01 -4.73641105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.704203822 meters 0.013164068097910639 Centerline is valid? [True, True] Translation: X:168.58, Y:-22.88, Z:-4.74 [[ 9.85041825e-01 1.71624219e-01 1.54185105e-02 1.68579032e+02] [-1.71604180e-01 9.85162486e-01 -2.62329609e-03 -2.28793315e+01] [-1.56399593e-02 -6.18244828e-05 9.99877686e-01 -4.73863592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.734203822 meters 0.013802699502524593 Centerline is valid? [True, True] Translation: X:168.61, Y:-22.88, Z:-4.74 [[ 9.84512543e-01 1.74661923e-01 1.51084800e-02 1.68608653e+02] [-1.74643050e-01 9.84628458e-01 -2.56987799e-03 -2.28813828e+01] [-1.53250992e-02 -1.08513905e-04 9.99882558e-01 -4.73621941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.764203822 meters 0.01629577062623668 Centerline is valid? [True, True] Translation: X:168.64, Y:-22.88, Z:-4.74 [[ 9.84119585e-01 1.76913181e-01 1.45041127e-02 1.68636346e+02] [-1.76896030e-01 9.84226451e-01 -2.46724720e-03 -2.28817776e+01] [-1.47118199e-02 -1.37653663e-04 9.99891766e-01 -4.73927817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79420382200001 meters 0.019852484999095 Centerline is valid? [True, True] Translation: X:168.67, Y:-22.88, Z:-4.74 [[ 9.83672875e-01 1.79404585e-01 1.42010519e-02 1.68665070e+02] [-1.79388415e-01 9.83775363e-01 -2.41481234e-03 -2.28803269e+01] [-1.44038734e-02 -1.72118797e-04 9.99896244e-01 -4.74266499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82420382200002 meters 0.02396377724972943 Centerline is valid? [True, True] Translation: X:168.70, Y:-22.88, Z:-4.74 [[ 9.82605670e-01 1.85123372e-01 1.46776948e-02 1.68695640e+02] [-1.85106756e-01 9.82715252e-01 -2.49443666e-03 -2.28766456e+01] [-1.48857731e-02 -2.65892864e-04 9.99889165e-01 -4.74115462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85420382200002 meters 0.025390952619783677 Centerline is valid? [True, True] Translation: X:168.72, Y:-22.88, Z:-4.74 [[ 9.82083739e-01 1.87837282e-01 1.51223263e-02 1.68724184e+02] [-1.87819965e-01 9.82200110e-01 -2.57010220e-03 -2.28781443e+01] [-1.53359116e-02 -3.16219216e-04 9.99882348e-01 -4.74046598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88420382200002 meters 0.032436535616669156 Centerline is valid? [True, True] Translation: X:168.75, Y:-22.87, Z:-4.74 [[ 9.81138992e-01 1.92694001e-01 1.53394718e-02 1.68754799e+02] [-1.92676802e-01 9.81258815e-01 -2.60528738e-03 -2.28697053e+01] [-1.55540151e-02 -3.99411337e-04 9.99878949e-01 -4.74224905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91420382200002 meters 0.03723535734773713 Centerline is valid? [True, True] Translation: X:168.78, Y:-22.87, Z:-4.75 [[ 9.80807515e-01 1.94413481e-01 1.48329537e-02 1.68784269e+02] [-1.94397590e-01 9.80919583e-01 -2.51963170e-03 -2.28660133e+01] [-1.50397851e-02 -4.12216750e-04 9.99886811e-01 -4.74580719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94420382200002 meters 0.03233872323365304 Centerline is valid? [True, True] Translation: X:168.81, Y:-22.87, Z:-4.74 [[ 9.80672908e-01 1.95138409e-01 1.42003381e-02 1.68812088e+02] [-1.95123925e-01 9.80775630e-01 -2.41191085e-03 -2.28749325e+01] [-1.43980020e-02 -4.05530074e-04 9.99896261e-01 -4.74498568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97420382200002 meters 0.03502852048620949 Centerline is valid? [True, True] Translation: X:168.84, Y:-22.87, Z:-4.75 [[ 9.80827430e-01 1.94468383e-01 1.26332847e-02 1.68840648e+02] [-1.94456867e-01 9.80908724e-01 -2.14545833e-03 -2.28723464e+01] [-1.28093230e-02 -3.52304576e-04 9.99917895e-01 -4.75007678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004203822 meters 0.03529109212931936 Centerline is valid? [True, True] Translation: X:168.87, Y:-22.87, Z:-4.75 [[ 9.81129207e-01 1.92925698e-01 1.28512362e-02 1.68868071e+02] [-1.92913656e-01 9.81213310e-01 -2.18192219e-03 -2.28747110e+01] [-1.30307529e-02 -3.38431369e-04 9.99915039e-01 -4.75252974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034203822 meters 0.0263353113039433 Centerline is valid? [True, True] Translation: X:168.90, Y:-22.89, Z:-4.75 [[ 9.82344654e-01 1.86568158e-01 1.38312321e-02 1.68896344e+02] [-1.86553615e-01 9.82441981e-01 -2.34573935e-03 -2.28913971e+01] [-1.40260233e-02 -2.75941822e-04 9.99901592e-01 -4.75025972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064203822 meters 0.022076461670608786 Centerline is valid? [True, True] Translation: X:168.92, Y:-22.90, Z:-4.75 [[ 9.83169453e-01 1.82191817e-01 1.35634677e-02 1.68923302e+02] [-1.82177402e-01 9.83262985e-01 -2.30126890e-03 -2.29029828e+01] [-1.37557281e-02 -2.08420019e-04 9.99905364e-01 -4.75141571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.094203822 meters 0.022076461670608786 Centerline is valid? [True, True] Translation: X:168.95, Y:-22.91, Z:-4.75 [[ 9.83182130e-01 1.82123394e-01 1.35635175e-02 1.68950427e+02] [-1.82108976e-01 9.83275661e-01 -2.30097539e-03 -2.29074431e+01] [-1.37557381e-02 -2.07760395e-04 9.99905364e-01 -4.75219623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124203822 meters 0.018218997376653875 Centerline is valid? [True, True] Translation: X:168.98, Y:-22.92, Z:-4.75 [[ 9.84010132e-01 1.77589376e-01 1.36408690e-02 1.68977115e+02] [-1.77574373e-01 9.84104665e-01 -2.31293404e-03 -2.29181566e+01] [-1.38347953e-02 -1.46318236e-04 9.99904284e-01 -4.75345169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.154203822 meters 0.01454994732132802 Centerline is valid? [True, True] Translation: X:169.00, Y:-22.93, Z:-4.75 [[ 9.84749552e-01 1.73428493e-01 1.38158381e-02 1.69004425e+02] [-1.73412707e-01 9.84846460e-01 -2.34160433e-03 -2.29285666e+01] [-1.40125802e-02 -8.99480839e-05 9.99901815e-01 -4.75326187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184203822 meters 0.012225409059172528 Centerline is valid? [True, True] Translation: X:169.03, Y:-22.94, Z:-4.75 [[ 9.85802508e-01 1.67298530e-01 1.43044362e-02 1.69030754e+02] [-1.67280971e-01 9.85906284e-01 -2.42384558e-03 -2.29413292e+01] [-1.45083394e-02 -3.42692730e-06 9.99894749e-01 -4.75410799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.214203822 meters 0.011996707997272166 Centerline is valid? [True, True] Translation: X:169.06, Y:-22.95, Z:-4.75 [[ 9.86136000e-01 1.65309098e-01 1.44461880e-02 1.69059225e+02] [-1.65290996e-01 9.86241807e-01 -2.44648248e-03 -2.29491459e+01] [-1.46518604e-02 2.47396463e-05 9.99892655e-01 -4.75325013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244203822 meters 0.012418770617522576 Centerline is valid? [True, True] Translation: X:169.09, Y:-22.96, Z:-4.75 [[ 9.86320502e-01 1.64181474e-01 1.47075320e-02 1.69087388e+02] [-1.64162588e-01 9.86430151e-01 -2.49052539e-03 -2.29553407e+01] [-1.49168511e-02 4.20297295e-05 9.99888737e-01 -4.75446315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.274203822 meters 0.012282621194249096 Centerline is valid? [True, True] Translation: X:169.12, Y:-22.96, Z:-4.75 [[ 9.86356713e-01 1.63941486e-01 1.49540809e-02 1.69116934e+02] [-1.63921946e-01 9.86470064e-01 -2.53154044e-03 -2.29601129e+01] [-1.51667776e-02 4.56998728e-05 9.99884977e-01 -4.75471177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304203822 meters 0.012427675286853929 Centerline is valid? [True, True] Translation: X:169.14, Y:-22.96, Z:-4.76 [[ 9.86271563e-01 1.64506303e-01 1.43554703e-02 1.69144718e+02] [-1.64488356e-01 9.86376031e-01 -2.43020749e-03 -2.29644327e+01] [-1.45596763e-02 3.55368278e-05 9.99894002e-01 -4.75694385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.334203822 meters 0.011784438741605867 Centerline is valid? [True, True] Translation: X:169.17, Y:-22.97, Z:-4.76 [[ 9.85956755e-01 1.66419672e-01 1.39200985e-02 1.69174244e+02] [-1.66403001e-01 9.86055015e-01 -2.35554639e-03 -2.29677398e+01] [-1.41179922e-02 6.12071444e-06 9.99900336e-01 -4.75662218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364203822 meters 0.011824395406411605 Centerline is valid? [True, True] Translation: X:169.20, Y:-22.97, Z:-4.76 [[ 9.85800160e-01 1.67339136e-01 1.39877801e-02 1.69203090e+02] [-1.67322397e-01 9.85899393e-01 -2.36681673e-03 -2.29708303e+01] [-1.41866050e-02 -7.26058301e-06 9.99899365e-01 -4.75754266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.394203822 meters 0.01234100228691183 Centerline is valid? [True, True] Translation: X:169.23, Y:-22.97, Z:-4.76 [[ 9.85666507e-01 1.68133925e-01 1.38751916e-02 1.69231682e+02] [-1.68117544e-01 9.85764162e-01 -2.34707970e-03 -2.29746118e+01] [-1.40722904e-02 -1.92252841e-05 9.99900980e-01 -4.76045804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424203822 meters 0.012387181335098639 Centerline is valid? [True, True] Translation: X:169.26, Y:-22.98, Z:-4.76 [[ 9.85699233e-01 1.67954375e-01 1.37240940e-02 1.69259796e+02] [-1.67938331e-01 9.85794769e-01 -2.32148883e-03 -2.29810151e+01] [-1.39190442e-02 -1.65116807e-05 9.99903125e-01 -4.76167010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.454203822 meters 0.012191805069415012 Centerline is valid? [True, True] Translation: X:169.29, Y:-22.99, Z:-4.76 [[ 9.85721417e-01 1.67777390e-01 1.42841222e-02 1.69288370e+02] [-1.67760002e-01 9.85824907e-01 -2.41548093e-03 -2.29873194e+01] [-1.44869066e-02 -1.53130854e-05 9.99895059e-01 -4.76165160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.484203822 meters 0.011626034411812865 Centerline is valid? [True, True] Translation: X:169.32, Y:-22.99, Z:-4.76 [[ 9.85751430e-01 1.67560774e-01 1.47480874e-02 1.69317474e+02] [-1.67542229e-01 9.85861748e-01 -2.49287647e-03 -2.29946410e+01] [-1.49572836e-02 -1.35709043e-05 9.99888133e-01 -4.76047356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.514203822 meters 0.023267949875434884 Centerline is valid? [True, True] Translation: X:169.35, Y:-23.00, Z:-4.76 [[ 9.85751750e-01 1.67522581e-01 1.51549103e-02 1.69346354e+02] [-1.67503001e-01 9.85868239e-01 -2.56124044e-03 -2.30016920e+01] [-1.53698103e-02 -1.37457047e-05 9.99881877e-01 -4.76100236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54420382200001 meters 0.012096721830458675 Centerline is valid? [True, True] Translation: X:169.37, Y:-23.01, Z:-4.76 [[ 9.85524172e-01 1.68860950e-01 1.51025124e-02 1.69374352e+02] [-1.68841666e-01 9.85639883e-01 -2.55216586e-03 -2.30083135e+01] [-1.53165997e-02 -3.47122033e-05 9.99882693e-01 -4.76337101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57420382200002 meters 0.012829125916110304 Centerline is valid? [True, True] Translation: X:169.40, Y:-23.01, Z:-4.77 [[ 9.85312615e-01 1.70107785e-01 1.49128289e-02 1.69402346e+02] [-1.70089133e-01 9.85425461e-01 -2.51954149e-03 -2.30118646e+01] [-1.51240750e-02 -5.39741381e-05 9.99885623e-01 -4.76509925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60420382200002 meters 0.01382921565177568 Centerline is valid? [True, True] Translation: X:169.43, Y:-23.01, Z:-4.76 [[ 9.84745040e-01 1.73369915e-01 1.48350610e-02 1.69431878e+02] [-1.73351838e-01 9.84856772e-01 -2.50573538e-03 -2.30137641e+01] [-1.50448294e-02 -1.04174591e-04 9.99886815e-01 -4.76369343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63420382200002 meters 0.01653031491704589 Centerline is valid? [True, True] Translation: X:169.46, Y:-23.01, Z:-4.77 [[ 9.84432421e-01 1.75085492e-01 1.54233378e-02 1.69459470e+02] [-1.75066162e-01 9.84553225e-01 -2.60515145e-03 -2.30147572e+01] [-1.56412211e-02 -1.35508990e-04 9.99877659e-01 -4.76591635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66420382200002 meters 0.016020001728045335 Centerline is valid? [True, True] Translation: X:169.49, Y:-23.02, Z:-4.76 [[ 9.84150523e-01 1.76614258e-01 1.59734798e-02 1.69487550e+02] [-1.76593745e-01 9.84280131e-01 -2.69686871e-03 -2.30201799e+01] [-1.61986842e-02 -1.66691864e-04 9.99868779e-01 -4.76332375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69420382200002 meters 0.020189659298627427 Centerline is valid? [True, True] Translation: X:169.52, Y:-23.02, Z:-4.76 [[ 9.83494012e-01 1.80215535e-01 1.61829739e-02 1.69516331e+02] [-1.80194984e-01 9.83627118e-01 -2.73126049e-03 -2.30207128e+01] [-1.64102276e-02 -2.29912383e-04 9.99865317e-01 -4.76492373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72420382200002 meters 0.02126164609874356 Centerline is valid? [True, True] Translation: X:169.55, Y:-23.02, Z:-4.76 [[ 9.83076427e-01 1.82430638e-01 1.67272680e-02 1.69545288e+02] [-1.82409010e-01 9.83218687e-01 -2.82260313e-03 -2.30247863e+01] [-1.69614918e-02 -2.76369796e-04 9.99856105e-01 -4.76393959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754203822 meters 0.023467598447233878 Centerline is valid? [True, True] Translation: X:169.57, Y:-23.03, Z:-4.76 [[ 9.82567507e-01 1.85080444e-01 1.75021112e-02 1.69573707e+02] [-1.85057200e-01 9.82723316e-01 -2.95256168e-03 -2.30268830e+01] [-1.77461942e-02 -3.37800540e-04 9.99842467e-01 -4.76339825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784203822 meters 0.030960576285073992 Centerline is valid? [True, True] Translation: X:169.60, Y:-23.02, Z:-4.76 [[ 9.81476799e-01 1.90690963e-01 1.84458694e-02 1.69604242e+02] [-1.90666164e-01 9.81650009e-01 -3.11017552e-03 -2.30201726e+01] [-1.87004703e-02 -4.64438049e-04 9.99825023e-01 -4.76375461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814203822 meters 0.03410001292857663 Centerline is valid? [True, True] Translation: X:169.63, Y:-23.02, Z:-4.77 [[ 9.80977770e-01 1.93291951e-01 1.79118810e-02 1.69634431e+02] [-1.93269007e-01 9.81141158e-01 -3.01970822e-03 -2.30193049e+01] [-1.81577690e-02 -4.99544833e-04 9.99835009e-01 -4.76574003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844203822 meters 0.03878416987305675 Centerline is valid? [True, True] Translation: X:169.67, Y:-23.01, Z:-4.77 [[ 9.80163513e-01 1.97573288e-01 1.56295587e-02 1.69665440e+02] [-1.97556368e-01 9.80287989e-01 -2.63456692e-03 -2.30133990e+01] [-1.58419887e-02 -5.05412486e-04 9.99874380e-01 -4.77062605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.874203822 meters 0.03877228977968601 Centerline is valid? [True, True] Translation: X:169.69, Y:-23.02, Z:-4.77 [[ 9.79875702e-01 1.99096158e-01 1.42943570e-02 1.69694697e+02] [-1.99082167e-01 9.79979839e-01 -2.40957524e-03 -2.30155732e+01] [-1.44879189e-02 -4.84667341e-04 9.99894927e-01 -4.77302963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904203822 meters 0.04244348517599229 Centerline is valid? [True, True] Translation: X:169.72, Y:-23.01, Z:-4.78 [[ 9.79669085e-01 2.00172503e-01 1.33959799e-02 1.69722665e+02] [-2.00160309e-01 9.79760557e-01 -2.25861983e-03 -2.30132277e+01] [-1.35769663e-02 -4.68643448e-04 9.99907719e-01 -4.77709566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.934203822 meters 0.04350225340576367 Centerline is valid? [True, True] Translation: X:169.75, Y:-23.01, Z:-4.78 [[ 9.79596603e-01 2.00620715e-01 1.19089565e-02 1.69751488e+02] [-2.00611129e-01 9.79668898e-01 -2.00638254e-03 -2.30125832e+01] [-1.20693561e-02 -4.23623686e-04 9.99927073e-01 -4.78149014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964203822 meters 0.042263366908171306 Centerline is valid? [True, True] Translation: X:169.78, Y:-23.02, Z:-4.78 [[ 9.79794479e-01 1.99656082e-01 1.18417469e-02 1.69780348e+02] [-1.99646547e-01 9.79865950e-01 -1.99399207e-03 -2.30172815e+01] [-1.20014372e-02 -4.10461448e-04 9.99927896e-01 -4.78275934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.994203822 meters 0.04024959260954679 Centerline is valid? [True, True] Translation: X:169.81, Y:-23.02, Z:-4.78 [[ 9.80125206e-01 1.97986906e-01 1.24805911e-02 1.69808911e+02] [-1.97976185e-01 9.80204578e-01 -2.10106868e-03 -2.30231478e+01] [-1.26495167e-02 -4.11549453e-04 9.99919907e-01 -4.78251759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024203822 meters 0.03346078732925925 Centerline is valid? [True, True] Translation: X:169.84, Y:-23.03, Z:-4.78 [[ 9.81193818e-01 1.92466839e-01 1.46699655e-02 1.69837858e+02] [-1.92451426e-01 9.81303396e-01 -2.46850329e-03 -2.30325230e+01] [-1.48707919e-02 -4.01175605e-04 9.99889343e-01 -4.77850827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.054203822 meters 0.02959841434109894 Centerline is valid? [True, True] Translation: X:169.87, Y:-23.04, Z:-4.78 [[ 9.81833565e-01 1.89114228e-01 1.54486348e-02 1.69867304e+02] [-1.89096719e-01 9.81955026e-01 -2.59961043e-03 -2.30395171e+01] [-1.56614879e-02 -3.68901387e-04 9.99877283e-01 -4.77732459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084203822 meters 0.023384968946722456 Centerline is valid? [True, True] Translation: X:169.90, Y:-23.05, Z:-4.78 [[ 9.83199199e-01 1.81769476e-01 1.67090563e-02 1.69895886e+02] [-1.81747936e-01 9.83341133e-01 -2.81151465e-03 -2.30481601e+01] [-1.69417499e-02 -2.72557531e-04 9.99856441e-01 -4.77801485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.114203822 meters 0.018554965014869747 Centerline is valid? [True, True] Translation: X:169.92, Y:-23.06, Z:-4.78 [[ 9.83879447e-01 1.78027833e-01 1.69506293e-02 1.69923191e+02] [-1.78005108e-01 9.84025430e-01 -2.85225472e-03 -2.30586883e+01] [-1.71876310e-02 -2.11023815e-04 9.99852259e-01 -4.77749473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144203822 meters 0.014702106201885843 Centerline is valid? [True, True] Translation: X:169.95, Y:-23.07, Z:-4.78 [[ 9.84573369e-01 1.74105899e-01 1.73901319e-02 1.69951227e+02] [-1.74081385e-01 9.84726924e-01 -2.92522727e-03 -2.30694118e+01] [-1.76338304e-02 -1.47197387e-04 9.99844501e-01 -4.77749969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.174203822 meters 0.010543354030048607 Centerline is valid? [True, True] Translation: X:169.98, Y:-23.09, Z:-4.78 [[ 9.85971744e-01 1.65940732e-01 1.79831580e-02 1.69978554e+02] [-1.65913173e-01 9.86135728e-01 -3.02418230e-03 -2.30868170e+01] [-1.82356696e-02 -1.88451532e-06 9.99833716e-01 -4.77716713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.204203822 meters 0.012059186426340095 Centerline is valid? [True, True] Translation: X:170.01, Y:-23.10, Z:-4.78 [[ 9.86675132e-01 1.61719143e-01 1.78634531e-02 1.70006562e+02] [-1.61691267e-01 9.86836822e-01 -3.00348500e-03 -2.30978577e+01] [-1.81140343e-02 7.50995874e-05 9.99835925e-01 -4.77994386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.234203822 meters 0.01599375999556514 Centerline is valid? [True, True] Translation: X:170.04, Y:-23.11, Z:-4.78 [[ 9.87309858e-01 1.57810187e-01 1.77535488e-02 1.70035615e+02] [-1.57782027e-01 9.87469455e-01 -2.98466206e-03 -2.31073472e+01] [-1.80020973e-02 1.45595355e-04 9.99837939e-01 -4.77981368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.264203822 meters 0.02197157962518838 Centerline is valid? [True, True] Translation: X:170.06, Y:-23.13, Z:-4.78 [[ 9.88402628e-01 1.50942275e-01 1.66335424e-02 1.70062231e+02] [-1.50916595e-01 9.88542546e-01 -2.79568558e-03 -2.31278743e+01] [-1.68649515e-02 2.52985387e-04 9.99857745e-01 -4.78426112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29420382200001 meters 0.02447942224317727 Centerline is valid? [True, True] Translation: X:170.09, Y:-23.14, Z:-4.78 [[ 9.88774717e-01 1.48501636e-01 1.64870478e-02 1.70092433e+02] [-1.48476044e-01 9.88912118e-01 -2.77247087e-03 -2.31380485e+01] [-1.67159578e-02 2.93417471e-04 9.99860236e-01 -4.78480800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32420382200002 meters 0.026275054470880195 Centerline is valid? [True, True] Translation: X:170.12, Y:-23.15, Z:-4.79 [[ 9.89094333e-01 1.46363637e-01 1.64342958e-02 1.70123007e+02] [-1.46337932e-01 9.89230801e-01 -2.76247898e-03 -2.31477091e+01] [-1.66616381e-02 3.27391457e-04 9.99861132e-01 -4.78504209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35420382200002 meters 0.025499338576550505 Centerline is valid? [True, True] Translation: X:170.16, Y:-23.15, Z:-4.79 [[ 9.89007581e-01 1.47011688e-01 1.58608924e-02 1.70155154e+02] [-1.46987799e-01 9.89134707e-01 -2.66791780e-03 -2.31535671e+01] [-1.60807743e-02 3.07233262e-04 9.99870649e-01 -4.78648872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38420382200002 meters 0.022858419096168557 Centerline is valid? [True, True] Translation: X:170.19, Y:-23.16, Z:-4.79 [[ 9.88806046e-01 1.48451947e-01 1.49874574e-02 1.70186850e+02] [-1.48430739e-01 9.88919585e-01 -2.52378255e-03 -2.31566623e+01] [-1.51960506e-02 2.70932054e-04 9.99884497e-01 -4.78715644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41420382200002 meters 0.017692625003059702 Centerline is valid? [True, True] Translation: X:170.22, Y:-23.16, Z:-4.79 [[ 9.88000424e-01 1.53690767e-01 1.53071810e-02 1.70218702e+02] [-1.53669201e-01 9.88118975e-01 -2.58225295e-03 -2.31553080e+01] [-1.55221844e-02 1.99024730e-04 9.99879504e-01 -4.78722834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44420382200002 meters 0.01631062983628137 Centerline is valid? [True, True] Translation: X:170.25, Y:-23.16, Z:-4.79 [[ 9.87476956e-01 1.56981667e-01 1.56849319e-02 1.70248339e+02] [-1.56959424e-01 9.87601505e-01 -2.64685916e-03 -2.31580848e+01] [-1.59059707e-02 1.51814555e-04 9.99873481e-01 -4.78951546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47420382200002 meters 0.011651609530193277 Centerline is valid? [True, True] Translation: X:170.28, Y:-23.15, Z:-4.79 [[ 9.86408852e-01 1.63487187e-01 1.64169303e-02 1.70279160e+02] [-1.63463722e-01 9.86545456e-01 -2.77029714e-03 -2.31547002e+01] [-1.66489561e-02 4.90731010e-05 9.99861395e-01 -4.78823380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504203822 meters 0.010859284977078474 Centerline is valid? [True, True] Translation: X:170.31, Y:-23.16, Z:-4.79 [[ 9.85878096e-01 1.66593656e-01 1.70567598e-02 1.70309032e+02] [-1.66568798e-01 9.86025635e-01 -2.87782601e-03 -2.31554301e+01] [-1.72978299e-02 -3.93834643e-06 9.99850381e-01 -4.78812010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534203822 meters 0.011482542664485337 Centerline is valid? [True, True] Translation: X:170.34, Y:-23.16, Z:-4.79 [[ 9.85403052e-01 1.69343981e-01 1.74195434e-02 1.70337317e+02] [-1.69318483e-01 9.85557007e-01 -2.93903164e-03 -2.31558784e+01] [-1.76656603e-02 -5.33199130e-05 9.99843949e-01 -4.78908311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564203822 meters 0.012508920541904694 Centerline is valid? [True, True] Translation: X:170.37, Y:-23.16, Z:-4.79 [[ 9.84982279e-01 1.71839357e-01 1.67673912e-02 1.70366037e+02] [-1.71816114e-01 9.85124980e-01 -2.82779506e-03 -2.31578431e+01] [-1.70039024e-02 -9.55799877e-05 9.99855419e-01 -4.78971269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.594203822 meters 0.01647922896432052 Centerline is valid? [True, True] Translation: X:170.39, Y:-23.16, Z:-4.79 [[ 9.84276122e-01 1.75878848e-01 1.63445984e-02 1.70394446e+02] [-1.75857331e-01 9.84411806e-01 -2.75585529e-03 -2.31571407e+01] [-1.65745123e-02 -1.61794883e-04 9.99862620e-01 -4.79355107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624203822 meters 0.018776675946851965 Centerline is valid? [True, True] Translation: X:170.42, Y:-23.16, Z:-4.79 [[ 9.83726387e-01 1.78880456e-01 1.68575965e-02 1.70422982e+02] [-1.78858028e-01 9.83870791e-01 -2.84109597e-03 -2.31609040e+01] [-1.70939133e-02 -2.20255389e-04 9.99853864e-01 -4.79336403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.654203822 meters 0.020824049688323406 Centerline is valid? [True, True] Translation: X:170.45, Y:-23.16, Z:-4.79 [[ 9.83461651e-01 1.80327981e-01 1.68819351e-02 1.70451219e+02] [-1.80305713e-01 9.83606506e-01 -2.84451259e-03 -2.31628296e+01] [-1.71181264e-02 -2.46440287e-04 9.99853444e-01 -4.79431101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684203822 meters 0.022210116927924246 Centerline is valid? [True, True] Translation: X:170.48, Y:-23.16, Z:-4.79 [[ 9.83143881e-01 1.82041856e-01 1.69962546e-02 1.70480000e+02] [-1.82019561e-01 9.83290743e-01 -2.86261954e-03 -2.31648079e+01] [-1.72333764e-02 -2.79283922e-04 9.99851455e-01 -4.79423413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.714203822 meters 0.02414756484590065 Centerline is valid? [True, True] Translation: X:170.51, Y:-23.17, Z:-4.79 [[ 9.82747694e-01 1.84183478e-01 1.68349737e-02 1.70508636e+02] [-1.84161929e-01 9.82891829e-01 -2.83479881e-03 -2.31660714e+01] [-1.70690812e-02 -3.14469241e-04 9.99854263e-01 -4.79493440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744203822 meters 0.028347387648511465 Centerline is valid? [True, True] Translation: X:170.54, Y:-23.17, Z:-4.80 [[ 9.82011193e-01 1.88170134e-01 1.56849295e-02 1.70538994e+02] [-1.88151958e-01 9.82136382e-01 -2.63986698e-03 -2.31654433e+01] [-1.59014840e-02 -3.58771260e-04 9.99873499e-01 -4.79785106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.774203822 meters 0.029647497658120008 Centerline is valid? [True, True] Translation: X:170.57, Y:-23.17, Z:-4.80 [[ 9.81653512e-01 1.90061309e-01 1.52670108e-02 1.70567278e+02] [-1.90044315e-01 9.81772150e-01 -2.56964976e-03 -2.31677100e+01] [-1.54771170e-02 -3.78902894e-04 9.99880150e-01 -4.79865610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804203822 meters 0.029741677268152737 Centerline is valid? [True, True] Translation: X:170.60, Y:-23.17, Z:-4.80 [[ 9.81340111e-01 1.91667247e-01 1.53379487e-02 1.70595796e+02] [-1.91650307e-01 9.81459882e-01 -2.58049823e-03 -2.31708314e+01] [-1.55481783e-02 -4.07176167e-04 9.99879037e-01 -4.79806575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.834203822 meters 0.03328564504149942 Centerline is valid? [True, True] Translation: X:170.63, Y:-23.17, Z:-4.80 [[ 9.80780738e-01 1.94434652e-01 1.62576403e-02 1.70625201e+02] [-1.94416017e-01 9.80915356e-01 -2.73417064e-03 -2.31678023e+01] [-1.64789865e-02 -4.79123781e-04 9.99864097e-01 -4.79786525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864203822 meters 0.03641685407203922 Centerline is valid? [True, True] Translation: X:170.65, Y:-23.17, Z:-4.80 [[ 9.80680303e-01 1.94937075e-01 1.62997056e-02 1.70653984e+02] [-1.94918419e-01 9.80815629e-01 -2.74090945e-03 -2.31662839e+01] [-1.65213108e-02 -4.89156932e-04 9.99863394e-01 -4.79972291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.894203822 meters 0.03563334443996265 Centerline is valid? [True, True] Translation: X:170.68, Y:-23.17, Z:-4.80 [[ 9.80657016e-01 1.95080270e-01 1.59845458e-02 1.70682401e+02] [-1.95062365e-01 9.80787161e-01 -2.68680918e-03 -2.31696499e+01] [-1.62015808e-02 -4.83145048e-04 9.99868629e-01 -4.80015479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.924203822 meters 0.03584732936401103 Centerline is valid? [True, True] Translation: X:170.71, Y:-23.17, Z:-4.80 [[ 9.80764207e-01 1.94593148e-01 1.53322088e-02 1.70710450e+02] [-1.94576624e-01 9.80883937e-01 -2.57661830e-03 -2.31695281e+01] [-1.55405096e-02 -4.56234427e-04 9.99879135e-01 -4.80278857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.954203822 meters 0.03285397561924061 Centerline is valid? [True, True] Translation: X:170.74, Y:-23.18, Z:-4.80 [[ 9.80879407e-01 1.94014276e-01 1.52987075e-02 1.70738346e+02] [-1.93997770e-01 9.80998604e-01 -2.56994049e-03 -2.31756197e+01] [-1.55066158e-02 -4.47113433e-04 9.99879665e-01 -4.80269565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.984203822 meters 0.03279356422914659 Centerline is valid? [True, True] Translation: X:170.77, Y:-23.18, Z:-4.80 [[ 9.81239827e-01 1.92114249e-01 1.61405599e-02 1.70766620e+02] [-1.92095631e-01 9.81372468e-01 -2.71062087e-03 -2.31754311e+01] [-1.63606500e-02 -4.40761882e-04 9.99866058e-01 -4.80353082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.014203822 meters 0.03279356422914659 Centerline is valid? [True, True] Translation: X:170.79, Y:-23.18, Z:-4.80 [[ 9.81253391e-01 1.92044945e-01 1.61407051e-02 1.70793755e+02] [-1.92026332e-01 9.81386033e-01 -2.70975571e-03 -2.31798495e+01] [-1.63606574e-02 -4.40483415e-04 9.99866058e-01 -4.80431151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04420382200001 meters 0.03242232667694583 Centerline is valid? [True, True] Translation: X:170.82, Y:-23.18, Z:-4.81 [[ 9.81528890e-01 1.90620951e-01 1.62693393e-02 1.70821388e+02] [-1.90601867e-01 9.81663626e-01 -2.73000824e-03 -2.31826244e+01] [-1.64914154e-02 -4.21384502e-04 9.99863919e-01 -4.80564314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07420382200002 meters 0.030197107103079553 Centerline is valid? [True, True] Translation: X:170.85, Y:-23.19, Z:-4.81 [[ 9.81829931e-01 1.89092349e-01 1.59395613e-02 1.70849665e+02] [-1.89073846e-01 9.81959232e-01 -2.67360148e-03 -2.31881289e+01] [-1.61575569e-02 -3.88732193e-04 9.99869383e-01 -4.80641713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10420382200002 meters 0.027141430360880094 Centerline is valid? [True, True] Translation: X:170.88, Y:-23.19, Z:-4.81 [[ 9.82510425e-01 1.85535615e-01 1.58050478e-02 1.70877982e+02] [-1.85516978e-01 9.82637485e-01 -2.65013872e-03 -2.31909695e+01] [-1.60223276e-02 -3.28315786e-04 9.99871580e-01 -4.80810051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13420382200002 meters 0.02457700288575745 Centerline is valid? [True, True] Translation: X:170.91, Y:-23.20, Z:-4.81 [[ 9.82902299e-01 1.83381780e-01 1.65588116e-02 1.70906592e+02] [-1.83361025e-01 9.83041723e-01 -2.77601976e-03 -2.31961791e+01] [-1.67870741e-02 -3.07684454e-04 9.99859040e-01 -4.80775743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16420382200002 meters 0.021935850504570736 Centerline is valid? [True, True] Translation: X:170.94, Y:-23.20, Z:-4.81 [[ 9.83320779e-01 1.81030724e-01 1.75534479e-02 1.70935029e+02] [-1.81007042e-01 9.83477400e-01 -2.94184595e-03 -2.32022806e+01] [-1.77959838e-02 -2.84519439e-04 9.99841598e-01 -4.80689601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19420382200002 meters 0.016124135474887714 Centerline is valid? [True, True] Translation: X:170.96, Y:-23.21, Z:-4.81 [[ 9.84230965e-01 1.75966968e-01 1.80287124e-02 1.70962491e+02] [-1.75941153e-01 9.84396052e-01 -3.02061298e-03 -2.32130167e+01] [-1.82789214e-02 -1.99011627e-04 9.99832907e-01 -4.80589498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22420382200002 meters 0.01387944245123328 Centerline is valid? [True, True] Translation: X:170.99, Y:-23.22, Z:-4.81 [[ 9.84678915e-01 1.73446439e-01 1.79935546e-02 1.70990181e+02] [-1.73420320e-01 9.84843292e-01 -3.01384566e-03 -2.32198313e+01] [-1.82435723e-02 -1.52777721e-04 9.99833561e-01 -4.80597889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254203822 meters 0.011322409817038224 Centerline is valid? [True, True] Translation: X:171.02, Y:-23.23, Z:-4.81 [[ 9.85430094e-01 1.69134649e-01 1.79164597e-02 1.71018362e+02] [-1.69108056e-01 9.85592951e-01 -3.00003285e-03 -2.32267401e+01] [-1.81657459e-02 -7.34950088e-05 9.99834987e-01 -4.80742827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284203822 meters 0.01071388055838533 Centerline is valid? [True, True] Translation: X:171.05, Y:-23.23, Z:-4.81 [[ 9.85723270e-01 1.67442552e-01 1.76812311e-02 1.71046503e+02] [-1.67416397e-01 9.85881834e-01 -2.95977930e-03 -2.32327648e+01] [-1.79271975e-02 -4.26046657e-05 9.99839294e-01 -4.80839019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314203822 meters 0.010715684972066134 Centerline is valid? [True, True] Translation: X:171.07, Y:-23.24, Z:-4.81 [[ 9.85980597e-01 1.65980631e-01 1.71082655e-02 1.71073349e+02] [-1.65955934e-01 9.86129013e-01 -2.86317934e-03 -2.32390387e+01] [-1.73461893e-02 -1.61789112e-05 9.99849543e-01 -4.81023466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344203822 meters 0.011271500306471992 Centerline is valid? [True, True] Translation: X:171.10, Y:-23.25, Z:-4.81 [[ 9.86170076e-01 1.64871546e-01 1.69101734e-02 1.71100639e+02] [-1.64847273e-01 9.86315048e-01 -2.82897883e-03 -2.32450259e+01] [-1.71451766e-02 2.25829817e-06 9.99853011e-01 -4.81449453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.374203822 meters 0.011197725859191399 Centerline is valid? [True, True] Translation: X:171.13, Y:-23.25, Z:-4.82 [[ 9.86368054e-01 1.63802809e-01 1.57067222e-02 1.71128672e+02] [-1.63781749e-01 9.86493102e-01 -2.62662726e-03 -2.32507502e+01] [-1.59248220e-02 1.83467978e-05 9.99873192e-01 -4.81517776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404203822 meters 0.011168766202084759 Centerline is valid? [True, True] Translation: X:171.16, Y:-23.25, Z:-4.82 [[ 9.86322189e-01 1.64131317e-01 1.51476165e-02 1.71157101e+02] [-1.64111779e-01 9.86438498e-01 -2.53243793e-03 -2.32547122e+01] [-1.53578445e-02 1.18974239e-05 9.99882061e-01 -4.81614695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.434203822 meters 0.011585813879925622 Centerline is valid? [True, True] Translation: X:171.19, Y:-23.25, Z:-4.82 [[ 9.85926403e-01 1.66459089e-01 1.55080568e-02 1.71185830e+02] [-1.66438908e-01 9.86048361e-01 -2.59203637e-03 -2.32540120e+01] [-1.57231620e-02 -2.55869375e-05 9.99876383e-01 -4.81697406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464203822 meters 0.011889807023107933 Centerline is valid? [True, True] Translation: X:171.22, Y:-23.26, Z:-4.82 [[ 9.85654152e-01 1.67992194e-01 1.62639335e-02 1.71215169e+02] [-1.67970228e-01 9.85788324e-01 -2.71710692e-03 -2.32552231e+01] [-1.64892485e-02 -5.37289056e-05 9.99864042e-01 -4.81704613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.494203822 meters 0.012633579340345426 Centerline is valid? [True, True] Translation: X:171.24, Y:-23.26, Z:-4.82 [[ 9.85386851e-01 1.69538453e-01 1.64154465e-02 1.71243532e+02] [-1.69516299e-01 9.85523570e-01 -2.74191163e-03 -2.32570344e+01] [-1.66426689e-02 -8.08420758e-05 9.99861498e-01 -4.81795609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524203822 meters 0.014834818444766586 Centerline is valid? [True, True] Translation: X:171.27, Y:-23.26, Z:-4.82 [[ 9.84878632e-01 1.72518207e-01 1.58603118e-02 1.71272208e+02] [-1.72497935e-01 9.85006321e-01 -2.64775345e-03 -2.32577482e+01] [-1.60792931e-02 -1.28155243e-04 9.99870712e-01 -4.82004490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.554203822 meters 0.01634322398959638 Centerline is valid? [True, True] Translation: X:171.30, Y:-23.26, Z:-4.82 [[ 9.84637901e-01 1.73872646e-01 1.60158083e-02 1.71299683e+02] [-1.73852164e-01 9.84768135e-01 -2.67306493e-03 -2.32595719e+01] [-1.62366306e-02 -1.52381886e-04 9.99868166e-01 -4.82120023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584203822 meters 0.017245600895038828 Centerline is valid? [True, True] Translation: X:171.33, Y:-23.26, Z:-4.82 [[ 9.84405548e-01 1.75152105e-01 1.63541431e-02 1.71328240e+02] [-1.75130944e-01 9.84541370e-01 -2.72835966e-03 -2.32624539e+01] [-1.65792084e-02 -1.78304138e-04 9.99862540e-01 -4.82133193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.614203822 meters 0.01948790445202646 Centerline is valid? [True, True] Translation: X:171.36, Y:-23.26, Z:-4.82 [[ 9.83937000e-01 1.77823134e-01 1.57134664e-02 1.71358042e+02] [-1.77803950e-01 9.84062441e-01 -2.62078500e-03 -2.32612503e+01] [-1.59290683e-02 -2.15229058e-04 9.99873101e-01 -4.82236731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644203822 meters 0.01997581642895798 Centerline is valid? [True, True] Translation: X:171.39, Y:-23.26, Z:-4.82 [[ 9.83717934e-01 1.79102122e-01 1.48813898e-02 1.71386551e+02] [-1.79085070e-01 9.83830463e-01 -2.48153701e-03 -2.32628238e+01] [-1.50852131e-02 -2.23902269e-04 9.99886187e-01 -4.82272391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.674203822 meters 0.02369255297373651 Centerline is valid? [True, True] Translation: X:171.42, Y:-23.26, Z:-4.83 [[ 9.83338307e-01 1.81126288e-01 1.54610034e-02 1.71415803e+02] [-1.81108148e-01 9.83459810e-01 -2.57714550e-03 -2.32583590e+01] [-1.56720643e-02 -2.65907810e-04 9.99877150e-01 -4.82538714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.704203822 meters 0.02332169138239023 Centerline is valid? [True, True] Translation: X:171.44, Y:-23.26, Z:-4.83 [[ 9.83333526e-01 1.81129188e-01 1.57287478e-02 1.71443166e+02] [-1.81110429e-01 9.83459274e-01 -2.62087545e-03 -2.32623803e+01] [-1.59432999e-02 -2.71445555e-04 9.99872861e-01 -4.82557871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.734203822 meters 0.021797508419486206 Centerline is valid? [True, True] Translation: X:171.47, Y:-23.27, Z:-4.83 [[ 9.83362777e-01 1.80964704e-01 1.57932116e-02 1.71470255e+02] [-1.80945787e-01 9.83489554e-01 -2.63050047e-03 -2.32681804e+01] [-1.60084864e-02 -2.70978863e-04 9.99871819e-01 -4.82506457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.764203822 meters 0.022538663609614682 Centerline is valid? [True, True] Translation: X:171.50, Y:-23.27, Z:-4.83 [[ 9.83578205e-01 1.79831094e-01 1.53196945e-02 1.71497945e+02] [-1.79813177e-01 9.83697472e-01 -2.55037761e-03 -2.32708527e+01] [-1.55285820e-02 -2.46187105e-04 9.99879394e-01 -4.82817563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79420382200001 meters 0.02133087886431551 Centerline is valid? [True, True] Translation: X:171.53, Y:-23.28, Z:-4.83 [[ 9.83749385e-01 1.78894787e-01 1.52906007e-02 1.71526175e+02] [-1.78876842e-01 9.83868183e-01 -2.54440729e-03 -2.32772170e+01] [-1.54991168e-02 -2.32075259e-04 9.99879855e-01 -4.82899546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82420382200002 meters 0.026272862546806566 Centerline is valid? [True, True] Translation: X:171.55, Y:-23.28, Z:-4.83 [[ 9.84228370e-01 1.76286974e-01 1.47451224e-02 1.71553790e+02] [-1.76270004e-01 9.84338798e-01 -2.45297206e-03 -2.32849806e+01] [-1.49466231e-02 -1.84838092e-04 9.99888276e-01 -4.83180379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85420382200002 meters 0.017136204434668588 Centerline is valid? [True, True] Translation: X:171.58, Y:-23.29, Z:-4.83 [[ 9.84532656e-01 1.74574080e-01 1.48100948e-02 1.71581732e+02] [-1.74556777e-01 9.84644030e-01 -2.46306865e-03 -2.32917141e+01] [-1.50126593e-02 -1.60230891e-04 9.99887291e-01 -4.83120543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88420382200002 meters 0.016124822775735438 Centerline is valid? [True, True] Translation: X:171.61, Y:-23.30, Z:-4.83 [[ 9.84803329e-01 1.72980855e-01 1.54927910e-02 1.71609400e+02] [-1.72961733e-01 9.84925177e-01 -2.57593867e-03 -2.32974506e+01] [-1.57048280e-02 -1.42866993e-04 9.99876661e-01 -4.83172907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91420382200002 meters 0.013296772329397143 Centerline is valid? [True, True] Translation: X:171.64, Y:-23.31, Z:-4.83 [[ 9.85373260e-01 1.69665282e-01 1.59132047e-02 1.71636930e+02] [-1.69644694e-01 9.85501742e-01 -2.64467768e-03 -2.33080870e+01] [-1.61312009e-02 -9.35960677e-05 9.99869879e-01 -4.83083102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94420382200002 meters 0.020092341558557106 Centerline is valid? [True, True] Translation: X:171.67, Y:-23.32, Z:-4.83 [[ 9.85533928e-01 1.68725563e-01 1.59549728e-02 1.71665388e+02] [-1.68704759e-01 9.85663065e-01 -2.65071845e-03 -2.33157872e+01] [-1.61734713e-02 -7.93068683e-05 9.99869198e-01 -4.83098682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97420382200002 meters 0.012356858340825262 Centerline is valid? [True, True] Translation: X:171.69, Y:-23.32, Z:-4.83 [[ 9.85615556e-01 1.68265791e-01 1.57670678e-02 1.71691471e+02] [-1.68245414e-01 9.85741659e-01 -2.61952786e-03 -2.33206309e+01] [-1.59830325e-02 -7.08894512e-05 9.99872261e-01 -4.83174012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004203822 meters 0.012727267881909931 Centerline is valid? [True, True] Translation: X:171.72, Y:-23.32, Z:-4.83 [[ 9.85481419e-01 1.69037706e-01 1.58942118e-02 1.71719392e+02] [-1.69017128e-01 9.85609581e-01 -2.63893614e-03 -2.33229546e+01] [-1.61115672e-02 -8.57714978e-05 9.99870197e-01 -4.83217523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034203822 meters 0.012865433241420062 Centerline is valid? [True, True] Translation: X:171.75, Y:-23.33, Z:-4.83 [[ 9.85347665e-01 1.69796671e-01 1.60956413e-02 1.71748441e+02] [-1.69775688e-01 9.85479112e-01 -2.67122834e-03 -2.33268206e+01] [-1.63154840e-02 -1.00559971e-04 9.99866889e-01 -4.83183774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064203822 meters 0.013497710866540984 Centerline is valid? [True, True] Translation: X:171.78, Y:-23.33, Z:-4.83 [[ 9.85198059e-01 1.70674036e-01 1.59736396e-02 1.71777173e+02] [-1.70653497e-01 9.85327540e-01 -2.65018860e-03 -2.33294073e+01] [-1.61915854e-02 -1.14996794e-04 9.99868901e-01 -4.83248859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.094203822 meters 0.015311889896885313 Centerline is valid? [True, True] Translation: X:171.81, Y:-23.33, Z:-4.83 [[ 9.84887055e-01 1.72523471e-01 1.52689265e-02 1.71805162e+02] [-1.72504933e-01 9.85005397e-01 -2.53288092e-03 -2.33278320e+01] [-1.54769564e-02 -1.39363508e-04 9.99880215e-01 -4.83438564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124203822 meters 0.015648475576510976 Centerline is valid? [True, True] Translation: X:171.83, Y:-23.33, Z:-4.84 [[ 9.84835526e-01 1.72859474e-01 1.47847430e-02 1.71833278e+02] [-1.72842144e-01 9.84946487e-01 -2.45173252e-03 -2.33313396e+01] [-1.49859859e-02 -1.40873383e-04 9.99887694e-01 -4.83590784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.154203822 meters 0.016610746469947618 Centerline is valid? [True, True] Translation: X:171.86, Y:-23.33, Z:-4.84 [[ 9.84839826e-01 1.72864035e-01 1.44409835e-02 1.71860957e+02] [-1.72847520e-01 9.84945687e-01 -2.39346938e-03 -2.33348404e+01] [-1.46373291e-02 -1.38904213e-04 9.99892859e-01 -4.83880531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184203822 meters 0.01568418378219252 Centerline is valid? [True, True] Translation: X:171.89, Y:-23.34, Z:-4.84 [[ 9.84911106e-01 1.72477954e-01 1.41939817e-02 1.71888452e+02] [-1.72461980e-01 9.85013369e-01 -2.35106630e-03 -2.33405011e+01] [-1.43867688e-02 -1.32330871e-04 9.99896496e-01 -4.83886660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.214203822 meters 0.015819549647759758 Centerline is valid? [True, True] Translation: X:171.92, Y:-23.34, Z:-4.84 [[ 9.85054660e-01 1.71653041e-01 1.42319841e-02 1.71915422e+02] [-1.71636914e-01 9.85157459e-01 -2.35610933e-03 -2.33448519e+01] [-1.44251786e-02 -1.21837353e-04 9.99895944e-01 -4.84151695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244203822 meters 0.01429283916124327 Centerline is valid? [True, True] Translation: X:171.94, Y:-23.35, Z:-4.84 [[ 9.85222573e-01 1.70690592e-01 1.41846401e-02 1.71943997e+02] [-1.70674489e-01 9.85324672e-01 -2.34706607e-03 -2.33519515e+01] [-1.43770979e-02 -1.08573720e-04 9.99896638e-01 -4.84091832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.274203822 meters 0.013615917477301464 Centerline is valid? [True, True] Translation: X:171.97, Y:-23.36, Z:-4.84 [[ 9.85413366e-01 1.69497761e-01 1.51989453e-02 1.71971784e+02] [-1.69479136e-01 9.85530567e-01 -2.51456277e-03 -2.33562167e+01] [-1.54052380e-02 -9.80203687e-05 9.99881327e-01 -4.84046031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304203822 meters 0.013137320690951304 Centerline is valid? [True, True] Translation: X:172.00, Y:-23.36, Z:-4.84 [[ 9.85495314e-01 1.68974286e-01 1.57059183e-02 1.72000762e+02] [-1.68954350e-01 9.85620455e-01 -2.59723298e-03 -2.33601373e+01] [-1.59189400e-02 -9.40222995e-05 9.99873281e-01 -4.84009776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.334203822 meters 0.012742940889080703 Centerline is valid? [True, True] Translation: X:172.03, Y:-23.37, Z:-4.84 [[ 9.85653212e-01 1.68067839e-01 1.55224802e-02 1.72027640e+02] [-1.68048259e-01 9.85775428e-01 -2.56660015e-03 -2.33650358e+01] [-1.57330425e-02 -7.87480973e-05 9.99876225e-01 -4.84160011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364203822 meters 0.01241789988118817 Centerline is valid? [True, True] Translation: X:172.06, Y:-23.37, Z:-4.84 [[ 9.85806874e-01 1.67195526e-01 1.51810414e-02 1.72055369e+02] [-1.67176716e-01 9.85923756e-01 -2.50872427e-03 -2.33706381e+01] [-1.53867968e-02 -6.47990047e-05 9.99881614e-01 -4.84319314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.394203822 meters 0.012583118500161795 Centerline is valid? [True, True] Translation: X:172.08, Y:-23.38, Z:-4.85 [[ 9.85989537e-01 1.66131317e-01 1.50006304e-02 1.72082214e+02] [-1.66112838e-01 9.86103637e-01 -2.47828703e-03 -2.33760593e+01] [-1.52038972e-02 -4.82322009e-05 9.99884413e-01 -4.84605402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.424203822 meters 0.011820531646729478 Centerline is valid? [True, True] Translation: X:172.11, Y:-23.39, Z:-4.85 [[ 9.86519116e-01 1.63051854e-01 1.39328995e-02 1.72109912e+02] [-1.63035636e-01 9.86617501e-01 -2.29970725e-03 -2.33867822e+01] [-1.41214140e-02 -2.85396825e-06 9.99900288e-01 -4.84727123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.454203822 meters 0.011990151570058385 Centerline is valid? [True, True] Translation: X:172.14, Y:-23.39, Z:-4.85 [[ 9.86824641e-01 1.61213830e-01 1.36831539e-02 1.72137535e+02] [-1.61198020e-01 9.86919501e-01 -2.25782155e-03 -2.33941010e+01] [-1.38681635e-02 2.23766268e-05 9.99903832e-01 -4.84847260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.484203822 meters 0.012458612811454425 Centerline is valid? [True, True] Translation: X:172.17, Y:-23.40, Z:-4.85 [[ 9.87124489e-01 1.59371867e-01 1.36327377e-02 1.72165927e+02] [-1.59356007e-01 9.87218621e-01 -2.24882003e-03 -2.34018732e+01] [-1.38168912e-02 4.74066799e-05 9.99904541e-01 -4.84956426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.514203822 meters 0.014152965007726516 Centerline is valid? [True, True] Translation: X:172.19, Y:-23.41, Z:-4.85 [[ 9.87513533e-01 1.56998562e-01 1.29797444e-02 1.72192319e+02] [-1.56983985e-01 9.87598828e-01 -2.14070924e-03 -2.34137464e+01] [-1.31548687e-02 7.63673290e-05 9.99913468e-01 -4.85282315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54420382200001 meters 0.014038702122605792 Centerline is valid? [True, True] Translation: X:172.22, Y:-23.42, Z:-4.85 [[ 9.87585325e-01 1.56535380e-01 1.31110885e-02 1.72220906e+02] [-1.56520480e-01 9.87672348e-01 -2.16135204e-03 -2.34202158e+01] [-1.32877877e-02 8.23656856e-05 9.99911710e-01 -4.85258952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57420382200002 meters 0.013164161068401698 Centerline is valid? [True, True] Translation: X:172.25, Y:-23.42, Z:-4.85 [[ 9.87314291e-01 1.58213737e-01 1.33754804e-02 1.72250224e+02] [-1.58198393e-01 9.87404886e-01 -2.20425572e-03 -2.34225453e+01] [-1.35557582e-02 6.03136749e-05 9.99908115e-01 -4.85157325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60420382200002 meters 0.012763165910952558 Centerline is valid? [True, True] Translation: X:172.28, Y:-23.42, Z:-4.85 [[ 9.87023446e-01 1.59984033e-01 1.37777053e-02 1.72278301e+02] [-1.59967932e-01 9.87119602e-01 -2.26999766e-03 -2.34248051e+01] [-1.39634064e-02 3.65498804e-05 9.99902506e-01 -4.85287781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63420382200002 meters 0.012151012985877717 Centerline is valid? [True, True] Translation: X:172.31, Y:-23.42, Z:-4.85 [[ 9.86205262e-01 1.64879814e-01 1.46228431e-02 1.72307440e+02] [-1.64862231e-01 9.86313665e-01 -2.40810193e-03 -2.34229394e+01] [-1.48197574e-02 -3.58717480e-05 9.99890181e-01 -4.85109502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66420382200002 meters 0.012859845543081472 Centerline is valid? [True, True] Translation: X:172.34, Y:-23.42, Z:-4.85 [[ 9.85713128e-01 1.67740344e-01 1.52579787e-02 1.72336458e+02] [-1.67721556e-01 9.85831208e-01 -2.51190091e-03 -2.34234669e+01] [-1.54631387e-02 -8.30782358e-05 9.99880435e-01 -4.84994863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69420382200002 meters 0.015381755143413549 Centerline is valid? [True, True] Translation: X:172.36, Y:-23.42, Z:-4.85 [[ 9.85203630e-01 1.70648430e-01 1.59034716e-02 1.72364635e+02] [-1.70628408e-01 9.85331972e-01 -2.61745461e-03 -2.34222834e+01] [-1.61168635e-02 -1.34858250e-04 9.99870106e-01 -4.85153925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72420382200002 meters 0.017653771872108186 Centerline is valid? [True, True] Translation: X:172.39, Y:-23.42, Z:-4.85 [[ 9.84746285e-01 1.73245521e-01 1.61475570e-02 1.72394046e+02] [-1.73225249e-01 9.84878651e-01 -2.65642621e-03 -2.34226683e+01] [-1.63635981e-02 -1.81258739e-04 9.99866091e-01 -4.85195228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754203822 meters 0.022145103465081136 Centerline is valid? [True, True] Translation: X:172.42, Y:-23.42, Z:-4.85 [[ 9.83917724e-01 1.77844926e-01 1.66461431e-02 1.72424483e+02] [-1.77824056e-01 9.84058490e-01 -2.73746807e-03 -2.34178819e+01] [-1.68676233e-02 -2.66641343e-04 9.99857696e-01 -4.85157764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784203822 meters 0.023986612543717357 Centerline is valid? [True, True] Translation: X:172.45, Y:-23.42, Z:-4.85 [[ 9.83577598e-01 1.79730595e-01 1.64931172e-02 1.72453908e+02] [-1.79710380e-01 9.83715825e-01 -2.71185895e-03 -2.34182170e+01] [-1.67119444e-02 -2.96660642e-04 9.99860302e-01 -4.85245279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814203822 meters 0.025633502763751374 Centerline is valid? [True, True] Translation: X:172.48, Y:-23.42, Z:-4.85 [[ 9.83100331e-01 1.82398033e-01 1.56427702e-02 1.72484318e+02] [-1.82380201e-01 9.83224721e-01 -2.57106365e-03 -2.34169334e+01] [-1.58493153e-02 -3.25318054e-04 9.99874339e-01 -4.85415625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844203822 meters 0.0269082859626584 Centerline is valid? [True, True] Translation: X:172.51, Y:-23.42, Z:-4.86 [[ 9.82927299e-01 1.83364275e-01 1.52140343e-02 1.72512769e+02] [-1.83347521e-01 9.83044980e-01 -2.50070971e-03 -2.34178955e+01] [-1.54146209e-02 -3.31439641e-04 9.99881133e-01 -4.85575611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.874203822 meters 0.027800172615469815 Centerline is valid? [True, True] Translation: X:172.54, Y:-23.42, Z:-4.86 [[ 9.82805091e-01 1.84020208e-01 1.51893471e-02 1.72542024e+02] [-1.84003604e-01 9.82922401e-01 -2.49555479e-03 -2.34194664e+01] [-1.53891820e-02 -3.42250661e-04 9.99881521e-01 -4.85720048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904203822 meters 0.027800172615469815 Centerline is valid? [True, True] Translation: X:172.57, Y:-23.42, Z:-4.86 [[ 9.82818360e-01 1.83949320e-01 1.51894166e-02 1.72569169e+02] [-1.83932714e-01 9.82935670e-01 -2.49513163e-03 -2.34237872e+01] [-1.53891972e-02 -3.41569446e-04 9.99881521e-01 -4.85798104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.934203822 meters 0.027275775160154385 Centerline is valid? [True, True] Translation: X:172.60, Y:-23.43, Z:-4.86 [[ 9.82747787e-01 1.84303271e-01 1.54625671e-02 1.72598075e+02] [-1.84286130e-01 9.82869360e-01 -2.53852130e-03 -2.34257308e+01] [-1.56655412e-02 -3.54810451e-04 9.99877225e-01 -4.85793153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964203822 meters 0.02748947154533623 Centerline is valid? [True, True] Translation: X:172.63, Y:-23.43, Z:-4.86 [[ 9.82890511e-01 1.83540184e-01 1.54675130e-02 1.72625897e+02] [-1.83522941e-01 9.83012148e-01 -2.53909430e-03 -2.34280200e+01] [-1.56707790e-02 -3.42991780e-04 9.99877147e-01 -4.85927122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.994203822 meters 0.027302724028833995 Centerline is valid? [True, True] Translation: X:172.65, Y:-23.43, Z:-4.86 [[ 9.83161951e-01 1.82090797e-01 1.53466473e-02 1.72653441e+02] [-1.82073674e-01 9.83281669e-01 -2.51743770e-03 -2.34304008e+01] [-1.55484792e-02 -3.19171493e-04 9.99879064e-01 -4.86145091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024203822 meters 0.023070308444334973 Centerline is valid? [True, True] Translation: X:172.68, Y:-23.44, Z:-4.86 [[ 9.83988281e-01 1.77609663e-01 1.48953204e-02 1.72680708e+02] [-1.77593032e-01 9.84100985e-01 -2.44250296e-03 -2.34372778e+01] [-1.50923116e-02 -2.41910810e-04 9.99886075e-01 -4.86348853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.054203822 meters 0.01967810823638878 Centerline is valid? [True, True] Translation: X:172.71, Y:-23.45, Z:-4.86 [[ 9.84504663e-01 1.74758594e-01 1.44914775e-02 1.72708594e+02] [-1.74742558e-01 9.84611292e-01 -2.37532117e-03 -2.34459673e+01] [-1.46835802e-02 -1.93763066e-04 9.99892172e-01 -4.86373733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084203822 meters 0.01419211188324572 Centerline is valid? [True, True] Translation: X:172.73, Y:-23.46, Z:-4.87 [[ 9.85749426e-01 1.67587160e-01 1.45812663e-02 1.72734881e+02] [-1.67570147e-01 9.85857260e-01 -2.38947582e-03 -2.34580840e+01] [-1.47754927e-02 -8.79605155e-05 9.99890833e-01 -4.86542186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.114203822 meters 0.01206901248204995 Centerline is valid? [True, True] Translation: X:172.76, Y:-23.47, Z:-4.86 [[ 9.86387028e-01 1.63752621e-01 1.50236437e-02 1.72762875e+02] [-1.63734135e-01 9.86501433e-01 -2.46069591e-03 -2.34683585e+01] [-1.52237914e-02 -3.26847699e-05 9.99884111e-01 -4.86494537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144203822 meters 0.011669737002293568 Centerline is valid? [True, True] Translation: X:172.79, Y:-23.48, Z:-4.86 [[ 9.86960081e-01 1.60240840e-01 1.52535501e-02 1.72790898e+02] [-1.60221370e-01 9.87077947e-01 -2.49794232e-03 -2.34783773e+01] [-1.54567153e-02 2.14246579e-05 9.99880538e-01 -4.86456239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.174203822 meters 0.02508448033501046 Centerline is valid? [True, True] Translation: X:172.82, Y:-23.49, Z:-4.87 [[ 9.87411808e-01 1.57440392e-01 1.51803886e-02 1.72818224e+02] [-1.57420789e-01 9.87528490e-01 -2.48521578e-03 -2.34870072e+01] [-1.53823396e-02 6.42226570e-05 9.99881683e-01 -4.86596347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.204203822 meters 0.013351658757152524 Centerline is valid? [True, True] Translation: X:172.85, Y:-23.50, Z:-4.86 [[ 9.87845266e-01 1.54596268e-01 1.61778886e-02 1.72846276e+02] [-1.54573637e-01 9.87977723e-01 -2.64764112e-03 -2.34956160e+01] [-1.63927090e-02 1.14784661e-04 9.99865624e-01 -4.86342548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.234203822 meters 0.014073374841737122 Centerline is valid? [True, True] Translation: X:172.87, Y:-23.50, Z:-4.86 [[ 9.87953336e-01 1.53870251e-01 1.64970058e-02 1.72873067e+02] [-1.53846629e-01 9.88091053e-01 -2.69915503e-03 -2.35011319e+01] [-1.67158635e-02 1.28630492e-04 9.99860272e-01 -4.86448444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.264203822 meters 0.015197379818781692 Centerline is valid? [True, True] Translation: X:172.90, Y:-23.51, Z:-4.87 [[ 9.88117858e-01 1.52896018e-01 1.56813699e-02 1.72899522e+02] [-1.52874564e-01 9.88242272e-01 -2.56494565e-03 -2.35081228e+01] [-1.58891626e-02 1.37186017e-04 9.99873750e-01 -4.86707975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29420382200001 meters 0.014620150269280123 Centerline is valid? [True, True] Translation: X:172.93, Y:-23.51, Z:-4.87 [[ 9.88177227e-01 1.52487113e-01 1.59200916e-02 1.72928226e+02] [-1.52464971e-01 9.88305448e-01 -2.60254177e-03 -2.35131751e+01] [-1.61307673e-02 1.44516212e-04 9.99869880e-01 -4.86627199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32420382200002 meters 0.014901682196289432 Centerline is valid? [True, True] Translation: X:172.96, Y:-23.52, Z:-4.87 [[ 9.88141118e-01 1.52639558e-01 1.66822324e-02 1.72955614e+02] [-1.52615279e-01 9.88281915e-01 -2.72636824e-03 -2.35199441e+01] [-1.69029003e-02 1.48072999e-04 9.99857125e-01 -4.86688682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35420382200002 meters 0.014516120896566516 Centerline is valid? [True, True] Translation: X:172.98, Y:-23.52, Z:-4.87 [[ 9.88032970e-01 1.53291757e-01 1.71022486e-02 1.72982886e+02] [-1.53266357e-01 9.88180964e-01 -2.79388617e-03 -2.35245213e+01] [-1.73283962e-02 1.39252310e-04 9.99849842e-01 -4.86732361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38420382200002 meters 0.013756679345533786 Centerline is valid? [True, True] Translation: X:173.01, Y:-23.53, Z:-4.87 [[ 9.87875559e-01 1.54295001e-01 1.71736344e-02 1.73011668e+02] [-1.54269561e-01 9.88024817e-01 -2.80437844e-03 -2.35285216e+01] [-1.74006786e-02 1.21007885e-04 9.99848589e-01 -4.86771972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41420382200002 meters 0.02271929518750938 Centerline is valid? [True, True] Translation: X:173.04, Y:-23.53, Z:-4.87 [[ 9.87461876e-01 1.56890088e-01 1.74512055e-02 1.73040463e+02] [-1.56864241e-01 9.87616066e-01 -2.84874705e-03 -2.35322820e+01] [-1.76820311e-02 7.55590041e-05 9.99843658e-01 -4.86689162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44420382200002 meters 0.013851774043032297 Centerline is valid? [True, True] Translation: X:173.07, Y:-23.54, Z:-4.87 [[ 9.87190846e-01 1.58618951e-01 1.71540619e-02 1.73069131e+02] [-1.58594246e-01 9.87339874e-01 -2.79975911e-03 -2.35362426e+01] [-1.73809841e-02 4.33610648e-05 9.99848938e-01 -4.86804774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47420382200002 meters 0.013066216593153077 Centerline is valid? [True, True] Translation: X:173.10, Y:-23.53, Z:-4.88 [[ 9.86298415e-01 1.64267075e-01 1.52238121e-02 1.73097061e+02] [-1.64248296e-01 9.86415899e-01 -2.48426513e-03 -2.35341318e+01] [-1.54250933e-02 -5.02584449e-05 9.99881025e-01 -4.87509098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504203822 meters 0.015210393478532824 Centerline is valid? [True, True] Translation: X:173.13, Y:-23.53, Z:-4.88 [[ 9.85743383e-01 1.67601540e-01 1.48224955e-02 1.73126079e+02] [-1.67584132e-01 9.85854814e-01 -2.41767650e-03 -2.35327686e+01] [-1.50180348e-02 -1.00806426e-04 9.99887218e-01 -4.87681651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534203822 meters 0.016494270794113627 Centerline is valid? [True, True] Translation: X:173.16, Y:-23.53, Z:-4.88 [[ 9.85150520e-01 1.71065288e-01 1.46669875e-02 1.73155224e+02] [-1.71048636e-01 9.85259684e-01 -2.39169797e-03 -2.35327256e+01] [-1.48599279e-02 -1.52585705e-04 9.99889574e-01 -4.87520159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564203822 meters 0.01915723384170628 Centerline is valid? [True, True] Translation: X:173.18, Y:-23.53, Z:-4.88 [[ 9.84601398e-01 1.74245870e-01 1.40877216e-02 1.73184455e+02] [-1.74230841e-01 9.84702158e-01 -2.29659883e-03 -2.35317987e+01] [-1.42723827e-02 -1.93281163e-04 9.99898126e-01 -4.87694592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.594203822 meters 0.024590670840567656 Centerline is valid? [True, True] Translation: X:173.21, Y:-23.53, Z:-4.88 [[ 9.83740434e-01 1.79169715e-01 1.23681621e-02 1.73213899e+02] [-1.79158528e-01 9.83818153e-01 -2.01562648e-03 -2.35281056e+01] [-1.25291616e-02 -2.33008453e-04 9.99921480e-01 -4.88126295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624203822 meters 0.026910845104610625 Centerline is valid? [True, True] Translation: X:173.24, Y:-23.53, Z:-4.88 [[ 9.83512011e-01 1.80441314e-01 1.20439405e-02 1.73242006e+02] [-1.80430802e-01 9.83585722e-01 -1.96276134e-03 -2.35301725e+01] [-1.22004111e-02 -2.42698480e-04 9.99925543e-01 -4.88390804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.654203822 meters 0.02677018214239932 Centerline is valid? [True, True] Translation: X:173.27, Y:-23.54, Z:-4.89 [[ 9.83488237e-01 1.80599484e-01 1.16066323e-02 1.73269944e+02] [-1.80589742e-01 9.83556694e-01 -1.89062939e-03 -2.35355913e+01] [-1.17572276e-02 -2.36626969e-04 9.99930853e-01 -4.88528127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684203822 meters 0.0254992615044235 Centerline is valid? [True, True] Translation: X:173.30, Y:-23.54, Z:-4.89 [[ 9.83724858e-01 1.79327642e-01 1.12694740e-02 1.73298406e+02] [-1.79318381e-01 9.83789383e-01 -1.83519449e-03 -2.35414959e+01] [-1.14158900e-02 -2.15497406e-04 9.99934813e-01 -4.88638573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.714203822 meters 0.024312599995419445 Centerline is valid? [True, True] Translation: X:173.33, Y:-23.55, Z:-4.89 [[ 9.84132973e-01 1.77064050e-01 1.14286515e-02 1.73326186e+02] [-1.77054380e-01 9.84199312e-01 -1.86052742e-03 -2.35471216e+01] [-1.15775034e-02 -1.92486415e-04 9.99932960e-01 -4.88858917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744203822 meters 0.018325937591144387 Centerline is valid? [True, True] Translation: X:173.35, Y:-23.56, Z:-4.89 [[ 9.85103644e-01 1.71531469e-01 1.21558839e-02 1.73354014e+02] [-1.71520120e-01 9.85178632e-01 -1.97784775e-03 -2.35602982e+01] [-1.23149802e-02 -1.36593637e-04 9.99924158e-01 -4.88678658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.774203822 meters 0.016094553730297636 Centerline is valid? [True, True] Translation: X:173.38, Y:-23.57, Z:-4.89 [[ 9.85572868e-01 1.68721865e-01 1.33811160e-02 1.73381283e+02] [-1.68707854e-01 9.85663695e-01 -2.17715658e-03 -2.35688591e+01] [-1.35566142e-02 -1.11752915e-04 9.99908099e-01 -4.88576584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804203822 meters 0.014056249143893607 Centerline is valid? [True, True] Translation: X:173.41, Y:-23.58, Z:-4.88 [[ 9.85981800e-01 1.66241316e-01 1.42728828e-02 1.73408942e+02] [-1.66225127e-01 9.86085097e-01 -2.32146256e-03 -2.35781949e+01] [-1.44602001e-02 -8.35919322e-05 9.99895442e-01 -4.88442229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.834203822 meters 0.01175553224379843 Centerline is valid? [True, True] Translation: X:173.44, Y:-23.59, Z:-4.88 [[ 9.86671570e-01 1.61983728e-01 1.55075503e-02 1.73436158e+02] [-1.61964104e-01 9.86793429e-01 -2.52141530e-03 -2.35900580e+01] [-1.57111770e-02 -2.38576966e-05 9.99876572e-01 -4.88165366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864203822 meters 0.011676660365430202 Centerline is valid? [True, True] Translation: X:173.46, Y:-23.60, Z:-4.88 [[ 9.86926078e-01 1.60392476e-01 1.58483520e-02 1.73463020e+02] [-1.60371786e-01 9.87053319e-01 -2.57615395e-03 -2.35962553e+01] [-1.60563642e-02 8.44999137e-07 9.99871088e-01 -4.88241575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.894203822 meters 0.01168054967006312 Centerline is valid? [True, True] Translation: X:173.49, Y:-23.60, Z:-4.88 [[ 9.87225411e-01 1.58610027e-01 1.51277126e-02 1.73490940e+02] [-1.58590982e-01 9.87341308e-01 -2.45802063e-03 -2.36015104e+01] [-1.53260822e-02 2.75016302e-05 9.99882548e-01 -4.88274283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.924203822 meters 0.012554308510254757 Centerline is valid? [True, True] Translation: X:173.52, Y:-23.61, Z:-4.89 [[ 9.87286577e-01 1.58290479e-01 1.44685817e-02 1.73517881e+02] [-1.58273028e-01 9.87392588e-01 -2.35059057e-03 -2.36053940e+01] [-1.46582464e-02 3.07202782e-05 9.99892562e-01 -4.88743016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.954203822 meters 0.014692453374140437 Centerline is valid? [True, True] Translation: X:173.55, Y:-23.61, Z:-4.89 [[ 9.87233748e-01 1.58668036e-01 1.39276935e-02 1.73546986e+02] [-1.58651922e-01 9.87331988e-01 -2.26139804e-03 -2.36081531e+01] [-1.41100688e-02 2.28731339e-05 9.99900448e-01 -4.88713057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.984203822 meters 0.01251224935116414 Centerline is valid? [True, True] Translation: X:173.57, Y:-23.61, Z:-4.89 [[ 9.87034202e-01 1.59908826e-01 1.38799081e-02 1.73574465e+02] [-1.59892947e-01 9.87131788e-01 -2.25347828e-03 -2.36088189e+01] [-1.40616496e-02 4.96071424e-06 9.99901130e-01 -4.88960449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.014203822 meters 0.012524613119817826 Centerline is valid? [True, True] Translation: X:173.60, Y:-23.61, Z:-4.89 [[ 9.86878548e-01 1.60883603e-01 1.36820362e-02 1.73603380e+02] [-1.60868291e-01 9.86973387e-01 -2.21966982e-03 -2.36114287e+01] [-1.38609141e-02 -1.04612533e-05 9.99903933e-01 -4.89070639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04420382200001 meters 0.013331217723724451 Centerline is valid? [True, True] Translation: X:173.63, Y:-23.61, Z:-4.89 [[ 9.86733189e-01 1.61813918e-01 1.31859692e-02 1.73630850e+02] [-1.61799785e-01 9.86821288e-01 -2.13877775e-03 -2.36129561e+01] [-1.33582792e-02 -2.30839981e-05 9.99910774e-01 -4.89340681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07420382200002 meters 0.013537656292458866 Centerline is valid? [True, True] Translation: X:173.66, Y:-23.61, Z:-4.89 [[ 9.86466370e-01 1.63439440e-01 1.31015295e-02 1.73660131e+02] [-1.63425643e-01 9.86553368e-01 -2.12412331e-03 -2.36100522e+01] [-1.32725235e-02 -4.57496629e-05 9.99911915e-01 -4.89354823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10420382200002 meters 0.013698192384593034 Centerline is valid? [True, True] Translation: X:173.69, Y:-23.61, Z:-4.89 [[ 9.86414910e-01 1.63738776e-01 1.32377742e-02 1.73686922e+02] [-1.63724719e-01 9.86503731e-01 -2.14609051e-03 -2.36110210e+01] [-1.34105119e-02 -5.04151950e-05 9.99910074e-01 -4.89428373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13420382200002 meters 0.012784782139811365 Centerline is valid? [True, True] Translation: X:173.72, Y:-23.61, Z:-4.89 [[ 9.86566948e-01 1.62801773e-01 1.34625439e-02 1.73715966e+02] [-1.62787170e-01 9.86658797e-01 -2.18088549e-03 -2.36141736e+01] [-1.36379894e-02 -3.99398812e-05 9.99906998e-01 -4.89346071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16420382200002 meters 0.012147580231488568 Centerline is valid? [True, True] Translation: X:173.74, Y:-23.62, Z:-4.89 [[ 9.86873069e-01 1.60915112e-01 1.37066243e-02 1.73743781e+02] [-1.60899802e-01 9.86968250e-01 -2.21973386e-03 -2.36205648e+01] [-1.38851918e-02 -1.47975689e-05 9.99903596e-01 -4.89348808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19420382200002 meters 0.02462530468689098 Centerline is valid? [True, True] Translation: X:173.77, Y:-23.63, Z:-4.90 [[ 9.87252024e-01 1.58495587e-01 1.45804386e-02 1.73771056e+02] [-1.58478008e-01 9.87359686e-01 -2.36058854e-03 -2.36284373e+01] [-1.47702801e-02 1.98169560e-05 9.99890913e-01 -4.89586625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22420382200002 meters 0.01452355226693209 Centerline is valid? [True, True] Translation: X:173.80, Y:-23.64, Z:-4.89 [[ 9.88337459e-01 1.51506195e-01 1.53277699e-02 1.73797360e+02] [-1.51485943e-01 9.88456300e-01 -2.48052520e-03 -2.36435424e+01] [-1.55266456e-02 1.29654291e-04 9.99879446e-01 -4.89346743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254203822 meters 0.017645470833949014 Centerline is valid? [True, True] Translation: X:173.82, Y:-23.65, Z:-4.89 [[ 9.88908800e-01 1.47744676e-01 1.51952472e-02 1.73823287e+02] [-1.47724341e-01 9.89025518e-01 -2.45830175e-03 -2.36537948e+01] [-1.53916883e-02 1.86328348e-04 9.99881524e-01 -4.89453816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284203822 meters 0.022104262121499647 Centerline is valid? [True, True] Translation: X:173.85, Y:-23.67, Z:-4.89 [[ 9.89896437e-01 1.40896402e-01 1.59137457e-02 1.73851287e+02] [-1.40873242e-01 9.90024298e-01 -2.57269320e-03 -2.36678319e+01] [-1.61174782e-02 3.04878880e-04 9.99870059e-01 -4.89250201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314203822 meters 0.02731428645209326 Centerline is valid? [True, True] Translation: X:173.88, Y:-23.68, Z:-4.89 [[ 9.90271672e-01 1.38153340e-01 1.66033179e-02 1.73878123e+02] [-1.38127749e-01 9.90410784e-01 -2.68386256e-03 -2.36820999e+01] [-1.68148896e-02 3.64374144e-04 9.99858553e-01 -4.89453790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344203822 meters 0.029071836445026422 Centerline is valid? [True, True] Translation: X:173.91, Y:-23.69, Z:-4.90 [[ 9.90567907e-01 1.36056339e-01 1.62448083e-02 1.73906461e+02] [-1.36031572e-01 9.90701024e-01 -2.62515656e-03 -2.36918596e+01] [-1.64509174e-02 3.90589025e-04 9.99864598e-01 -4.89538438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.374203822 meters 0.035965347584773044 Centerline is valid? [True, True] Translation: X:173.93, Y:-23.70, Z:-4.90 [[ 9.90787203e-01 1.34516744e-01 1.56832274e-02 1.73933366e+02] [-1.34493470e-01 9.90911239e-01 -2.53419748e-03 -2.37031868e+01] [-1.58815783e-02 4.01558758e-04 9.99873799e-01 -4.89776615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404203822 meters 0.03637959078036347 Centerline is valid? [True, True] Translation: X:173.96, Y:-23.71, Z:-4.90 [[ 9.90706627e-01 1.35071322e-01 1.60036454e-02 1.73962782e+02] [-1.35047171e-01 9.90835798e-01 -2.58523859e-03 -2.37094615e+01] [-1.62061763e-02 3.99965968e-04 9.99868591e-01 -4.89843875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.434203822 meters 0.028501119488471414 Centerline is valid? [True, True] Translation: X:173.99, Y:-23.71, Z:-4.90 [[ 9.90536944e-01 1.36346823e-01 1.56878011e-02 1.73992017e+02] [-1.36323782e-01 9.90661095e-01 -2.53386135e-03 -2.37137911e+01] [-1.58867781e-02 3.71262913e-04 9.99873728e-01 -4.89833266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464203822 meters 0.024516551470998536 Centerline is valid? [True, True] Translation: X:174.02, Y:-23.72, Z:-4.90 [[ 9.89923216e-01 1.40795130e-01 1.51247133e-02 1.74020425e+02] [-1.40774235e-01 9.90038710e-01 -2.44272473e-03 -2.37158217e+01] [-1.53179754e-02 2.88939983e-04 9.99882631e-01 -4.90055562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.494203822 meters 0.022430879756680618 Centerline is valid? [True, True] Translation: X:174.05, Y:-23.72, Z:-4.90 [[ 9.89547356e-01 1.43428144e-01 1.49798974e-02 1.74048424e+02] [-1.43407952e-01 9.89660703e-01 -2.41911802e-03 -2.37184055e+01] [-1.51719854e-02 2.45595434e-04 9.99884869e-01 -4.90215044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524203822 meters 0.017004978820408745 Centerline is valid? [True, True] Translation: X:174.08, Y:-23.72, Z:-4.90 [[ 9.88835502e-01 1.48245435e-01 1.50877450e-02 1.74077770e+02] [-1.48225530e-01 9.88950586e-01 -2.43532710e-03 -2.37193917e+01] [-1.52820604e-02 1.71748891e-04 9.99883208e-01 -4.90218517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.554203822 meters 0.015002657323545096 Centerline is valid? [True, True] Translation: X:174.11, Y:-23.72, Z:-4.90 [[ 9.88508000e-01 1.50449368e-01 1.47282559e-02 1.74106703e+02] [-1.50430650e-01 9.88617707e-01 -2.37696296e-03 -2.37220320e+01] [-1.49182271e-02 1.34065800e-04 9.99888708e-01 -4.90274502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584203822 meters 0.014586678243023921 Centerline is valid? [True, True] Translation: X:174.13, Y:-23.73, Z:-4.91 [[ 9.88244659e-01 1.52210489e-01 1.42989788e-02 1.74133759e+02] [-1.52193038e-01 9.88348095e-01 -2.30717669e-03 -2.37256585e+01] [-1.44835449e-02 1.03850023e-04 9.99895103e-01 -4.90558749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.614203822 meters 0.01404284840714794 Centerline is valid? [True, True] Translation: X:174.16, Y:-23.73, Z:-4.91 [[ 9.87991167e-01 1.53894634e-01 1.37802910e-02 1.74161624e+02] [-1.53878601e-01 9.88087261e-01 -2.22266137e-03 -2.37286488e+01] [-1.39581857e-02 7.54778952e-05 9.99902577e-01 -4.90811522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644203822 meters 0.013188949314148558 Centerline is valid? [True, True] Translation: X:174.19, Y:-23.73, Z:-4.91 [[ 9.87561323e-01 1.56706810e-01 1.28689496e-02 1.74190382e+02] [-1.56693078e-01 9.87645166e-01 -2.07482252e-03 -2.37337795e+01] [-1.30350947e-02 3.25391454e-05 9.99915039e-01 -4.91050354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.674203822 meters 0.012615600421824266 Centerline is valid? [True, True] Translation: X:174.22, Y:-23.74, Z:-4.91 [[ 9.87322608e-01 1.58182952e-01 1.31232839e-02 1.74218482e+02] [-1.58168810e-01 9.87409820e-01 -2.11518774e-03 -2.37392814e+01] [-1.32926460e-02 1.26784842e-05 9.99911649e-01 -4.90995092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.704203822 meters 0.013448368338688047 Centerline is valid? [True, True] Translation: X:174.25, Y:-23.74, Z:-4.91 [[ 9.86661354e-01 1.62210453e-01 1.36799469e-02 1.74246160e+02] [-1.62195480e-01 9.86756184e-01 -2.20435257e-03 -2.37407800e+01] [-1.38563412e-02 -4.38760652e-05 9.99903995e-01 -4.91024602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.734203822 meters 0.014180653587327355 Centerline is valid? [True, True] Translation: X:174.28, Y:-23.74, Z:-4.91 [[ 9.86276682e-01 1.64505935e-01 1.40036870e-02 1.74275116e+02] [-1.64490492e-01 9.86376090e-01 -2.25543795e-03 -2.37426069e+01] [-1.41839350e-02 -7.89875103e-05 9.99899400e-01 -4.90930927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.764203822 meters 0.015523802476414385 Centerline is valid? [True, True] Translation: X:174.30, Y:-23.74, Z:-4.91 [[ 9.85912669e-01 1.66639935e-01 1.43993426e-02 1.74303678e+02] [-1.66623845e-01 9.86017809e-01 -2.31843324e-03 -2.37444498e+01] [-1.45843518e-02 -1.13501123e-04 9.99893636e-01 -4.90952999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79420382200001 meters 0.018402062336919312 Centerline is valid? [True, True] Translation: X:174.33, Y:-23.74, Z:-4.91 [[ 9.85202429e-01 1.70708885e-01 1.53183005e-02 1.74332559e+02] [-1.70691179e-01 9.85321492e-01 -2.46558033e-03 -2.37446317e+01] [-1.55143472e-02 -1.85603052e-04 9.99879628e-01 -4.90833549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82420382200002 meters 0.018402062336919312 Centerline is valid? [True, True] Translation: X:174.36, Y:-23.75, Z:-4.91 [[ 9.85214620e-01 1.70638510e-01 1.53183696e-02 1.74359716e+02] [-1.70620803e-01 9.85333682e-01 -2.46515128e-03 -2.37488623e+01] [-1.55143552e-02 -1.84929427e-04 9.99879628e-01 -4.90911593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85420382200002 meters 0.018772123483537764 Centerline is valid? [True, True] Translation: X:174.39, Y:-23.75, Z:-4.91 [[ 9.84937928e-01 1.72170503e-01 1.59560724e-02 1.74387987e+02] [-1.72151516e-01 9.85067140e-01 -2.56624607e-03 -2.37530989e+01] [-1.61596345e-02 -2.19268974e-04 9.99869401e-01 -4.90833015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88420382200002 meters 0.022229381332571036 Centerline is valid? [True, True] Translation: X:174.42, Y:-23.76, Z:-4.91 [[ 9.84541822e-01 1.74413995e-01 1.60361800e-02 1.74415468e+02] [-1.74395125e-01 9.84672378e-01 -2.57845982e-03 -2.37553614e+01] [-1.62401030e-02 -2.58030091e-04 9.99868088e-01 -4.91163950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91420382200002 meters 0.022534006754384262 Centerline is valid? [True, True] Translation: X:174.44, Y:-23.76, Z:-4.91 [[ 9.84428876e-01 1.75109281e-01 1.53794729e-02 1.74443573e+02] [-1.75092027e-01 9.84548969e-01 -2.47179799e-03 -2.37605402e+01] [-1.55746789e-02 -2.59513767e-04 9.99878674e-01 -4.91369202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94420382200002 meters 0.021950172408717477 Centerline is valid? [True, True] Translation: X:174.47, Y:-23.77, Z:-4.91 [[ 9.84384238e-01 1.75440654e-01 1.44308086e-02 1.74471943e+02] [-1.75425507e-01 9.84489977e-01 -2.31872905e-03 -2.37663476e+01] [-1.46137858e-02 -2.49011592e-04 9.99893182e-01 -4.91481795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97420382200002 meters 0.02412636899330317 Centerline is valid? [True, True] Translation: X:174.50, Y:-23.77, Z:-4.92 [[ 9.84503706e-01 1.74866292e-01 1.31996993e-02 1.74499148e+02] [-1.74853573e-01 9.84592165e-01 -2.12056828e-03 -2.37683295e+01] [-1.33671365e-02 -2.20307258e-04 9.99910632e-01 -4.92052237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004203822 meters 0.021291212319116966 Centerline is valid? [True, True] Translation: X:174.53, Y:-23.78, Z:-4.92 [[ 9.84689437e-01 1.73857014e-01 1.26669180e-02 1.74527201e+02] [-1.73845229e-01 9.84770887e-01 -2.03402232e-03 -2.37768652e+01] [-1.28276411e-02 -1.99202970e-04 9.99917703e-01 -4.92003565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034203822 meters 0.01994228660924312 Centerline is valid? [True, True] Translation: X:174.55, Y:-23.79, Z:-4.92 [[ 9.85309296e-01 1.70306271e-01 1.27029482e-02 1.74553802e+02] [-1.70294130e-01 9.85391166e-01 -2.03935223e-03 -2.37860432e+01] [-1.28646875e-02 -1.53844809e-04 9.99917235e-01 -4.92428853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064203822 meters 0.018041117562398266 Centerline is valid? [True, True] Translation: X:174.58, Y:-23.80, Z:-4.93 [[ 9.85700891e-01 1.68061308e-01 1.22127239e-02 1.74580930e+02] [-1.68049925e-01 9.85776538e-01 -1.95972090e-03 -2.37958533e+01] [-1.23683699e-02 -1.20648693e-04 9.99923502e-01 -4.92568852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.094203822 meters 0.02463640252673353 Centerline is valid? [True, True] Translation: X:174.61, Y:-23.81, Z:-4.93 [[ 9.86445769e-01 1.63693953e-01 1.13593031e-02 1.74607952e+02] [-1.63683820e-01 9.86511169e-01 -1.82236998e-03 -2.38096453e+01] [-1.15043904e-02 -6.16649681e-05 9.99933820e-01 -4.92628592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124203822 meters 0.014612119858093077 Centerline is valid? [True, True] Translation: X:174.64, Y:-23.82, Z:-4.93 [[ 9.86734805e-01 1.61970951e-01 1.09469274e-02 1.74635335e+02] [-1.61961438e-01 9.86795526e-01 -1.75592080e-03 -2.38166657e+01] [-1.10867871e-02 -4.03519302e-05 9.99938539e-01 -4.92962520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.154203822 meters 0.014028125028314027 Centerline is valid? [True, True] Translation: X:174.66, Y:-23.82, Z:-4.93 [[ 9.87050085e-01 1.60051473e-01 1.07543215e-02 1.74663008e+02] [-1.60042187e-01 9.87108670e-01 -1.72414175e-03 -2.38244644e+01] [-1.08916355e-02 -1.93308844e-05 9.99940684e-01 -4.93068785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184203822 meters 0.013735314442398215 Centerline is valid? [True, True] Translation: X:174.69, Y:-23.83, Z:-4.93 [[ 9.87425018e-01 1.57771205e-01 1.00040468e-02 1.74691000e+02] [-1.57763056e-01 9.87475694e-01 -1.60349576e-03 -2.38327228e+01] [-1.01317386e-02 5.06282921e-06 9.99948673e-01 -4.93007525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.214203822 meters 0.014007693521114167 Centerline is valid? [True, True] Translation: X:174.72, Y:-23.84, Z:-4.93 [[ 9.87511164e-01 1.57242679e-01 9.82045849e-03 1.74718122e+02] [-1.57234803e-01 9.87559993e-01 -1.57382603e-03 -2.38380431e+01] [-9.94576454e-03 1.00529204e-05 9.99950540e-01 -4.93159011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244203822 meters 0.0138487846213021 Centerline is valid? [True, True] Translation: X:174.75, Y:-23.84, Z:-4.93 [[ 9.87580290e-01 1.56788983e-01 1.01185765e-02 1.74745877e+02] [-1.56780607e-01 9.87632125e-01 -1.62068264e-03 -2.38440603e+01] [-1.02475364e-02 1.41576535e-05 9.99947493e-01 -4.93164987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.274203822 meters 0.013450815444622755 Centerline is valid? [True, True] Translation: X:174.77, Y:-23.85, Z:-4.93 [[ 9.87733909e-01 1.55702486e-01 1.17669378e-02 1.74772427e+02] [-1.55691089e-01 9.87803996e-01 -1.88408055e-03 -2.38542939e+01] [-1.19167842e-02 2.89628915e-05 9.99928992e-01 -4.92905290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304203822 meters 0.01376876881546883 Centerline is valid? [True, True] Translation: X:174.80, Y:-23.86, Z:-4.93 [[ 9.87873859e-01 1.54759422e-01 1.24402297e-02 1.74799111e+02] [-1.54746619e-01 9.87952185e-01 -1.99100851e-03 -2.38613668e+01] [-1.25984794e-02 4.17817728e-05 9.99920635e-01 -4.92927530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.334203822 meters 0.013739507359848043 Centerline is valid? [True, True] Translation: X:174.83, Y:-23.87, Z:-4.93 [[ 9.88196253e-01 1.52567526e-01 1.38317013e-02 1.74828068e+02] [-1.52551507e-01 9.88293046e-01 -2.21214279e-03 -2.38696151e+01] [-1.40072753e-02 7.59843394e-05 9.99901890e-01 -4.92590929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364203822 meters 0.014756609721283785 Centerline is valid? [True, True] Translation: X:174.86, Y:-23.88, Z:-4.93 [[ 9.88366012e-01 1.51425714e-01 1.42435811e-02 1.74855209e+02] [-1.51408613e-01 9.88468636e-01 -2.27766484e-03 -2.38780318e+01] [-1.44242302e-02 9.45656701e-05 9.99895961e-01 -4.92772741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.394203822 meters 0.015693741846853588 Centerline is valid? [True, True] Translation: X:174.88, Y:-23.89, Z:-4.93 [[ 9.88571875e-01 1.50027340e-01 1.47460263e-02 1.74883145e+02] [-1.50008860e-01 9.88681841e-01 -2.35770619e-03 -2.38877261e+01] [-1.49328489e-02 1.18727431e-04 9.99888492e-01 -4.92809768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.424203822 meters 0.017273895518078883 Centerline is valid? [True, True] Translation: X:174.91, Y:-23.90, Z:-4.93 [[ 9.88963767e-01 1.47289035e-01 1.60189871e-02 1.74912155e+02] [-1.47266884e-01 9.89093479e-01 -2.56014565e-03 -2.39024964e+01] [-1.62213570e-02 1.72824971e-04 9.99868410e-01 -4.92579306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.454203822 meters 0.0176630687566212 Centerline is valid? [True, True] Translation: X:174.94, Y:-23.91, Z:-4.93 [[ 9.89038319e-01 1.46775888e-01 1.61258156e-02 1.74942678e+02] [-1.46753378e-01 9.89169756e-01 -2.57693268e-03 -2.39109389e+01] [-1.63294007e-02 1.82167248e-04 9.99866650e-01 -4.92599192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.484203822 meters 0.016327005484495297 Centerline is valid? [True, True] Translation: X:174.97, Y:-23.92, Z:-4.93 [[ 9.88896509e-01 1.47772959e-01 1.57113874e-02 1.74974032e+02] [-1.47751741e-01 9.89021298e-01 -2.50920731e-03 -2.39201608e+01] [-1.59096898e-02 1.59961505e-04 9.99873420e-01 -4.92597856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.514203822 meters 0.015430565531974584 Centerline is valid? [True, True] Translation: X:175.00, Y:-23.93, Z:-4.93 [[ 9.88656889e-01 1.49397268e-01 1.54276146e-02 1.75004241e+02] [-1.49376963e-01 9.88777244e-01 -2.46666657e-03 -2.39258682e+01] [-1.56229875e-02 1.34156676e-04 9.99877945e-01 -4.92770454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54420382200001 meters 0.015142046342549337 Centerline is valid? [True, True] Translation: X:175.03, Y:-23.93, Z:-4.93 [[ 9.88372821e-01 1.51353387e-01 1.45367872e-02 1.75034162e+02] [-1.51335511e-01 9.88479713e-01 -2.32834258e-03 -2.39305507e+01] [-1.47217218e-02 1.01338408e-04 9.99891624e-01 -4.93201447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57420382200002 meters 0.014056420463448863 Centerline is valid? [True, True] Translation: X:175.06, Y:-23.93, Z:-4.94 [[ 9.88007265e-01 1.53857186e-01 1.30234685e-02 1.75064756e+02] [-1.53843052e-01 9.88093094e-01 -2.08626579e-03 -2.39332240e+01] [-1.31893863e-02 5.76756184e-05 9.99913015e-01 -4.93529969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60420382200002 meters 0.013632316987750897 Centerline is valid? [True, True] Translation: X:175.09, Y:-23.93, Z:-4.94 [[ 9.87095786e-01 1.59758440e-01 1.09155790e-02 1.75094795e+02] [-1.59748869e-01 9.87156138e-01 -1.74881053e-03 -2.39336733e+01] [-1.10547680e-02 -1.75078951e-05 9.99938894e-01 -4.93842575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63420382200002 meters 0.015053592104505862 Centerline is valid? [True, True] Translation: X:175.12, Y:-23.94, Z:-4.94 [[ 9.86561694e-01 1.63012365e-01 1.10902409e-02 1.75123366e+02] [-1.63002687e-01 9.86624025e-01 -1.77707240e-03 -2.39351435e+01] [-1.12315829e-02 -5.45475043e-05 9.99936922e-01 -4.94003058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66420382200002 meters 0.01969672318244549 Centerline is valid? [True, True] Translation: X:175.15, Y:-23.93, Z:-4.94 [[ 9.85426248e-01 1.69723747e-01 1.13560682e-02 1.75152707e+02] [-1.69714049e-01 9.85491670e-01 -1.81926666e-03 -2.39311166e+01] [-1.15000833e-02 -1.34531196e-04 9.99933863e-01 -4.93990235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69420382200002 meters 0.022288337183882224 Centerline is valid? [True, True] Translation: X:175.18, Y:-23.93, Z:-4.94 [[ 9.84935130e-01 1.72582172e-01 1.08712522e-02 1.75181850e+02] [-1.72573462e-01 9.84995111e-01 -1.74133783e-03 -2.39317823e+01] [-1.10086541e-02 -1.60984826e-04 9.99939390e-01 -4.94080996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72420382200002 meters 0.02770282182495332 Centerline is valid? [True, True] Translation: X:175.21, Y:-23.93, Z:-4.94 [[ 9.84049424e-01 1.77603372e-01 1.01868942e-02 1.75210999e+02] [-1.77596000e-01 9.84102129e-01 -1.63109610e-03 -2.39300535e+01] [-1.03146324e-02 -2.04072475e-04 9.99946782e-01 -4.94299195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75420382200002 meters 0.02985240970721383 Centerline is valid? [True, True] Translation: X:175.24, Y:-23.93, Z:-4.94 [[ 9.83648191e-01 1.79794951e-01 1.04886486e-02 1.75240238e+02] [-1.79787261e-01 9.83704082e-01 -1.67921528e-03 -2.39320904e+01] [-1.06196409e-02 -2.33968333e-04 9.99943583e-01 -4.94308362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784203822 meters 0.03149822104544285 Centerline is valid? [True, True] Translation: X:175.27, Y:-23.93, Z:-4.94 [[ 9.83330120e-01 1.81500375e-01 1.09310979e-02 1.75269067e+02] [-1.81492134e-01 9.83390840e-01 -1.74947126e-03 -2.39340334e+01] [-1.10670712e-02 -2.63600506e-04 9.99938723e-01 -4.94311249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814203822 meters 0.0333194366219458 Centerline is valid? [True, True] Translation: X:175.30, Y:-23.94, Z:-4.94 [[ 9.83132769e-01 1.82538887e-01 1.13804245e-02 1.75296496e+02] [-1.82530029e-01 9.83198593e-01 -1.82100894e-03 -2.39357256e+01] [-1.15216223e-02 -2.86975660e-04 9.99933583e-01 -4.94362809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844203822 meters 0.03245197209238182 Centerline is valid? [True, True] Translation: X:175.32, Y:-23.94, Z:-4.94 [[ 9.83159619e-01 1.82412032e-01 1.10911765e-02 1.75324070e+02] [-1.82403621e-01 9.83222138e-01 -1.77386803e-03 -2.39429741e+01] [-1.12286651e-02 -2.79075330e-04 9.99936918e-01 -4.94428956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.874203822 meters 0.031520121320176814 Centerline is valid? [True, True] Translation: X:175.35, Y:-23.95, Z:-4.95 [[ 9.83285471e-01 1.81738543e-01 1.09902188e-02 1.75351955e+02] [-1.81730247e-01 9.83346851e-01 -1.75721206e-03 -2.39494388e+01] [-1.11265502e-02 -2.69414096e-04 9.99938062e-01 -4.94552017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904203822 meters 0.029931715771471298 Centerline is valid? [True, True] Translation: X:175.38, Y:-23.96, Z:-4.95 [[ 9.83593945e-01 1.80119925e-01 9.98821256e-03 1.75380127e+02] [-1.80112993e-01 9.83644631e-01 -1.59665184e-03 -2.39564356e+01] [-1.01124405e-02 -2.28549783e-04 9.99948842e-01 -4.94853659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.934203822 meters 0.031832862069843496 Centerline is valid? [True, True] Translation: X:175.41, Y:-23.96, Z:-4.95 [[ 9.83768749e-01 1.79176591e-01 9.73644720e-03 1.75407701e+02] [-1.79169959e-01 9.83816906e-01 -1.55635626e-03 -2.39584718e+01] [-9.85774397e-03 -2.13384192e-04 9.99951388e-01 -4.95293416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964203822 meters 0.026822461639075285 Centerline is valid? [True, True] Translation: X:175.44, Y:-23.97, Z:-4.95 [[ 9.83899800e-01 1.78462094e-01 9.61586463e-03 1.75435118e+02] [-1.78455600e-01 9.83946766e-01 -1.53609298e-03 -2.39685552e+01] [-9.73563328e-03 -2.04643315e-04 9.99952587e-01 -4.94905383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.994203822 meters 0.025337781606312577 Centerline is valid? [True, True] Translation: X:175.46, Y:-23.97, Z:-4.95 [[ 9.84180787e-01 1.76889501e-01 9.91378313e-03 1.75463793e+02] [-1.76882527e-01 9.84230698e-01 -1.58292076e-03 -2.39746873e+01] [-1.00374517e-02 -1.95694806e-04 9.99949604e-01 -4.94861294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024203822 meters 0.02817723880880893 Centerline is valid? [True, True] Translation: X:175.49, Y:-23.98, Z:-4.95 [[ 9.84316899e-01 1.76113909e-01 1.02045925e-02 1.75491684e+02] [-1.76106477e-01 9.84369775e-01 -1.62937779e-03 -2.39751660e+01] [-1.03320486e-02 -1.93270753e-04 9.99946604e-01 -4.95276244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.054203822 meters 0.02385562271411176 Centerline is valid? [True, True] Translation: X:175.52, Y:-23.98, Z:-4.95 [[ 9.84486314e-01 1.75181183e-01 9.91211432e-03 1.75519360e+02] [-1.75174127e-01 9.84536196e-01 -1.58238852e-03 -2.39842568e+01] [-1.00360400e-02 -1.78506137e-04 9.99949622e-01 -4.94916386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084203822 meters 0.023307220284339316 Centerline is valid? [True, True] Translation: X:175.55, Y:-23.99, Z:-4.95 [[ 9.84857966e-01 1.72995628e-01 1.12827218e-02 1.75547189e+02] [-1.72986359e-01 9.84922576e-01 -1.79970177e-03 -2.39864562e+01] [-1.14239480e-02 -1.79306353e-04 9.99934729e-01 -4.95025475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.114203822 meters 0.021779307198460343 Centerline is valid? [True, True] Translation: X:175.58, Y:-23.99, Z:-4.95 [[ 9.85090723e-01 1.71689982e-01 1.09003865e-02 1.75575315e+02] [-1.71681259e-01 9.85151016e-01 -1.73797926e-03 -2.39924677e+01] [-1.10369205e-02 -1.59324833e-04 9.99939079e-01 -4.95095928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144203822 meters 0.019252874404266495 Centerline is valid? [True, True] Translation: X:175.60, Y:-24.00, Z:-4.95 [[ 9.85716143e-01 1.68087542e-01 1.05006035e-02 1.75602132e+02] [-1.68079246e-01 9.85772065e-01 -1.67398656e-03 -2.40012718e+01] [-1.06325779e-02 -1.14857947e-04 9.99943466e-01 -4.95315791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.174203822 meters 0.03093847765297482 Centerline is valid? [True, True] Translation: X:175.63, Y:-24.01, Z:-4.95 [[ 9.86043723e-01 1.66143971e-01 1.06750497e-02 1.75630246e+02] [-1.66135292e-01 9.86101502e-01 -1.70091061e-03 -2.40082974e+01] [-1.08092786e-02 -9.63302760e-05 9.99941573e-01 -4.95439312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.204203822 meters 0.02297953266266073 Centerline is valid? [True, True] Translation: X:175.66, Y:-24.02, Z:-4.96 [[ 9.86410420e-01 1.63981006e-01 1.02329634e-02 1.75658270e+02] [-1.63972919e-01 9.86463494e-01 -1.63004814e-03 -2.40162727e+01] [-1.03617418e-02 -7.00324201e-05 9.99946313e-01 -4.95506374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.234203822 meters 0.015647183300796882 Centerline is valid? [True, True] Translation: X:175.69, Y:-24.03, Z:-4.96 [[ 9.87029156e-01 1.60294413e-01 8.89641919e-03 1.75685898e+02] [-1.60288155e-01 9.87069248e-01 -1.41665277e-03 -2.40259672e+01] [-9.00846332e-03 -2.77130274e-05 9.99959423e-01 -4.95957991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.264203822 meters 0.015511700811711842 Centerline is valid? [True, True] Translation: X:175.72, Y:-24.03, Z:-4.96 [[ 9.87195170e-01 1.59312598e-01 8.07414448e-03 1.75715055e+02] [-1.59307414e-01 9.87228188e-01 -1.28526398e-03 -2.40324010e+01] [-8.17578177e-03 -1.74646818e-05 9.99966578e-01 -4.96111327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29420382200001 meters 0.015560468252924382 Centerline is valid? [True, True] Translation: X:175.74, Y:-24.04, Z:-4.96 [[ 9.87262440e-01 1.58896254e-01 8.05330865e-03 1.75743263e+02] [-1.58891083e-01 9.87295285e-01 -1.28199134e-03 -2.40373498e+01] [-8.15469728e-03 -1.39370404e-05 9.99966750e-01 -4.96167778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32420382200002 meters 0.014608410422172724 Centerline is valid? [True, True] Translation: X:175.77, Y:-24.04, Z:-4.96 [[ 9.87177366e-01 1.59382462e-01 8.83619550e-03 1.75772384e+02] [-1.59376258e-01 9.87216911e-01 -1.40646927e-03 -2.40395502e+01] [-8.94740817e-03 -1.98451431e-05 9.99959971e-01 -4.95817263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35420382200002 meters 0.020314695630981004 Centerline is valid? [True, True] Translation: X:175.80, Y:-24.04, Z:-4.96 [[ 9.87005926e-01 1.60435804e-01 8.92500797e-03 1.75801540e+02] [-1.60429521e-01 9.87046276e-01 -1.42015654e-03 -2.40411294e+01] [-9.03723984e-03 -3.01318311e-05 9.99959163e-01 -4.95798347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38420382200002 meters 0.016301443343082107 Centerline is valid? [True, True] Translation: X:175.83, Y:-24.04, Z:-4.96 [[ 9.86691486e-01 1.62337699e-01 9.29427743e-03 1.75829872e+02] [-1.62330972e-01 9.86735258e-01 -1.47871831e-03 -2.40399661e+01] [-9.41104297e-03 -4.97103220e-05 9.99955714e-01 -4.96168970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41420382200002 meters 0.016429469114032168 Centerline is valid? [True, True] Translation: X:175.86, Y:-24.04, Z:-4.96 [[ 9.86569700e-01 1.63085699e-01 9.12591222e-03 1.75858802e+02] [-1.63079254e-01 9.86611905e-01 -1.45097351e-03 -2.40434538e+01] [-9.24036667e-03 -5.67604594e-05 9.99957305e-01 -4.96156989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44420382200002 meters 0.016800595587656533 Centerline is valid? [True, True] Translation: X:175.89, Y:-24.05, Z:-4.96 [[ 9.86478103e-01 1.63632446e-01 9.23989529e-03 1.75887257e+02] [-1.63625867e-01 9.86521373e-01 -1.46863074e-03 -2.40473299e+01] [-9.35566983e-03 -6.31138183e-05 9.99956233e-01 -4.96202106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47420382200002 meters 0.02606817700970787 Centerline is valid? [True, True] Translation: X:175.91, Y:-24.05, Z:-4.96 [[ 9.86423877e-01 1.63948081e-01 9.43192891e-03 1.75914575e+02] [-1.63941243e-01 9.86468967e-01 -1.49888704e-03 -2.40502294e+01] [-9.55004482e-03 -6.77441844e-05 9.99954395e-01 -4.96285384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50420382200002 meters 0.0165231153311951 Centerline is valid? [True, True] Translation: X:175.94, Y:-24.06, Z:-4.96 [[ 9.86496608e-01 1.63503849e-01 9.53589975e-03 1.75943333e+02] [-1.63496846e-01 9.86542694e-01 -1.51460607e-03 -2.40552770e+01] [-9.65521615e-03 -6.49357876e-05 9.99953385e-01 -4.96181859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534203822 meters 0.014650214613982386 Centerline is valid? [True, True] Translation: X:175.97, Y:-24.06, Z:-4.96 [[ 9.86945100e-01 1.60667057e-01 1.12012003e-02 1.75971429e+02] [-1.60657223e-01 9.87008660e-01 -1.77812066e-03 -2.40625957e+01] [-1.13413671e-02 -4.46462596e-05 9.99935684e-01 -4.96041693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564203822 meters 0.013467036056838074 Centerline is valid? [True, True] Translation: X:176.00, Y:-24.07, Z:-4.96 [[ 9.87218985e-01 1.58969028e-01 1.12926103e-02 1.76000280e+02] [-1.58958930e-01 9.87283570e-01 -1.79202903e-03 -2.40710461e+01] [-1.14338857e-02 -2.59361604e-05 9.99934631e-01 -4.95901463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.594203822 meters 0.013663067448494428 Centerline is valid? [True, True] Translation: X:176.03, Y:-24.08, Z:-4.96 [[ 9.87478939e-01 1.57334446e-01 1.14550266e-02 1.76028040e+02] [-1.57323948e-01 9.87545377e-01 -1.81749277e-03 -2.40796860e+01] [-1.15983127e-02 -7.41417298e-06 9.99932737e-01 -4.96167424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624203822 meters 0.013943588473129214 Centerline is valid? [True, True] Translation: X:176.06, Y:-24.09, Z:-4.96 [[ 9.87840315e-01 1.55072365e-01 1.11388540e-02 1.76056742e+02] [-1.55062302e-01 9.87903113e-01 -1.76666193e-03 -2.40911542e+01] [-1.12780690e-02 1.79635326e-05 9.99936400e-01 -4.96231292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.654203822 meters 0.013917125805156954 Centerline is valid? [True, True] Translation: X:176.09, Y:-24.10, Z:-4.96 [[ 9.87954804e-01 1.54384217e-01 1.05270166e-02 1.76086955e+02] [-1.54375190e-01 9.88010887e-01 -1.66962234e-03 -2.40976040e+01] [-1.06585704e-02 2.44012220e-05 9.99943196e-01 -4.96189194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684203822 meters 0.013964966357944857 Centerline is valid? [True, True] Translation: X:176.12, Y:-24.10, Z:-4.96 [[ 9.88004074e-01 1.54078940e-01 1.03745062e-02 1.76116709e+02] [-1.54070157e-01 9.88058540e-01 -1.64543364e-03 -2.41046227e+01] [-1.05041461e-02 2.72933501e-05 9.99944830e-01 -4.96299750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.714203822 meters 0.013964966357944857 Centerline is valid? [True, True] Translation: X:176.15, Y:-24.11, Z:-4.96 [[ 9.88004074e-01 1.54078940e-01 1.03745062e-02 1.76146331e+02] [-1.54070157e-01 9.88058540e-01 -1.64543364e-03 -2.41093209e+01] [-1.05041461e-02 2.72933500e-05 9.99944830e-01 -4.96384911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744203822 meters 0.01838875201812951 Centerline is valid? [True, True] Translation: X:176.17, Y:-24.12, Z:-4.97 [[ 9.88048124e-01 1.53839163e-01 9.71680240e-03 1.76174870e+02] [-1.53831444e-01 9.88095902e-01 -1.54134621e-03 -2.41176289e+01] [-9.83825204e-03 2.81744826e-05 9.99951603e-01 -4.96613195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.774203822 meters 0.01452529158604235 Centerline is valid? [True, True] Translation: X:176.21, Y:-24.12, Z:-4.97 [[ 9.88009253e-01 1.54115177e-01 9.28595438e-03 1.76205113e+02] [-1.54108143e-01 9.88052889e-01 -1.47267047e-03 -2.41230052e+01] [-9.40197492e-03 2.39708632e-05 9.99955800e-01 -4.96714466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804203822 meters 0.014840730442954975 Centerline is valid? [True, True] Translation: X:176.23, Y:-24.13, Z:-4.97 [[ 9.87869223e-01 1.55035512e-01 8.85369457e-03 1.76234463e+02] [-1.55029152e-01 9.87908898e-01 -1.40435304e-03 -2.41284896e+01] [-8.96436824e-03 1.47363924e-05 9.99959819e-01 -4.96949170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.834203822 meters 0.014225676540384521 Centerline is valid? [True, True] Translation: X:176.26, Y:-24.13, Z:-4.97 [[ 9.87768493e-01 1.55647133e-01 9.34741601e-03 1.76263599e+02] [-1.55640070e-01 9.87812720e-01 -1.48276454e-03 -2.41336584e+01] [-9.46428448e-03 9.79560579e-06 9.99955213e-01 -4.96816724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864203822 meters 0.013700827235520033 Centerline is valid? [True, True] Translation: X:176.29, Y:-24.14, Z:-4.97 [[ 9.87647698e-01 1.56351947e-01 1.03001985e-02 1.76293484e+02] [-1.56343418e-01 9.87701407e-01 -1.63313984e-03 -2.41392087e+01] [-1.04288651e-02 2.59857898e-06 9.99945618e-01 -4.96705476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.894203822 meters 0.01381374931642566 Centerline is valid? [True, True] Translation: X:176.32, Y:-24.15, Z:-4.97 [[ 9.87428864e-01 1.57624608e-01 1.17779851e-02 1.76321931e+02] [-1.57613544e-01 9.87499105e-01 -1.86765186e-03 -2.41460727e+01] [-1.19251376e-02 -1.21966089e-05 9.99928893e-01 -4.96790708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.924203822 meters 0.01356813316685665 Centerline is valid? [True, True] Translation: X:176.35, Y:-24.15, Z:-4.97 [[ 9.87327257e-01 1.58242924e-01 1.20027223e-02 1.76352311e+02] [-1.58231483e-01 9.87400211e-01 -1.90293243e-03 -2.41524856e+01] [-1.21526161e-02 -2.03914943e-05 9.99926154e-01 -4.96737459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.954203822 meters 0.014252021163461595 Centerline is valid? [True, True] Translation: X:176.38, Y:-24.16, Z:-4.97 [[ 9.87026610e-01 1.60124627e-01 1.17718162e-02 1.76382164e+02] [-1.60113756e-01 9.87096805e-01 -1.86632419e-03 -2.41574644e+01] [-1.19187667e-02 -4.27180804e-05 9.99928968e-01 -4.96855450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.984203822 meters 0.014315352400266929 Centerline is valid? [True, True] Translation: X:176.41, Y:-24.16, Z:-4.97 [[ 9.86803320e-01 1.61526322e-01 1.13337731e-02 1.76412487e+02] [-1.61516338e-01 9.86868403e-01 -1.79687607e-03 -2.41622586e+01] [-1.14751854e-02 -5.74262564e-05 9.99934156e-01 -4.96790503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.014203822 meters 0.015950185633911956 Centerline is valid? [True, True] Translation: X:176.44, Y:-24.17, Z:-4.97 [[ 9.86566009e-01 1.62989926e-01 1.10360690e-02 1.76441845e+02] [-1.62980548e-01 9.86627731e-01 -1.74988905e-03 -2.41657010e+01] [-1.11737060e-02 -7.22835166e-05 9.99937570e-01 -4.97175394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04420382200001 meters 0.016661862323783114 Centerline is valid? [True, True] Translation: X:176.47, Y:-24.17, Z:-4.97 [[ 9.86266820e-01 1.64793968e-01 1.09867213e-02 1.76471735e+02] [-1.64784789e-01 9.86328008e-01 -1.74171711e-03 -2.41699459e+01] [-1.11235354e-02 -9.26467563e-05 9.99938127e-01 -4.97158819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07420382200002 meters 0.01898906432737079 Centerline is valid? [True, True] Translation: X:176.50, Y:-24.17, Z:-4.97 [[ 9.85724501e-01 1.68056522e-01 1.02084853e-02 1.76501597e+02] [-1.68048768e-01 9.85777354e-01 -1.61878117e-03 -2.41720333e+01] [-1.03353404e-02 -1.19851128e-04 9.99946582e-01 -4.97290871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10420382200002 meters 0.019497460189316963 Centerline is valid? [True, True] Translation: X:176.53, Y:-24.18, Z:-4.97 [[ 9.85489701e-01 1.69458445e-01 9.68942406e-03 1.76531020e+02] [-1.69451529e-01 9.85537325e-01 -1.53628008e-03 -2.41766836e+01] [-9.80962470e-03 -1.27899525e-04 9.99951876e-01 -4.97326848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13420382200002 meters 0.02379965619285771 Centerline is valid? [True, True] Translation: X:176.56, Y:-24.18, Z:-4.98 [[ 9.85110346e-01 1.71588584e-01 1.07220846e-02 1.76559467e+02] [-1.71580244e-01 9.85168681e-01 -1.69988042e-03 -2.41781553e+01] [-1.08547420e-02 -1.65128098e-04 9.99941072e-01 -4.97612251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16420382200002 meters 0.02185431454652825 Centerline is valid? [True, True] Translation: X:176.59, Y:-24.19, Z:-4.97 [[ 9.84987162e-01 1.72297636e-01 1.06684719e-02 1.76588061e+02] [-1.72289427e-01 9.85044920e-01 -1.69076784e-03 -2.41859037e+01] [-1.08002394e-02 -1.72680299e-04 9.99941661e-01 -4.97333650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19420382200002 meters 0.023535285167110516 Centerline is valid? [True, True] Translation: X:176.62, Y:-24.19, Z:-4.98 [[ 9.84893081e-01 1.72892318e-01 9.68840218e-03 1.76616804e+02] [-1.72885576e-01 9.84940719e-01 -1.53549111e-03 -2.41884534e+01] [-9.80797643e-03 -1.62690420e-04 9.99951887e-01 -4.97799722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22420382200002 meters 0.024394345191407697 Centerline is valid? [True, True] Translation: X:176.64, Y:-24.19, Z:-4.98 [[ 9.84862638e-01 1.73094772e-01 9.15338843e-03 1.76644800e+02] [-1.73088767e-01 9.84905161e-01 -1.45022050e-03 -2.41928579e+01] [-9.26624509e-03 -1.56080734e-04 9.99957055e-01 -4.98101469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25420382200002 meters 0.02466551331871625 Centerline is valid? [True, True] Translation: X:176.67, Y:-24.20, Z:-4.98 [[ 9.84848428e-01 1.73196452e-01 8.75001617e-03 1.76672805e+02] [-1.73190967e-01 9.84887286e-01 -1.38652062e-03 -2.41986149e+01] [-8.85792013e-03 -1.49911103e-04 9.99960757e-01 -4.98277959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284203822 meters 0.024807449873650973 Centerline is valid? [True, True] Translation: X:176.70, Y:-24.20, Z:-4.98 [[ 9.84818604e-01 1.73369804e-01 8.67342858e-03 1.76701745e+02] [-1.73364429e-01 9.84856786e-01 -1.37351628e-03 -2.42047640e+01] [-8.78021124e-03 -1.50999613e-04 9.99961442e-01 -4.98385396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314203822 meters 0.02587212169454303 Centerline is valid? [True, True] Translation: X:176.73, Y:-24.21, Z:-4.98 [[ 9.84670601e-01 1.74179649e-01 9.23344996e-03 1.76729684e+02] [-1.74173593e-01 9.84713878e-01 -1.46215861e-03 -2.42095592e+01] [-9.34698460e-03 -1.68478558e-04 9.99956302e-01 -4.98424895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344203822 meters 0.02373718303771862 Centerline is valid? [True, True] Translation: X:176.76, Y:-24.22, Z:-4.98 [[ 9.84618971e-01 1.74484408e-01 8.98179515e-03 1.76758214e+02] [-1.74478695e-01 9.84659923e-01 -1.42180863e-03 -2.42170624e+01] [-9.09209716e-03 -1.67192145e-04 9.99958652e-01 -4.98222461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.374203822 meters 0.026092387974879314 Centerline is valid? [True, True] Translation: X:176.79, Y:-24.22, Z:-4.99 [[ 9.84571510e-01 1.74770796e-01 8.60877027e-03 1.76787079e+02] [-1.74765558e-01 9.84609132e-01 -1.36281104e-03 -2.42200598e+01] [-8.71445339e-03 -1.62731621e-04 9.99962015e-01 -4.98632692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404203822 meters 0.024982833351107705 Centerline is valid? [True, True] Translation: X:176.82, Y:-24.23, Z:-4.99 [[ 9.84593432e-01 1.74621046e-01 9.12485926e-03 1.76816047e+02] [-1.74615161e-01 9.84635699e-01 -1.44385910e-03 -2.42261309e+01] [-9.23679036e-03 -1.71724587e-04 9.99957325e-01 -4.98533635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.434203822 meters 0.02401227396531854 Centerline is valid? [True, True] Translation: X:176.85, Y:-24.23, Z:-4.98 [[ 9.84698627e-01 1.73982739e-01 9.93079843e-03 1.76845042e+02] [-1.73975739e-01 9.84748686e-01 -1.57108470e-03 -2.42314781e+01] [-1.00526823e-02 -1.80673048e-04 9.99949454e-01 -4.98475241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464203822 meters 0.02290024615318562 Centerline is valid? [True, True] Translation: X:176.87, Y:-24.24, Z:-4.99 [[ 9.85101962e-01 1.71642376e-01 1.06310119e-02 1.76873644e+02] [-1.71634223e-01 9.85159310e-01 -1.68133612e-03 -2.42392049e+01] [-1.07618288e-02 -1.68357950e-04 9.99942076e-01 -4.98616946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.494203822 meters 0.020679316422335545 Centerline is valid? [True, True] Translation: X:176.90, Y:-24.25, Z:-4.99 [[ 9.85437002e-01 1.69708929e-01 1.06204651e-02 1.76902643e+02] [-1.69700684e-01 9.85494220e-01 -1.67932469e-03 -2.42488987e+01] [-1.07514033e-02 -1.47431495e-04 9.99942191e-01 -4.98643344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524203822 meters 0.017895751304359667 Centerline is valid? [True, True] Translation: X:176.93, Y:-24.27, Z:-4.99 [[ 9.86176861e-01 1.65397809e-01 9.93798578e-03 1.76931178e+02] [-1.65390389e-01 9.86226929e-01 -1.56965013e-03 -2.42651908e+01] [-1.00607259e-02 -9.56946929e-05 9.99949385e-01 -4.98996100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.554203822 meters 0.01614572225752578 Centerline is valid? [True, True] Translation: X:176.96, Y:-24.28, Z:-4.99 [[ 9.86486650e-01 1.63561633e-01 9.57501657e-03 1.76962478e+02] [-1.63554663e-01 9.86533115e-01 -1.51176853e-03 -2.42763015e+01] [-9.69333825e-03 -7.46991350e-05 9.99953016e-01 -4.98986021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584203822 meters 0.015028885774906572 Centerline is valid? [True, True] Translation: X:176.99, Y:-24.29, Z:-4.99 [[ 9.86722282e-01 1.62131972e-01 9.61049801e-03 1.76993588e+02] [-1.62124868e-01 9.86769081e-01 -1.51898304e-03 -2.42856618e+01] [-9.72961801e-03 -5.92863048e-05 9.99952664e-01 -4.98995377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.614203822 meters 0.015284076518377964 Centerline is valid? [True, True] Translation: X:177.02, Y:-24.29, Z:-4.99 [[ 9.86841351e-01 1.61370835e-01 1.01784850e-02 1.77024368e+02] [-1.61362801e-01 9.86893840e-01 -1.61107557e-03 -2.42930408e+01] [-1.03050647e-02 -5.25528541e-05 9.99946900e-01 -4.99168270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.644203822 meters 0.014836006409291742 Centerline is valid? [True, True] Translation: X:177.06, Y:-24.30, Z:-4.99 [[ 9.86661334e-01 1.62442450e-01 1.05765035e-02 1.77057162e+02] [-1.62433823e-01 9.86718018e-01 -1.67532982e-03 -2.42979518e+01] [-1.07081712e-02 -6.49987370e-05 9.99942664e-01 -4.98981879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.674203822 meters 0.016486807666866842 Centerline is valid? [True, True] Translation: X:177.09, Y:-24.30, Z:-4.99 [[ 9.86120268e-01 1.65638725e-01 1.14293491e-02 1.77089664e+02] [-1.65628831e-01 9.86186494e-01 -1.81336561e-03 -2.42996304e+01] [-1.15718333e-02 -1.04833164e-04 9.99933039e-01 -4.98914981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.704203822 meters 0.017965666922676753 Centerline is valid? [True, True] Translation: X:177.12, Y:-24.30, Z:-4.99 [[ 9.85844097e-01 1.67233398e-01 1.20169149e-02 1.77120537e+02] [-1.67222544e-01 9.85917326e-01 -1.90951128e-03 -2.43036423e+01] [-1.21670187e-02 -1.27018659e-04 9.99925971e-01 -4.99028522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.734203822 meters 0.01793764102361153 Centerline is valid? [True, True] Translation: X:177.15, Y:-24.31, Z:-4.99 [[ 9.85612405e-01 1.68563999e-01 1.24243678e-02 1.77152847e+02] [-1.68552483e-01 9.85690700e-01 -1.97578718e-03 -2.43108074e+01] [-1.25796304e-02 -1.46797679e-04 9.99920863e-01 -4.98896341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.764203822 meters 0.01938824497178227 Centerline is valid? [True, True] Translation: X:177.18, Y:-24.32, Z:-4.99 [[ 9.85485243e-01 1.69272667e-01 1.28685552e-02 1.77184784e+02] [-1.69260335e-01 9.85569246e-01 -2.04935046e-03 -2.43160914e+01] [-1.30297513e-02 -1.58531338e-04 9.99915097e-01 -4.99142455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79420382200001 meters 0.01812698757453173 Centerline is valid? [True, True] Translation: X:177.22, Y:-24.32, Z:-4.99 [[ 9.85565915e-01 1.68800152e-01 1.28971137e-02 1.77215864e+02] [-1.68787691e-01 9.85650286e-01 -2.05647011e-03 -2.43246953e+01] [-1.30591762e-02 -1.50087190e-04 9.99914714e-01 -4.99049688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82420382200002 meters 0.01761562815650931 Centerline is valid? [True, True] Translation: X:177.25, Y:-24.33, Z:-4.99 [[ 9.85647733e-01 1.68292403e-01 1.32745623e-02 1.77247479e+02] [-1.68279124e-01 9.85737108e-01 -2.11904177e-03 -2.43311578e+01] [-1.34418473e-02 -1.45202993e-04 9.99909644e-01 -4.99098197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85420382200002 meters 0.016381027791900774 Centerline is valid? [True, True] Translation: X:177.28, Y:-24.34, Z:-4.99 [[ 9.85904758e-01 1.66775478e-01 1.33322346e-02 1.77277990e+02] [-1.66761914e-01 9.85994891e-01 -2.13050364e-03 -2.43420426e+01] [-1.35008310e-02 -1.22835288e-04 9.99908852e-01 -4.99265801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88420382200002 meters 0.015790163341046715 Centerline is valid? [True, True] Translation: X:177.31, Y:-24.35, Z:-4.99 [[ 9.86051138e-01 1.65932175e-01 1.30255869e-02 1.77309834e+02] [-1.65919132e-01 9.86137162e-01 -2.08320047e-03 -2.43511779e+01] [-1.31906853e-02 -1.07051885e-04 9.99912993e-01 -4.99387397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91420382200002 meters 0.01423726304808809 Centerline is valid? [True, True] Translation: X:177.34, Y:-24.36, Z:-4.99 [[ 9.86159289e-01 1.65252902e-01 1.34660569e-02 1.77340807e+02] [-1.65238859e-01 9.86251220e-01 -2.15660186e-03 -2.43605006e+01] [-1.36372998e-02 -9.83629188e-05 9.99907003e-01 -4.99192423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94420382200002 meters 0.01319950100915558 Centerline is valid? [True, True] Translation: X:177.37, Y:-24.37, Z:-4.99 [[ 9.86361272e-01 1.63933348e-01 1.47410259e-02 1.77371096e+02] [-1.63916324e-01 9.86471414e-01 -2.36402687e-03 -2.43704160e+01] [-1.49291435e-02 -8.45102293e-05 9.99888551e-01 -4.99056381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97420382200002 meters 0.012746123121718815 Centerline is valid? [True, True] Translation: X:177.40, Y:-24.38, Z:-4.99 [[ 9.86448875e-01 1.63384368e-01 1.49721890e-02 1.77402483e+02] [-1.63366706e-01 9.86562488e-01 -2.40343610e-03 -2.43779472e+01] [-1.51636839e-02 -7.50903606e-05 9.99885022e-01 -4.99072046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00420382200002 meters 0.012187119920649246 Centerline is valid? [True, True] Translation: X:177.43, Y:-24.39, Z:-4.99 [[ 9.86637890e-01 1.62279291e-01 1.45294684e-02 1.77434460e+02] [-1.62262510e-01 9.86744865e-01 -2.33436527e-03 -2.43871299e+01] [-1.47156975e-02 -5.44147807e-05 9.99891717e-01 -4.99176062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034203822 meters 0.01235000534916469 Centerline is valid? [True, True] Translation: X:177.47, Y:-24.39, Z:-4.99 [[ 9.86715651e-01 1.61838875e-01 1.41563448e-02 1.77465451e+02] [-1.61822857e-01 9.86817195e-01 -2.27738844e-03 -2.43944600e+01] [-1.43382945e-02 -4.36853424e-05 9.99897200e-01 -4.99466644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064203822 meters 0.012319741897241346 Centerline is valid? [True, True] Translation: X:177.50, Y:-24.40, Z:-5.00 [[ 9.86795172e-01 1.61399161e-01 1.36235129e-02 1.77497568e+02] [-1.61384252e-01 9.86889208e-01 -2.19392387e-03 -2.44025285e+01] [-1.37989953e-02 -3.36669645e-05 9.99904789e-01 -4.99594408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.094203822 meters 0.012567579064872004 Centerline is valid? [True, True] Translation: X:177.53, Y:-24.41, Z:-5.00 [[ 9.86839683e-01 1.61164635e-01 1.31681787e-02 1.77528614e+02] [-1.61150650e-01 9.86927535e-01 -2.12331412e-03 -2.44099636e+01] [-1.33382413e-02 -2.66899237e-05 9.99911041e-01 -4.99827852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124203822 meters 0.013298904446674798 Centerline is valid? [True, True] Translation: X:177.56, Y:-24.42, Z:-5.00 [[ 9.86851507e-01 1.61169900e-01 1.21805936e-02 1.77558788e+02] [-1.61157905e-01 9.86926676e-01 -1.96643935e-03 -2.44184509e+01] [-1.23382836e-02 -2.24153024e-05 9.99923880e-01 -5.00347972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.154203822 meters 0.013740455990480648 Centerline is valid? [True, True] Translation: X:177.59, Y:-24.43, Z:-5.01 [[ 9.86652031e-01 1.62442578e-01 1.14096198e-02 1.77590421e+02] [-1.62432123e-01 9.86717998e-01 -1.84338453e-03 -2.44267669e+01] [-1.15575214e-02 -3.45096716e-05 9.99933209e-01 -5.00545455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184203822 meters 0.014336337593851254 Centerline is valid? [True, True] Translation: X:177.62, Y:-24.43, Z:-5.01 [[ 9.86394332e-01 1.63970064e-01 1.18338873e-02 1.77622034e+02] [-1.63958901e-01 9.86465314e-01 -1.91396872e-03 -2.44311378e+01] [-1.19875529e-02 -5.23432713e-05 9.99928145e-01 -5.00686907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.214203822 meters 0.014252531624120544 Centerline is valid? [True, True] Translation: X:177.65, Y:-24.43, Z:-5.01 [[ 9.86091099e-01 1.65750021e-01 1.22993672e-02 1.77654938e+02] [-1.65738074e-01 9.86167798e-01 -1.99146571e-03 -2.44349812e+01] [-1.24593253e-02 -7.47068086e-05 9.99922377e-01 -5.00562635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244203822 meters 0.015654597391307746 Centerline is valid? [True, True] Translation: X:177.69, Y:-24.44, Z:-5.01 [[ 9.85727328e-01 1.67898772e-01 1.23141387e-02 1.77685737e+02] [-1.67886925e-01 9.85804237e-01 -1.99690290e-03 -2.44370110e+01] [-1.24746076e-02 -9.89811237e-05 9.99922184e-01 -5.00716377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.274203822 meters 0.019086606875745378 Centerline is valid? [True, True] Translation: X:177.72, Y:-24.44, Z:-5.01 [[ 9.84975731e-01 1.72341714e-01 1.10065109e-02 1.77718324e+02] [-1.72332492e-01 9.85037215e-01 -1.78802506e-03 -2.44365169e+01] [-1.11499741e-02 -1.35618159e-04 9.99937828e-01 -5.01068124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304203822 meters 0.0208612584699564 Centerline is valid? [True, True] Translation: X:177.75, Y:-24.44, Z:-5.01 [[ 9.84531820e-01 1.74847490e-01 1.12004858e-02 1.77750858e+02] [-1.74838119e-01 9.84595514e-01 -1.81805905e-03 -2.44390097e+01] [-1.13458312e-02 -1.68334896e-04 9.99935620e-01 -5.01155529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.334203822 meters 0.025580796689440365 Centerline is valid? [True, True] Translation: X:177.78, Y:-24.44, Z:-5.01 [[ 9.83718146e-01 1.79320580e-01 1.19473233e-02 1.77782229e+02] [-1.79310189e-01 9.83790667e-01 -1.94398863e-03 -2.44380429e+01] [-1.21022623e-02 -2.29939902e-04 9.99926739e-01 -5.01241691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364203822 meters 0.02596710494056275 Centerline is valid? [True, True] Translation: X:177.81, Y:-24.44, Z:-5.01 [[ 9.83354596e-01 1.81294054e-01 1.20915288e-02 1.77814131e+02] [-1.81283585e-01 9.83428899e-01 -1.96539888e-03 -2.44429910e+01] [-1.22474739e-02 -2.59311662e-04 9.99924963e-01 -5.01157849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.394203822 meters 0.02962904253350483 Centerline is valid? [True, True] Translation: X:177.85, Y:-24.44, Z:-5.01 [[ 9.82766963e-01 1.84393929e-01 1.29605345e-02 1.77845389e+02] [-1.84382108e-01 9.82852369e-01 -2.11145290e-03 -2.44415439e+01] [-1.31276311e-02 -3.14624520e-04 9.99913779e-01 -5.01147991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.424203822 meters 0.03138069158335699 Centerline is valid? [True, True] Translation: X:177.88, Y:-24.44, Z:-5.01 [[ 9.82459535e-01 1.86008082e-01 1.32005933e-02 1.77876442e+02] [-1.85995986e-01 9.82548154e-01 -2.14895503e-03 -2.44429382e+01] [-1.33699416e-02 -3.43996008e-04 9.99910559e-01 -5.01192894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.454203822 meters 0.03238053365732688 Centerline is valid? [True, True] Translation: X:177.91, Y:-24.45, Z:-5.01 [[ 9.82162090e-01 1.87559816e-01 1.33770122e-02 1.77908771e+02] [-1.87547512e-01 9.82253114e-01 -2.17963324e-03 -2.44459051e+01] [-1.35484235e-02 -3.68072210e-04 9.99908148e-01 -5.01263764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.484203822 meters 0.03498178127403662 Centerline is valid? [True, True] Translation: X:177.94, Y:-24.45, Z:-5.01 [[ 9.81638674e-01 1.90240969e-01 1.39243528e-02 1.77940360e+02] [-1.90227842e-01 9.81737337e-01 -2.27339390e-03 -2.44458543e+01] [-1.41025497e-02 -4.17148221e-04 9.99900467e-01 -5.01316973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.514203822 meters 0.03626795885228611 Centerline is valid? [True, True] Translation: X:177.97, Y:-24.45, Z:-5.01 [[ 9.81311727e-01 1.91925060e-01 1.38587826e-02 1.77972502e+02] [-1.91912225e-01 9.81409486e-01 -2.26266240e-03 -2.44494459e+01] [-1.40354023e-02 -4.39292665e-04 9.99901402e-01 -5.01332789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54420382200001 meters 0.0391344937644626 Centerline is valid? [True, True] Translation: X:178.00, Y:-24.45, Z:-5.02 [[ 9.80958657e-01 1.93717023e-01 1.39222282e-02 1.78003144e+02] [-1.93704230e-01 9.81057337e-01 -2.27440531e-03 -2.44477366e+01] [-1.40990951e-02 -4.65696916e-04 9.99900494e-01 -5.01532873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57420382200002 meters 0.040812017995782816 Centerline is valid? [True, True] Translation: X:178.03, Y:-24.45, Z:-5.01 [[ 9.80424415e-01 1.96380082e-01 1.42418515e-02 1.78034044e+02] [-1.96366974e-01 9.80527714e-01 -2.32678730e-03 -2.44456643e+01] [-1.44214647e-02 -5.15390198e-04 9.99895872e-01 -5.01483455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60420382200002 meters 0.04342931111171533 Centerline is valid? [True, True] Translation: X:178.06, Y:-24.44, Z:-5.02 [[ 9.80293905e-01 1.96997122e-01 1.46967483e-02 1.78063755e+02] [-1.96983230e-01 9.80403917e-01 -2.40123729e-03 -2.44438677e+01] [-1.48817864e-02 -5.41094666e-04 9.99889114e-01 -5.01618462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63420382200002 meters 0.04342931111171533 Centerline is valid? [True, True] Translation: X:178.09, Y:-24.45, Z:-5.02 [[ 9.80298453e-01 1.96974479e-01 1.46968589e-02 1.78092557e+02] [-1.96960595e-01 9.80408467e-01 -2.40055995e-03 -2.44485272e+01] [-1.48817739e-02 -5.41436861e-04 9.99889114e-01 -5.01701298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66420382200002 meters 0.04305593182841566 Centerline is valid? [True, True] Translation: X:178.12, Y:-24.45, Z:-5.02 [[ 9.80278949e-01 1.97064977e-01 1.47843707e-02 1.78122605e+02] [-1.97050942e-01 9.80390278e-01 -2.41450107e-03 -2.44504921e+01] [-1.49702669e-02 -5.46389603e-04 9.99887790e-01 -5.01767414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69420382200002 meters 0.04062900299983303 Centerline is valid? [True, True] Translation: X:178.15, Y:-24.45, Z:-5.02 [[ 9.80728043e-01 1.94856431e-01 1.42645346e-02 1.78152088e+02] [-1.94843137e-01 9.80831650e-01 -2.32928853e-03 -2.44528075e+01] [-1.44449839e-02 -4.94948098e-04 9.99895543e-01 -5.01996379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72420382200002 meters 0.038895306904175204 Centerline is valid? [True, True] Translation: X:178.18, Y:-24.46, Z:-5.02 [[ 9.81190257e-01 1.92513907e-01 1.42854558e-02 1.78180098e+02] [-1.92500329e-01 9.81294137e-01 -2.33252569e-03 -2.44574862e+01] [-1.44672777e-02 -4.61303466e-04 9.99895237e-01 -5.02158068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75420382200002 meters 0.03202107883793025 Centerline is valid? [True, True] Translation: X:178.21, Y:-24.47, Z:-5.02 [[ 9.82302008e-01 1.86741058e-01 1.45100544e-02 1.78210094e+02] [-1.86726435e-01 9.82409095e-01 -2.36814060e-03 -2.44666476e+01] [-1.46970385e-02 -3.83181464e-04 9.99891919e-01 -5.02211753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784203822 meters 0.027384577002956823 Centerline is valid? [True, True] Translation: X:178.24, Y:-24.48, Z:-5.02 [[ 9.82978259e-01 1.83140315e-01 1.46071373e-02 1.78240343e+02] [-1.83125101e-01 9.83086728e-01 -2.38374437e-03 -2.44753997e+01] [-1.47966425e-02 -3.31764608e-04 9.99890469e-01 -5.02256757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814203822 meters 0.022953206945330817 Centerline is valid? [True, True] Translation: X:178.27, Y:-24.48, Z:-5.02 [[ 9.83680830e-01 1.79365464e-01 1.41441103e-02 1.78270373e+02] [-1.79350804e-01 9.83782476e-01 -2.30850129e-03 -2.44844110e+01] [-1.43287932e-02 -2.65929088e-04 9.99897302e-01 -5.02328581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844203822 meters 0.018513790295263073 Centerline is valid? [True, True] Translation: X:178.30, Y:-24.49, Z:-5.03 [[ 9.84961450e-01 1.72271292e-01 1.31736292e-02 1.78300008e+02] [-1.72257939e-01 9.85049531e-01 -2.15020630e-03 -2.44933675e+01] [-1.33470961e-02 -1.51391896e-04 9.99910912e-01 -5.02816545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.874203822 meters 0.021428797491608507 Centerline is valid? [True, True] Translation: X:178.33, Y:-24.50, Z:-5.03 [[ 9.85448453e-01 1.69490417e-01 1.28196784e-02 1.78331306e+02] [-1.69477556e-01 9.85531829e-01 -2.09088685e-03 -2.45016613e+01] [-1.29885863e-02 -1.12186548e-04 9.99915638e-01 -5.02931748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904203822 meters 0.02623730200064604 Centerline is valid? [True, True] Translation: X:178.36, Y:-24.51, Z:-5.03 [[ 9.86095495e-01 1.65662069e-01 1.31055003e-02 1.78363013e+02] [-1.65648239e-01 9.86182577e-01 -2.14139573e-03 -2.45108802e+01] [-1.32791641e-02 -5.92823627e-05 9.99911826e-01 -5.02635610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.934203822 meters 0.013101684010262907 Centerline is valid? [True, True] Translation: X:178.39, Y:-24.52, Z:-5.03 [[ 9.86244536e-01 1.64752958e-01 1.33483120e-02 1.78393344e+02] [-1.64738535e-01 9.86334862e-01 -2.18046470e-03 -2.45166763e+01] [-1.35251435e-02 -4.85099634e-05 9.99908530e-01 -5.02751075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964203822 meters 0.013665735235523186 Centerline is valid? [True, True] Translation: X:178.42, Y:-24.52, Z:-5.03 [[ 9.86336028e-01 1.64225619e-01 1.30837710e-02 1.78424599e+02] [-1.64211681e-01 9.86422802e-01 -2.13990800e-03 -2.45215766e+01] [-1.32575577e-02 -3.78396720e-05 9.99912114e-01 -5.03136404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.994203822 meters 0.01348466490842817 Centerline is valid? [True, True] Translation: X:178.46, Y:-24.52, Z:-5.03 [[ 9.86346168e-01 1.64167338e-01 1.30507167e-02 1.78457640e+02] [-1.64153457e-01 9.86432503e-01 -2.13512392e-03 -2.45243983e+01] [-1.32241687e-02 -3.63489553e-05 9.99912556e-01 -5.03116640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024203822 meters 0.013690690139705801 Centerline is valid? [True, True] Translation: X:178.49, Y:-24.53, Z:-5.03 [[ 9.86271474e-01 1.64616832e-01 1.30337335e-02 1.78489218e+02] [-1.64602991e-01 9.86357591e-01 -2.13506590e-03 -2.45281460e+01] [-1.32073897e-02 -3.96369157e-05 9.99912778e-01 -5.03265523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.054203822 meters 0.013397654702403654 Centerline is valid? [True, True] Translation: X:178.52, Y:-24.53, Z:-5.03 [[ 9.86114578e-01 1.65541750e-01 1.31897195e-02 1.78521828e+02] [-1.65527629e-01 9.86202782e-01 -2.16280105e-03 -2.45338622e+01] [-1.33657719e-02 -5.04933407e-05 9.99910673e-01 -5.03165203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084203822 meters 0.013549809500448106 Centerline is valid? [True, True] Translation: X:178.55, Y:-24.54, Z:-5.03 [[ 9.85949349e-01 1.66509902e-01 1.33541565e-02 1.78554499e+02] [-1.66495478e-01 9.86039781e-01 -2.19249529e-03 -2.45389108e+01] [-1.35328017e-02 -6.17173643e-05 9.99908426e-01 -5.03198422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.114203822 meters 0.014107956122175486 Centerline is valid? [True, True] Translation: X:178.59, Y:-24.54, Z:-5.03 [[ 9.85741717e-01 1.67766554e-01 1.29479975e-02 1.78586063e+02] [-1.67753050e-01 9.85826749e-01 -2.12981836e-03 -2.45423361e+01] [-1.31217945e-02 -7.26152476e-05 9.99913903e-01 -5.03249125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.144203822 meters 0.015613367575752227 Centerline is valid? [True, True] Translation: X:178.62, Y:-24.54, Z:-5.03 [[ 9.85207144e-01 1.70883060e-01 1.28787621e-02 1.78618695e+02] [-1.70869966e-01 9.85291311e-01 -2.11844707e-03 -2.45418291e+01] [-1.30513391e-02 -1.13484454e-04 9.99914821e-01 -5.03367762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.174203822 meters 0.016785898141809287 Centerline is valid? [True, True] Translation: X:178.65, Y:-24.54, Z:-5.03 [[ 9.84858951e-01 1.72862339e-01 1.30942183e-02 1.78650013e+02] [-1.72848916e-01 9.84945985e-01 -2.15854550e-03 -2.45435179e+01] [-1.32702289e-02 -1.37458580e-04 9.99911937e-01 -5.03406293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.204203822 meters 0.021726361406470763 Centerline is valid? [True, True] Translation: X:178.68, Y:-24.54, Z:-5.04 [[ 9.84095243e-01 1.77185184e-01 1.27264639e-02 1.78680153e+02] [-1.77172851e-01 9.84177512e-01 -2.09899277e-03 -2.45389862e+01] [-1.28970100e-02 -1.89175105e-04 9.99916812e-01 -5.03675689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.234203822 meters 0.0221163990456309 Centerline is valid? [True, True] Translation: X:178.71, Y:-24.54, Z:-5.04 [[ 9.83685349e-01 1.79485523e-01 1.21688296e-02 1.78710429e+02] [-1.79474432e-01 9.83760592e-01 -2.00634896e-03 -2.45424947e+01] [-1.23313256e-02 -2.10377702e-04 9.99923944e-01 -5.03614851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.264203822 meters 0.026523923944272432 Centerline is valid? [True, True] Translation: X:178.74, Y:-24.54, Z:-5.04 [[ 9.83344154e-01 1.81374470e-01 1.17293191e-02 1.78739710e+02] [-1.81364293e-01 9.83414079e-01 -1.93449510e-03 -2.45403992e+01] [-1.18856456e-02 -2.25005218e-04 9.99929338e-01 -5.04081889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29420382200001 meters 0.027997541186117837 Centerline is valid? [True, True] Translation: X:178.77, Y:-24.54, Z:-5.04 [[ 9.83045077e-01 1.83011399e-01 1.13668133e-02 1.78769018e+02] [-1.83001956e-01 9.83110762e-01 -1.87428335e-03 -2.45416931e+01] [-1.15178517e-02 -2.37644041e-04 9.99933639e-01 -5.04222237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32420382200002 meters 0.030534079267491056 Centerline is valid? [True, True] Translation: X:178.80, Y:-24.54, Z:-5.04 [[ 9.82535743e-01 1.85779664e-01 1.04608884e-02 1.78798942e+02] [-1.85771828e-01 9.82591397e-01 -1.72440590e-03 -2.45414704e+01] [-1.05991385e-02 -2.49047933e-04 9.99943797e-01 -5.04373519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35420382200002 meters 0.03225993220129516 Centerline is valid? [True, True] Translation: X:178.83, Y:-24.54, Z:-5.05 [[ 9.82351293e-01 1.86777390e-01 1.00072370e-02 1.78826811e+02] [-1.86770266e-01 9.82402232e-01 -1.65005724e-03 -2.45428909e+01] [-1.01393254e-02 -2.48118459e-04 9.99948565e-01 -5.04530233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38420382200002 meters 0.030883331282254827 Centerline is valid? [True, True] Translation: X:178.86, Y:-24.54, Z:-5.04 [[ 9.82128879e-01 1.87899708e-01 1.07965280e-02 1.78856217e+02] [-1.87891494e-01 9.82188180e-01 -1.77924801e-03 -2.45430637e+01] [-1.09385424e-02 -2.81124926e-04 9.99940133e-01 -5.04317966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41420382200002 meters 0.031406898458967714 Centerline is valid? [True, True] Translation: X:178.88, Y:-24.55, Z:-5.04 [[ 9.82149454e-01 1.87797627e-01 1.07005111e-02 1.78884039e+02] [-1.87789555e-01 9.82207704e-01 -1.76311442e-03 -2.45452841e+01] [-1.08412332e-02 -2.77802361e-04 9.99941194e-01 -5.04465747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44420382200002 meters 0.03267289047571652 Centerline is valid? [True, True] Translation: X:178.91, Y:-24.55, Z:-5.05 [[ 9.82218036e-01 1.87455000e-01 1.04092855e-02 1.78911595e+02] [-1.87447350e-01 9.82273155e-01 -1.71451713e-03 -2.45480983e+01] [-1.05461565e-02 -2.67163341e-04 9.99944352e-01 -5.04681478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47420382200002 meters 0.03218218753307468 Centerline is valid? [True, True] Translation: X:178.94, Y:-24.55, Z:-5.04 [[ 9.82341193e-01 1.86730235e-01 1.17302623e-02 1.78939527e+02] [-1.86720479e-01 9.82411184e-01 -1.93114025e-03 -2.45505023e+01] [-1.18845431e-02 -2.93241575e-04 9.99929333e-01 -5.04477209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50420382200002 meters 0.03224683652632087 Centerline is valid? [True, True] Translation: X:178.97, Y:-24.55, Z:-5.04 [[ 9.82300679e-01 1.86854335e-01 1.30703030e-02 1.78968309e+02] [-1.86842249e-01 9.82387576e-01 -2.15059591e-03 -2.45510606e+01] [-1.32419514e-02 -3.29552983e-04 9.99912267e-01 -5.04359342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534203822 meters 0.030272767364733794 Centerline is valid? [True, True] Translation: X:179.00, Y:-24.55, Z:-5.04 [[ 9.82133301e-01 1.87747957e-01 1.28407073e-02 1.78997308e+02] [-1.87736376e-01 9.82217181e-01 -2.11227076e-03 -2.45503800e+01] [-1.30089378e-02 -3.36136398e-04 9.99915324e-01 -5.04272506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564203822 meters 0.03330367216658833 Centerline is valid? [True, True] Translation: X:179.03, Y:-24.55, Z:-5.05 [[ 9.82042416e-01 1.88264151e-01 1.22189358e-02 1.79025528e+02] [-1.88253706e-01 9.82118375e-01 -2.00979316e-03 -2.45472094e+01] [-1.23788134e-02 -3.26557835e-04 9.99923326e-01 -5.04624649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.594203822 meters 0.03477134439726991 Centerline is valid? [True, True] Translation: X:179.05, Y:-24.54, Z:-5.05 [[ 9.81918569e-01 1.88908328e-01 1.22297382e-02 1.79053905e+02] [-1.88897926e-01 9.81994669e-01 -2.01068399e-03 -2.45430880e+01] [-1.23893727e-02 -3.35844239e-04 9.99923192e-01 -5.04815801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624203822 meters 0.03263873119861283 Centerline is valid? [True, True] Translation: X:179.08, Y:-24.55, Z:-5.05 [[ 9.81913289e-01 1.88949327e-01 1.20184774e-02 1.79082302e+02] [-1.88939299e-01 9.81986783e-01 -1.97476090e-03 -2.45481750e+01] [-1.21751157e-02 -3.31718727e-04 9.99925826e-01 -5.04750008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.654203822 meters 0.03429172176211542 Centerline is valid? [True, True] Translation: X:179.11, Y:-24.55, Z:-5.05 [[ 9.81998198e-01 1.88497691e-01 1.21720626e-02 1.79110332e+02] [-1.88487376e-01 9.82073577e-01 -1.99956687e-03 -2.45479906e+01] [-1.23307748e-02 -3.30709062e-04 9.99923918e-01 -5.04987962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684203822 meters 0.029695618918947158 Centerline is valid? [True, True] Translation: X:179.14, Y:-24.55, Z:-5.05 [[ 9.82399662e-01 1.86325750e-01 1.31764743e-02 1.79138716e+02] [-1.86313481e-01 9.82487968e-01 -2.16344613e-03 -2.45517020e+01] [-1.33488331e-02 -3.29586045e-04 9.99910846e-01 -5.04660624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.714203822 meters 0.02934054255730425 Centerline is valid? [True, True] Translation: X:179.17, Y:-24.55, Z:-5.05 [[ 9.82723851e-01 1.84584448e-01 1.35061030e-02 1.79166366e+02] [-1.84571400e-01 9.82816607e-01 -2.21703984e-03 -2.45527938e+01] [-1.36832534e-02 -3.14102423e-04 9.99906331e-01 -5.04787118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744203822 meters 0.024071504083258262 Centerline is valid? [True, True] Translation: X:179.20, Y:-24.56, Z:-5.05 [[ 9.83528203e-01 1.80216313e-01 1.39411345e-02 1.79195923e+02] [-1.80201992e-01 9.83626968e-01 -2.28701316e-03 -2.45570585e+01] [-1.41250329e-02 -2.62878264e-04 9.99900202e-01 -5.04726653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.774203822 meters 0.023101860012346785 Centerline is valid? [True, True] Translation: X:179.22, Y:-24.56, Z:-5.05 [[ 9.84027402e-01 1.77491594e-01 1.36677240e-02 1.79224255e+02] [-1.77477566e-01 9.84122292e-01 -2.24219856e-03 -2.45626960e+01] [-1.38486832e-02 -2.19329563e-04 9.99904078e-01 -5.04923587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804203822 meters 0.020469455055259007 Centerline is valid? [True, True] Translation: X:179.25, Y:-24.57, Z:-5.05 [[ 9.84534886e-01 1.74679338e-01 1.33486578e-02 1.79251648e+02] [-1.74665706e-01 9.84625359e-01 -2.18939911e-03 -2.45678168e+01] [-1.35258698e-02 -1.76012942e-04 9.99908506e-01 -5.05211805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.834203822 meters 0.016053984002334185 Centerline is valid? [True, True] Translation: X:179.28, Y:-24.58, Z:-5.05 [[ 9.85385322e-01 1.69833836e-01 1.31238499e-02 1.79279005e+02] [-1.69820242e-01 9.85472707e-01 -2.15154360e-03 -2.45778919e+01] [-1.32986007e-02 -1.08595876e-04 9.99911564e-01 -5.05218452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864203822 meters 0.015297178322802285 Centerline is valid? [True, True] Translation: X:179.31, Y:-24.58, Z:-5.05 [[ 9.85749744e-01 1.67732930e-01 1.27712793e-02 1.79306931e+02] [-1.67719887e-01 9.85832470e-01 -2.09314340e-03 -2.45825127e+01] [-1.29414309e-02 -7.86819580e-05 9.99916253e-01 -5.05412020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.894203822 meters 0.014554824974571856 Centerline is valid? [True, True] Translation: X:179.34, Y:-24.59, Z:-5.06 [[ 9.86259569e-01 1.64843584e-01 1.08929060e-02 1.79335908e+02] [-1.64833924e-01 9.86319721e-01 -1.78494735e-03 -2.45858549e+01] [-1.10381251e-02 -3.50990433e-05 9.99939077e-01 -5.05691103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.924203822 meters 0.014856499096856364 Centerline is valid? [True, True] Translation: X:179.36, Y:-24.59, Z:-5.06 [[ 9.86419852e-01 1.63898367e-01 1.06395715e-02 1.79363251e+02] [-1.63889099e-01 9.86477230e-01 -1.74315395e-03 -2.45897833e+01] [-1.07813951e-02 -2.42281206e-05 9.99941879e-01 -5.05974642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.954203822 meters 0.01458897916302558 Centerline is valid? [True, True] Translation: X:179.39, Y:-24.60, Z:-5.06 [[ 9.86584759e-01 1.62919464e-01 1.03808057e-02 1.79391153e+02] [-1.62910596e-01 9.86639371e-01 -1.69993725e-03 -2.45955433e+01] [-1.05190645e-02 -1.40110565e-05 9.99944673e-01 -5.06036532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.984203822 meters 0.014157601013105927 Centerline is valid? [True, True] Translation: X:179.42, Y:-24.60, Z:-5.06 [[ 9.86709820e-01 1.62120405e-01 1.09865584e-02 1.79419875e+02] [-1.62110431e-01 9.86770984e-01 -1.79832494e-03 -2.46017106e+01] [-1.11327622e-02 -6.61084588e-06 9.99938029e-01 -5.05973832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.014203822 meters 0.013734504436527545 Centerline is valid? [True, True] Translation: X:179.45, Y:-24.61, Z:-5.06 [[ 9.86834614e-01 1.61286494e-01 1.20046563e-02 1.79447325e+02] [-1.61274526e-01 9.86907628e-01 -1.96482339e-03 -2.46062382e+01] [-1.21643863e-02 2.91048139e-06 9.99926011e-01 -5.05890361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04420382200001 meters 0.013732163201378971 Centerline is valid? [True, True] Translation: X:179.48, Y:-24.61, Z:-5.06 [[ 9.86848476e-01 1.61169388e-01 1.24303644e-02 1.79475250e+02] [-1.61156556e-01 9.86926759e-01 -2.03374072e-03 -2.46103063e+01] [-1.25956360e-02 3.75921291e-06 9.99920672e-01 -5.05901650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07420382200002 meters 0.013217725334007141 Centerline is valid? [True, True] Translation: X:179.50, Y:-24.61, Z:-5.06 [[ 9.86843180e-01 1.61111111e-01 1.35553515e-02 1.79504351e+02] [-1.61095863e-01 9.86936275e-01 -2.21655060e-03 -2.46123274e+01] [-1.37353791e-02 3.67679717e-06 9.99905665e-01 -5.05685585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10420382200002 meters 0.012547430024638002 Centerline is valid? [True, True] Translation: X:179.53, Y:-24.61, Z:-5.05 [[ 9.86784447e-01 1.61431541e-01 1.40111340e-02 1.79533015e+02] [-1.61415292e-01 9.86883913e-01 -2.29039458e-03 -2.46143057e+01] [-1.41971047e-02 -1.48553632e-06 9.99899216e-01 -5.05459143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13420382200002 meters 0.015503056128657417 Centerline is valid? [True, True] Translation: X:179.56, Y:-24.62, Z:-5.06 [[ 9.86740971e-01 1.61723970e-01 1.36972314e-02 1.79560976e+02] [-1.61708476e-01 9.86836034e-01 -2.23859511e-03 -2.46164308e+01] [-1.38789560e-02 -6.04489665e-06 9.99903683e-01 -5.05776398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16420382200002 meters 0.013174872268187412 Centerline is valid? [True, True] Translation: X:179.59, Y:-24.62, Z:-5.06 [[ 9.86525281e-01 1.63001903e-01 1.40801109e-02 1.79590026e+02] [-1.62985677e-01 9.86625754e-01 -2.30004188e-03 -2.46189461e+01] [-1.42667112e-02 -2.58069385e-05 9.99898225e-01 -5.05817867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19420382200002 meters 0.012933033861650994 Centerline is valid? [True, True] Translation: X:179.62, Y:-24.62, Z:-5.06 [[ 9.86388681e-01 1.63834402e-01 1.39878052e-02 1.79618569e+02] [-1.63818481e-01 9.86487855e-01 -2.28432055e-03 -2.46228744e+01] [-1.41730502e-02 -3.82330550e-05 9.99899557e-01 -5.05706087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22420382200002 meters 0.013739427492647633 Centerline is valid? [True, True] Translation: X:179.65, Y:-24.62, Z:-5.06 [[ 9.86124631e-01 1.65316301e-01 1.51239170e-02 1.79646422e+02] [-1.65297873e-01 9.86240598e-01 -2.46914013e-03 -2.46246939e+01] [-1.53240100e-02 -6.50714104e-05 9.99882578e-01 -5.05812723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25420382200002 meters 0.013563222242832724 Centerline is valid? [True, True] Translation: X:179.68, Y:-24.63, Z:-5.06 [[ 9.86073868e-01 1.65674130e-01 1.45055118e-02 1.79675272e+02] [-1.65657233e-01 9.86180550e-01 -2.36717056e-03 -2.46290042e+01] [-1.46972325e-02 -6.87379121e-05 9.99891987e-01 -5.05854339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284203822 meters 0.014717314588506518 Centerline is valid? [True, True] Translation: X:179.70, Y:-24.63, Z:-5.06 [[ 9.86035831e-01 1.65917965e-01 1.43027921e-02 1.79702668e+02] [-1.65901568e-01 9.86139556e-01 -2.33363927e-03 -2.46318466e+01] [-1.44917417e-02 -7.18037030e-05 9.99894987e-01 -5.06248644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314203822 meters 0.014367877283488853 Centerline is valid? [True, True] Translation: X:179.73, Y:-24.64, Z:-5.06 [[ 9.86101603e-01 1.65616082e-01 1.32265654e-02 1.79730955e+02] [-1.65602047e-01 9.86190301e-01 -2.15701277e-03 -2.46382195e+01] [-1.34011465e-02 -6.33125563e-05 9.99910199e-01 -5.06297099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344203822 meters 0.014561341790465138 Centerline is valid? [True, True] Translation: X:179.76, Y:-24.64, Z:-5.07 [[ 9.86223728e-01 1.64961359e-01 1.22681782e-02 1.79758426e+02] [-1.64949237e-01 9.86300029e-01 -2.00040723e-03 -2.46440211e+01] [-1.24300945e-02 -5.07775705e-05 9.99922742e-01 -5.06585604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.374203822 meters 0.014269564394486012 Centerline is valid? [True, True] Translation: X:179.79, Y:-24.65, Z:-5.07 [[ 9.86551293e-01 1.63060754e-01 1.13020799e-02 1.79785728e+02] [-1.63050350e-01 9.86616030e-01 -1.84211814e-03 -2.46525177e+01] [-1.14511904e-02 -2.54640491e-05 9.99934433e-01 -5.06813356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404203822 meters 0.014037984021795546 Centerline is valid? [True, True] Translation: X:179.81, Y:-24.66, Z:-5.07 [[ 9.86776503e-01 1.61683738e-01 1.14237177e-02 1.79813274e+02] [-1.61673024e-01 9.86842626e-01 -1.86138240e-03 -2.46602493e+01] [-1.15743669e-02 -1.01385721e-05 9.99933015e-01 -5.06860878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.434203822 meters 0.013324169975927991 Centerline is valid? [True, True] Translation: X:179.84, Y:-24.67, Z:-5.07 [[ 9.86928001e-01 1.60738634e-01 1.16709717e-02 1.79841287e+02] [-1.60727391e-01 9.86997007e-01 -1.90110965e-03 -2.46683970e+01] [-1.18247959e-02 4.13513688e-07 9.99930085e-01 -5.06706446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464203822 meters 0.013595051233062738 Centerline is valid? [True, True] Translation: X:179.87, Y:-24.68, Z:-5.07 [[ 9.86998776e-01 1.60257886e-01 1.22810918e-02 1.79868361e+02] [-1.60245406e-01 9.87075179e-01 -2.00004673e-03 -2.46779055e+01] [-1.24428841e-02 6.05513925e-06 9.99922584e-01 -5.06831084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.494203822 meters 0.012903505850217387 Centerline is valid? [True, True] Translation: X:179.90, Y:-24.68, Z:-5.07 [[ 9.86875582e-01 1.60989755e-01 1.26049246e-02 1.79897267e+02] [-1.60976681e-01 9.86956078e-01 -2.05166314e-03 -2.46827229e+01] [-1.27708037e-02 -4.36266629e-06 9.99918450e-01 -5.06639528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524203822 meters 0.014462835343387326 Centerline is valid? [True, True] Translation: X:179.93, Y:-24.68, Z:-5.07 [[ 9.86310323e-01 1.64471945e-01 1.18712180e-02 1.79925627e+02] [-1.64460605e-01 9.86381760e-01 -1.93192092e-03 -2.46802881e+01] [-1.20272997e-02 -4.68741477e-05 9.99927668e-01 -5.06970285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.554203822 meters 0.014462835343387326 Centerline is valid? [True, True] Translation: X:179.95, Y:-24.68, Z:-5.07 [[ 9.86318139e-01 1.64425058e-01 1.18713722e-02 1.79953596e+02] [-1.64413726e-01 9.86389577e-01 -1.93097251e-03 -2.46847430e+01] [-1.20272981e-02 -4.72633288e-05 9.99927668e-01 -5.07050702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584203822 meters 0.01619962389629301 Centerline is valid? [True, True] Translation: X:179.98, Y:-24.68, Z:-5.07 [[ 9.85907315e-01 1.66931224e-01 1.09878831e-02 1.79981463e+02] [-1.66921672e-01 9.85968540e-01 -1.78722614e-03 -2.46839867e+01] [-1.11320509e-02 -7.20764855e-05 9.99938034e-01 -5.07344624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.614203822 meters 0.01780096401189874 Centerline is valid? [True, True] Translation: X:180.01, Y:-24.68, Z:-5.08 [[ 9.85496349e-01 1.69379984e-01 1.03617912e-02 1.80010621e+02] [-1.69371636e-01 9.85550817e-01 -1.68435077e-03 -2.46846066e+01] [-1.04973671e-02 -9.50719831e-05 9.99944897e-01 -5.07531742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.644203822 meters 0.020549937073695197 Centerline is valid? [True, True] Translation: X:180.04, Y:-24.68, Z:-5.08 [[ 9.84751897e-01 1.73724505e-01 9.13775098e-03 1.80040142e+02] [-1.73718201e-01 9.84794284e-01 -1.48515399e-03 -2.46839819e+01] [-9.25681257e-03 -1.24885453e-04 9.99957147e-01 -5.07610573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.674203822 meters 0.02267191046056133 Centerline is valid? [True, True] Translation: X:180.07, Y:-24.68, Z:-5.08 [[ 9.84450197e-01 1.75419784e-01 9.25795117e-03 1.80068049e+02] [-1.75413394e-01 9.84493717e-01 -1.50414424e-03 -2.46842277e+01] [-9.37825142e-03 -1.43213541e-04 9.99956013e-01 -5.07773866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.704203822 meters 0.02568438242962796 Centerline is valid? [True, True] Translation: X:180.10, Y:-24.68, Z:-5.08 [[ 9.84010229e-01 1.77798348e-01 1.05648320e-02 1.80096541e+02] [-1.77790169e-01 9.84066924e-01 -1.71596098e-03 -2.46816112e+01] [-1.07015968e-02 -1.89800115e-04 9.99942718e-01 -5.07739865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.734203822 meters 0.024329945369485708 Centerline is valid? [True, True] Translation: X:180.12, Y:-24.69, Z:-5.08 [[ 9.83944860e-01 1.78137863e-01 1.09276731e-02 1.80124331e+02] [-1.78129138e-01 9.84005519e-01 -1.77439879e-03 -2.46862859e+01] [-1.10689783e-02 -2.00626431e-04 9.99938717e-01 -5.07526206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.764203822 meters 0.024294915871648417 Centerline is valid? [True, True] Translation: X:180.15, Y:-24.69, Z:-5.08 [[ 9.83970151e-01 1.77968185e-01 1.14047105e-02 1.80152392e+02] [-1.77958684e-01 9.84036220e-01 -1.85069016e-03 -2.46891211e+01] [-1.15520122e-02 -2.08543399e-04 9.99933252e-01 -5.07541413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79420382200001 meters 0.023846832310766668 Centerline is valid? [True, True] Translation: X:180.18, Y:-24.69, Z:-5.08 [[ 9.84208327e-01 1.76631692e-01 1.16281368e-02 1.80180060e+02] [-1.76621726e-01 9.84276997e-01 -1.88660081e-03 -2.46928024e+01] [-1.17785410e-02 -1.96973354e-04 9.99930611e-01 -5.07718751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82420382200002 meters 0.023070555673038253 Centerline is valid? [True, True] Translation: X:180.21, Y:-24.70, Z:-5.08 [[ 9.84461866e-01 1.75219532e-01 1.15304258e-02 1.80207638e+02] [-1.75209650e-01 9.84529371e-01 -1.86963079e-03 -2.46981140e+01] [-1.16796387e-02 -1.79661651e-04 9.99931775e-01 -5.07900583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85420382200002 meters 0.019987411175112314 Centerline is valid? [True, True] Translation: X:180.24, Y:-24.71, Z:-5.08 [[ 9.85006679e-01 1.72121890e-01 1.16575199e-02 1.80236057e+02] [-1.72111591e-01 9.85075649e-01 -1.88857857e-03 -2.47058914e+01] [-1.18086047e-02 -1.46131800e-04 9.99930265e-01 -5.07934094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88420382200002 meters 0.01844863318194896 Centerline is valid? [True, True] Translation: X:180.26, Y:-24.71, Z:-5.08 [[ 9.85349843e-01 1.70147596e-01 1.16397225e-02 1.80263967e+02] [-1.70137193e-01 9.85418581e-01 -1.88546986e-03 -2.47126086e+01] [-1.17908070e-02 -1.22502295e-04 9.99930479e-01 -5.08061688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91420382200002 meters 0.01730554687048195 Centerline is valid? [True, True] Translation: X:180.29, Y:-24.72, Z:-5.08 [[ 9.85701154e-01 1.68138713e-01 1.10728544e-02 1.80290584e+02] [-1.68129175e-01 9.85763341e-01 -1.79337428e-03 -2.47195797e+01] [-1.12167496e-02 -9.39387799e-05 9.99937086e-01 -5.08283806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94420382200002 meters 0.014447248613676907 Centerline is valid? [True, True] Translation: X:180.32, Y:-24.73, Z:-5.08 [[ 9.86369194e-01 1.64260146e-01 9.71686546e-03 1.80318524e+02] [-1.64252618e-01 9.86417053e-01 -1.57321193e-03 -2.47300490e+01] [-9.84329781e-03 -4.42528111e-05 9.99951553e-01 -5.08248856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97420382200002 meters 0.014599798897866147 Centerline is valid? [True, True] Translation: X:180.35, Y:-24.74, Z:-5.09 [[ 9.86656530e-01 1.62483233e-01 1.03967013e-02 1.80345773e+02] [-1.62474521e-01 9.86711304e-01 -1.68286446e-03 -2.47364354e+01] [-1.05319800e-02 -2.87898499e-05 9.99944537e-01 -5.08592666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00420382200002 meters 0.01448357197828879 Centerline is valid? [True, True] Translation: X:180.37, Y:-24.75, Z:-5.09 [[ 9.87124608e-01 1.59634164e-01 1.00965863e-02 1.80372707e+02] [-1.59625805e-01 9.87176242e-01 -1.63363003e-03 -2.47467893e+01] [-1.02278933e-02 9.20681718e-07 9.99947694e-01 -5.08745591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034203822 meters 0.01401089860627648 Centerline is valid? [True, True] Translation: X:180.40, Y:-24.75, Z:-5.09 [[ 9.87276034e-01 1.58739589e-01 9.36890186e-03 1.80400883e+02] [-1.58732351e-01 9.87320486e-01 -1.51589445e-03 -2.47526115e+01] [-9.49074120e-03 9.45843809e-06 9.99954962e-01 -5.08611813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064203822 meters 0.014041456935879177 Centerline is valid? [True, True] Translation: X:180.43, Y:-24.76, Z:-5.09 [[ 9.87337845e-01 1.58353934e-01 9.38147152e-03 1.80429686e+02] [-1.58346673e-01 9.87382414e-01 -1.51651830e-03 -2.47567143e+01] [-9.50324664e-03 1.17911072e-05 9.99954843e-01 -5.08690687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.094203822 meters 0.014027376626647606 Centerline is valid? [True, True] Translation: X:180.46, Y:-24.76, Z:-5.09 [[ 9.87208545e-01 1.59149763e-01 9.52063481e-03 1.80458398e+02] [-1.59142327e-01 9.87254452e-01 -1.53850724e-03 -2.47609682e+01] [-9.64414216e-03 3.69152374e-06 9.99953494e-01 -5.08796953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124203822 meters 0.013879126817715625 Centerline is valid? [True, True] Translation: X:180.49, Y:-24.77, Z:-5.09 [[ 9.87082893e-01 1.59923983e-01 9.57507572e-03 1.80486800e+02] [-1.59916502e-01 9.87129333e-01 -1.54682215e-03 -2.47657577e+01] [-9.69921206e-03 -4.37093294e-06 9.99952962e-01 -5.08834158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.154203822 meters 0.014053212044635003 Centerline is valid? [True, True] Translation: X:180.52, Y:-24.77, Z:-5.09 [[ 9.86931499e-01 1.60858828e-01 9.52119896e-03 1.80515219e+02] [-1.60851479e-01 9.86977425e-01 -1.53764344e-03 -2.47696885e+01] [-9.64455195e-03 -1.39501939e-05 9.99953490e-01 -5.08907440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184203822 meters 0.014658049973538019 Centerline is valid? [True, True] Translation: X:180.54, Y:-24.77, Z:-5.09 [[ 9.86656107e-01 1.62514999e-01 9.92987858e-03 1.80542582e+02] [-1.62507092e-01 9.86706073e-01 -1.60338867e-03 -2.47728349e+01] [-1.00584462e-02 -3.16824701e-05 9.99949412e-01 -5.09061487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.214203822 meters 0.014304693660932703 Centerline is valid? [True, True] Translation: X:180.57, Y:-24.78, Z:-5.09 [[ 9.86551706e-01 1.63143758e-01 9.99229658e-03 1.80571502e+02] [-1.63135794e-01 9.86602307e-01 -1.61249713e-03 -2.47779040e+01] [-1.01214917e-02 -3.92894391e-05 9.99948776e-01 -5.08942756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244203822 meters 0.015781096737363817 Centerline is valid? [True, True] Translation: X:180.60, Y:-24.78, Z:-5.09 [[ 9.86161824e-01 1.65449308e-01 1.05538292e-02 1.80599598e+02] [-1.65440559e-01 9.86218293e-01 -1.70271332e-03 -2.47810827e+01] [-1.06900921e-02 -6.68805245e-05 9.99942857e-01 -5.09091180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.274203822 meters 0.016974483647816462 Centerline is valid? [True, True] Translation: X:180.63, Y:-24.78, Z:-5.09 [[ 9.85888987e-01 1.67074795e-01 1.04364009e-02 1.80628515e+02] [-1.67066341e-01 9.85944220e-01 -1.68287551e-03 -2.47840034e+01] [-1.05708752e-02 -8.44428761e-05 9.99944123e-01 -5.09172466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304203822 meters 0.018332913134015555 Centerline is valid? [True, True] Translation: X:180.66, Y:-24.79, Z:-5.09 [[ 9.85551296e-01 1.69073007e-01 1.01469655e-02 1.80656949e+02] [-1.69065125e-01 9.85603525e-01 -1.63575857e-03 -2.47865940e+01] [-1.02774476e-02 -1.03374007e-04 9.99947180e-01 -5.09268615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.334203822 meters 0.022687996162511805 Centerline is valid? [True, True] Translation: X:180.69, Y:-24.79, Z:-5.09 [[ 9.84747390e-01 1.73697614e-01 1.00854948e-02 1.80686461e+02] [-1.73690077e-01 9.84799023e-01 -1.62513736e-03 -2.47855419e+01] [-1.02144680e-02 -1.51400603e-04 9.99947820e-01 -5.09447288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364203822 meters 0.02498271413876858 Centerline is valid? [True, True] Translation: X:180.72, Y:-24.79, Z:-5.10 [[ 9.84377840e-01 1.75790072e-01 9.90552188e-03 1.80715724e+02] [-1.75782910e-01 9.84427662e-01 -1.59599527e-03 -2.47870778e+01] [-1.00318299e-02 -1.70159078e-04 9.99949665e-01 -5.09558152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.394203822 meters 0.0282902358354431 Centerline is valid? [True, True] Translation: X:180.75, Y:-24.79, Z:-5.10 [[ 9.83705070e-01 1.79588369e-01 8.50602926e-03 1.80745829e+02] [-1.79583235e-01 9.83741829e-01 -1.36982776e-03 -2.47870139e+01] [-8.61374191e-03 -1.80033746e-04 9.99962885e-01 -5.09743751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.424203822 meters 0.029331190774729687 Centerline is valid? [True, True] Translation: X:180.77, Y:-24.79, Z:-5.10 [[ 9.83408013e-01 1.81227203e-01 8.08581642e-03 1.80773959e+02] [-1.81222615e-01 9.83441237e-01 -1.30273658e-03 -2.47902441e+01] [-8.18801661e-03 -1.84211205e-04 9.99966461e-01 -5.09855149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.454203822 meters 0.03331216089290629 Centerline is valid? [True, True] Translation: X:180.80, Y:-24.79, Z:-5.10 [[ 9.83197447e-01 1.82367493e-01 8.05471736e-03 1.80802433e+02] [-1.82362977e-01 9.83230421e-01 -1.29779511e-03 -2.47902870e+01] [-8.15631879e-03 -1.92893398e-04 9.99966718e-01 -5.10199700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.484203822 meters 0.03234792298469491 Centerline is valid? [True, True] Translation: X:180.83, Y:-24.80, Z:-5.10 [[ 9.83075505e-01 1.82996510e-01 8.65032645e-03 1.80831206e+02] [-1.82991341e-01 9.83113539e-01 -1.39199498e-03 -2.47957713e+01] [-8.75898327e-03 -2.14498669e-04 9.99961616e-01 -5.10034003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.514203822 meters 0.03337495987257219 Centerline is valid? [True, True] Translation: X:180.86, Y:-24.80, Z:-5.10 [[ 9.82965553e-01 1.83554689e-01 9.29508558e-03 1.80860594e+02] [-1.83548752e-01 9.83009471e-01 -1.49519332e-03 -2.47960651e+01] [-9.41160691e-03 -2.36377825e-04 9.99955682e-01 -5.09967795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54420382200001 meters 0.032514501226402134 Centerline is valid? [True, True] Translation: X:180.89, Y:-24.80, Z:-5.10 [[ 9.83020305e-01 1.83252073e-01 9.47408324e-03 1.80888687e+02] [-1.83245895e-01 9.83065929e-01 -1.52351737e-03 -2.48002153e+01] [-9.59283616e-03 -2.38438349e-04 9.99953959e-01 -5.09960428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57420382200002 meters 0.03700112961481141 Centerline is valid? [True, True] Translation: X:180.92, Y:-24.81, Z:-5.10 [[ 9.83370512e-01 1.81378746e-01 9.17533746e-03 1.80916044e+02] [-1.81372872e-01 9.83413293e-01 -1.47529555e-03 -2.48058390e+01] [-9.29073608e-03 -2.13395167e-04 9.99956817e-01 -5.10283426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60420382200002 meters 0.02950117180172481 Centerline is valid? [True, True] Translation: X:180.94, Y:-24.81, Z:-5.10 [[ 9.83653168e-01 1.79854515e-01 8.87684644e-03 1.80944614e+02] [-1.79848962e-01 9.83693202e-01 -1.42636553e-03 -2.48130324e+01] [-8.98863178e-03 -1.93442649e-04 9.99959583e-01 -5.10297362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63420382200002 meters 0.025437295704097296 Centerline is valid? [True, True] Translation: X:180.97, Y:-24.82, Z:-5.10 [[ 9.84036037e-01 1.77756393e-01 8.70298524e-03 1.80972253e+02] [-1.77750974e-01 9.84074507e-01 -1.39841468e-03 -2.48238751e+01] [-8.81296306e-03 -1.70873667e-04 9.99961150e-01 -5.10120447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66420382200002 meters 0.022772807392517264 Centerline is valid? [True, True] Translation: X:181.00, Y:-24.84, Z:-5.10 [[ 9.84970556e-01 1.72493100e-01 8.89574234e-03 1.80999969e+02] [-1.72487233e-01 9.85010718e-01 -1.42842632e-03 -2.48359242e+01] [-9.00879524e-03 -1.27444115e-04 9.99959412e-01 -5.10472519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69420382200002 meters 0.0212136270191025 Centerline is valid? [True, True] Translation: X:181.03, Y:-24.84, Z:-5.11 [[ 9.85351566e-01 1.70320416e-01 8.55845288e-03 1.81027282e+02] [-1.70314899e-01 9.85388728e-01 -1.37474814e-03 -2.48427349e+01] [-8.66755068e-03 -1.03021805e-04 9.99962431e-01 -5.10652742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72420382200002 meters 0.020004344818035875 Centerline is valid? [True, True] Translation: X:181.06, Y:-24.85, Z:-5.11 [[ 9.85627745e-01 1.68718581e-01 8.48460448e-03 1.81055687e+02] [-1.68713106e-01 9.85664259e-01 -1.36215845e-03 -2.48479342e+01] [-8.59279284e-03 -8.88828148e-05 9.99963077e-01 -5.10767103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75420382200002 meters 0.018816288741061137 Centerline is valid? [True, True] Translation: X:181.08, Y:-24.85, Z:-5.11 [[ 9.85934594e-01 1.66915316e-01 8.50018168e-03 1.81082635e+02] [-1.66909753e-01 9.85971233e-01 -1.36465270e-03 -2.48544431e+01] [-8.60871605e-03 -7.33049201e-05 9.99962942e-01 -5.10904072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784203822 meters 0.01890290173009896 Centerline is valid? [True, True] Translation: X:181.11, Y:-24.86, Z:-5.11 [[ 9.85994266e-01 1.66556653e-01 8.61331791e-03 1.81110093e+02] [-1.66550932e-01 9.86031884e-01 -1.38224226e-03 -2.48602165e+01] [-8.72322773e-03 -7.16731890e-05 9.99961949e-01 -5.10998593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814203822 meters 0.018748662750224826 Centerline is valid? [True, True] Translation: X:181.14, Y:-24.86, Z:-5.11 [[ 9.85962543e-01 1.66689250e-01 9.62072996e-03 1.81138201e+02] [-1.66682131e-01 9.86009476e-01 -1.54279632e-03 -2.48621899e+01] [-9.74329847e-03 -8.24643901e-05 9.99952530e-01 -5.10851143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844203822 meters 0.01938952974823465 Centerline is valid? [True, True] Translation: X:181.17, Y:-24.86, Z:-5.11 [[ 9.85886737e-01 1.67134750e-01 9.66004644e-03 1.81166514e+02] [-1.67127595e-01 9.85934059e-01 -1.54890786e-03 -2.48636565e+01] [-9.78304512e-03 -8.74126126e-05 9.99952141e-01 -5.11024730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.874203822 meters 0.018615617519263248 Centerline is valid? [True, True] Translation: X:181.20, Y:-24.87, Z:-5.11 [[ 9.85859175e-01 1.67335954e-01 8.96464144e-03 1.81195083e+02] [-1.67329811e-01 9.85899930e-01 -1.43628409e-03 -2.48676728e+01] [-9.07858133e-03 -8.40779040e-05 9.99958785e-01 -5.10967453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904203822 meters 0.020455321585798335 Centerline is valid? [True, True] Translation: X:181.22, Y:-24.87, Z:-5.11 [[ 9.85812992e-01 1.67627515e-01 8.58844993e-03 1.81223362e+02] [-1.67621889e-01 9.85850399e-01 -1.37588008e-03 -2.48677517e+01] [-8.69756215e-03 -8.32517403e-05 9.99962172e-01 -5.11470208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.934203822 meters 0.0177406861329243 Centerline is valid? [True, True] Translation: X:181.25, Y:-24.87, Z:-5.11 [[ 9.85807438e-01 1.67671761e-01 8.35916327e-03 1.81251634e+02] [-1.67666438e-01 9.85842875e-01 -1.33852033e-03 -2.48732723e+01] [-8.46525361e-03 -8.20278384e-05 9.99964166e-01 -5.10979607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964203822 meters 0.01977297648755182 Centerline is valid? [True, True] Translation: X:181.28, Y:-24.87, Z:-5.12 [[ 9.85803003e-01 1.67705024e-01 8.21371123e-03 1.81279925e+02] [-1.67699887e-01 9.85837217e-01 -1.31507717e-03 -2.48740459e+01] [-8.31792727e-03 -8.10314299e-05 9.99965402e-01 -5.11501838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.994203822 meters 0.01876896112412454 Centerline is valid? [True, True] Translation: X:181.31, Y:-24.88, Z:-5.11 [[ 9.85888936e-01 1.67207509e-01 8.04077659e-03 1.81307417e+02] [-1.67202572e-01 9.85921723e-01 -1.28711848e-03 -2.48796416e+01] [-8.14279218e-03 -7.54826548e-05 9.99966844e-01 -5.11440747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024203822 meters 0.018522133469412217 Centerline is valid? [True, True] Translation: X:181.34, Y:-24.88, Z:-5.12 [[ 9.85979516e-01 1.66674407e-01 8.00230187e-03 1.81336186e+02] [-1.66669508e-01 9.86011986e-01 -1.27988867e-03 -2.48845265e+01] [-8.10369025e-03 -7.17957049e-05 9.99967162e-01 -5.11504586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.054203822 meters 0.017985038499259344 Centerline is valid? [True, True] Translation: X:181.36, Y:-24.89, Z:-5.12 [[ 9.86213098e-01 1.65281936e-01 8.09982813e-03 1.81363501e+02] [-1.65276871e-01 9.86246358e-01 -1.29531056e-03 -2.48871008e+01] [-8.20251743e-03 -6.12620074e-05 9.99966357e-01 -5.11702453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084203822 meters 0.01667493046278844 Centerline is valid? [True, True] Translation: X:181.39, Y:-24.89, Z:-5.12 [[ 9.86418004e-01 1.64039598e-01 8.39835212e-03 1.81392117e+02] [-1.64034115e-01 9.86453753e-01 -1.34224897e-03 -2.48918959e+01] [-8.50476796e-03 -5.35977058e-05 9.99963832e-01 -5.11632314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.114203822 meters 0.015505842812533626 Centerline is valid? [True, True] Translation: X:181.42, Y:-24.90, Z:-5.12 [[ 9.86696923e-01 1.62347008e-01 8.52233874e-03 1.81420124e+02] [-1.62341303e-01 9.86733727e-01 -1.36164469e-03 -2.48986311e+01] [-8.63033800e-03 -3.99969482e-05 9.99962757e-01 -5.11574167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.144203822 meters 0.01397166449148091 Centerline is valid? [True, True] Translation: X:181.45, Y:-24.91, Z:-5.11 [[ 9.87281722e-01 1.58705914e-01 9.33987793e-03 1.81447639e+02] [-1.58698904e-01 9.87325900e-01 -1.49168232e-03 -2.49095744e+01] [-9.45824219e-03 -9.51770645e-06 9.99955270e-01 -5.11396344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.174203822 meters 0.014575485020022545 Centerline is valid? [True, True] Translation: X:181.47, Y:-24.92, Z:-5.12 [[ 9.87551200e-01 1.57015797e-01 9.41631660e-03 1.81474432e+02] [-1.57008597e-01 9.87596091e-01 -1.50363130e-03 -2.49165345e+01] [-9.53561133e-03 6.47023550e-06 9.99954535e-01 -5.11658504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.204203822 meters 0.015303304341548293 Centerline is valid? [True, True] Translation: X:181.50, Y:-24.93, Z:-5.12 [[ 9.88029946e-01 1.53992509e-01 9.11768161e-03 1.81501553e+02] [-1.53985635e-01 9.88072015e-01 -1.45537567e-03 -2.49262255e+01] [-9.23304299e-03 3.39627561e-05 9.99957374e-01 -5.11816543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.234203822 meters 0.014811724845359002 Centerline is valid? [True, True] Translation: X:181.53, Y:-24.93, Z:-5.12 [[ 9.88192254e-01 1.52928843e-01 9.42538879e-03 1.81529605e+02] [-1.52921457e-01 9.88237202e-01 -1.50368560e-03 -2.49319620e+01] [-9.54447674e-03 4.45862776e-05 9.99954449e-01 -5.11593429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.264203822 meters 0.015328484998104564 Centerline is valid? [True, True] Translation: X:181.56, Y:-24.94, Z:-5.12 [[ 9.88234298e-01 1.52623070e-01 9.95848155e-03 1.81556643e+02] [-1.52614813e-01 9.88284471e-01 -1.58837507e-03 -2.49372782e+01] [-1.00842353e-02 4.98749241e-05 9.99949152e-01 -5.11748894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29420382200001 meters 0.014085180002156887 Centerline is valid? [True, True] Translation: X:181.58, Y:-24.94, Z:-5.12 [[ 9.87971921e-01 1.54217154e-01 1.13380722e-02 1.81584860e+02] [-1.54206569e-01 9.88036977e-01 -1.80723478e-03 -2.49412347e+01] [-1.14811411e-02 3.70920103e-05 9.99934089e-01 -5.11555674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32420382200002 meters 0.013312767541789892 Centerline is valid? [True, True] Translation: X:181.61, Y:-24.94, Z:-5.11 [[ 9.87713847e-01 1.55843812e-01 1.15785139e-02 1.81613534e+02] [-1.55832892e-01 9.87781710e-01 -1.84498709e-03 -2.49446068e+01] [-1.17245740e-02 1.80060002e-05 9.99931265e-01 -5.11423488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35420382200002 meters 0.013183243433626058 Centerline is valid? [True, True] Translation: X:181.64, Y:-24.94, Z:-5.11 [[ 9.87008426e-01 1.60228284e-01 1.18854857e-02 1.81642709e+02] [-1.60217102e-01 9.87079984e-01 -1.89329854e-03 -2.49446621e+01] [-1.20352850e-02 -3.55564641e-05 9.99927573e-01 -5.11276860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38420382200002 meters 0.015174205144974693 Centerline is valid? [True, True] Translation: X:181.67, Y:-24.94, Z:-5.12 [[ 9.86612259e-01 1.62656620e-01 1.17929757e-02 1.81670418e+02] [-1.62645791e-01 9.86682735e-01 -1.87796257e-03 -2.49442650e+01] [-1.19413886e-02 -6.52569723e-05 9.99928697e-01 -5.11715301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41420382200002 meters 0.01594912376723538 Centerline is valid? [True, True] Translation: X:181.70, Y:-24.95, Z:-5.12 [[ 9.86235638e-01 1.64940638e-01 1.15694326e-02 1.81699177e+02] [-1.64930381e-01 9.86303492e-01 -1.84178367e-03 -2.49450981e+01] [-1.17147568e-02 -9.17182251e-05 9.99931376e-01 -5.11667920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44420382200002 meters 0.01594912376723538 Centerline is valid? [True, True] Translation: X:181.73, Y:-24.95, Z:-5.12 [[ 9.86247796e-01 1.64867925e-01 1.15694587e-02 1.81726343e+02] [-1.64857664e-01 9.86315649e-01 -1.84161985e-03 -2.49492823e+01] [-1.17147622e-02 -9.10204211e-05 9.99931376e-01 -5.11745967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47420382200002 meters 0.019861036018661384 Centerline is valid? [True, True] Translation: X:181.76, Y:-24.94, Z:-5.12 [[ 9.85503533e-01 1.69298884e-01 1.09851415e-02 1.81755401e+02] [-1.69289919e-01 9.85564746e-01 -1.74765700e-03 -2.49449887e+01] [-1.11224446e-02 -1.37351570e-04 9.99938134e-01 -5.11987122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50420382200002 meters 0.020483193466642197 Centerline is valid? [True, True] Translation: X:181.78, Y:-24.95, Z:-5.12 [[ 9.85124440e-01 1.71487684e-01 1.10368649e-02 1.81784649e+02] [-1.71478781e-01 9.85186250e-01 -1.75500409e-03 -2.49472148e+01] [-1.11743292e-02 -1.63690723e-04 9.99937552e-01 -5.11887319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534203822 meters 0.027161262222688387 Centerline is valid? [True, True] Translation: X:181.81, Y:-24.94, Z:-5.12 [[ 9.84351767e-01 1.75845762e-01 1.13958721e-02 1.81814214e+02] [-1.75836572e-01 9.84417706e-01 -1.81124248e-03 -2.49416493e+01] [-1.15367976e-02 -2.20911351e-04 9.99933425e-01 -5.12250133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564203822 meters 0.028898650913791724 Centerline is valid? [True, True] Translation: X:181.84, Y:-24.94, Z:-5.12 [[ 9.83948581e-01 1.78061372e-01 1.18041828e-02 1.81843137e+02] [-1.78051675e-01 9.84019351e-01 -1.87581078e-03 -2.49428831e+01] [-1.19495538e-02 -2.56053179e-04 9.99928569e-01 -5.12258922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.594203822 meters 0.031382486439320983 Centerline is valid? [True, True] Translation: X:181.87, Y:-24.94, Z:-5.12 [[ 9.83160185e-01 1.82316946e-01 1.25132583e-02 1.81873431e+02] [-1.82306407e-01 9.83239759e-01 -1.98744935e-03 -2.49404170e+01] [-1.26658788e-02 -3.27266087e-04 9.99919731e-01 -5.12044947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624203822 meters 0.03312340579999048 Centerline is valid? [True, True] Translation: X:181.90, Y:-24.94, Z:-5.12 [[ 9.82821417e-01 1.84114191e-01 1.28073088e-02 1.81902835e+02] [-1.84103302e-01 9.82904795e-01 -2.03419631e-03 -2.49400626e+01] [-1.29628897e-02 -3.58616151e-04 9.99915914e-01 -5.12126534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.654203822 meters 0.033915318481436106 Centerline is valid? [True, True] Translation: X:181.93, Y:-24.94, Z:-5.12 [[ 9.82579993e-01 1.85404533e-01 1.27167700e-02 1.81931643e+02] [-1.85393914e-01 9.82662210e-01 -2.01919927e-03 -2.49407642e+01] [-1.28706580e-02 -3.73586953e-04 9.99917100e-01 -5.12183149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684203822 meters 0.040087706260799466 Centerline is valid? [True, True] Translation: X:181.96, Y:-24.93, Z:-5.13 [[ 9.82430839e-01 1.86236842e-01 1.20617178e-02 1.81960853e+02] [-1.86227355e-01 9.82504812e-01 -1.91485117e-03 -2.49349716e+01] [-1.22073116e-02 -3.65012964e-04 9.99925421e-01 -5.12729433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.714203822 meters 0.03571732366264632 Centerline is valid? [True, True] Translation: X:181.99, Y:-24.94, Z:-5.13 [[ 9.82456978e-01 1.86207724e-01 1.02454940e-02 1.81988626e+02] [-1.86200882e-01 9.82510350e-01 -1.62614112e-03 -2.49402574e+01] [-1.03691040e-02 -3.10106332e-04 9.99946191e-01 -5.12846697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744203822 meters 0.0416281465109119 Centerline is valid? [True, True] Translation: X:182.02, Y:-24.94, Z:-5.14 [[ 9.82638300e-01 1.85282323e-01 9.61419292e-03 1.82017181e+02] [-1.85276259e-01 9.82685291e-01 -1.52545129e-03 -2.49356137e+01] [-9.73036513e-03 -2.82314829e-04 9.99952619e-01 -5.13588132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.774203822 meters 0.036021351697791505 Centerline is valid? [True, True] Translation: X:182.05, Y:-24.95, Z:-5.13 [[ 9.82889629e-01 1.83952534e-01 9.45745353e-03 1.82045192e+02] [-1.83946612e-01 9.82935092e-01 -1.49975790e-03 -2.49455461e+01] [-9.57194722e-03 -2.65570044e-04 9.99954153e-01 -5.13412547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804203822 meters 0.03563741599972164 Centerline is valid? [True, True] Translation: X:182.07, Y:-24.96, Z:-5.13 [[ 9.83545754e-01 1.80440658e-01 8.88356517e-03 1.82074399e+02] [-1.80435301e-01 9.83585848e-01 -1.40748592e-03 -2.49550058e+01] [-8.99171667e-03 -2.18581954e-04 9.99959550e-01 -5.13456657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.834203822 meters 0.030638667265986793 Centerline is valid? [True, True] Translation: X:182.10, Y:-24.96, Z:-5.14 [[ 9.83873057e-01 1.78613426e-01 9.54213166e-03 1.82102219e+02] [-1.78607149e-01 9.83919304e-01 -1.51298925e-03 -2.49581121e+01] [-9.65892774e-03 -2.15703566e-04 9.99953328e-01 -5.13639364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864203822 meters 0.024998550878362034 Centerline is valid? [True, True] Translation: X:182.13, Y:-24.97, Z:-5.13 [[ 9.84516041e-01 1.74982145e-01 1.04601429e-02 1.82131309e+02] [-1.74974411e-01 9.84571587e-01 -1.65705859e-03 -2.49659151e+01] [-1.05887151e-02 -1.98856584e-04 9.99943918e-01 -5.13294466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.894203822 meters 0.02530802715754507 Centerline is valid? [True, True] Translation: X:182.16, Y:-24.97, Z:-5.14 [[ 9.84902712e-01 1.72813705e-01 1.01030541e-02 1.82158978e+02] [-1.72806367e-01 9.84954514e-01 -1.60145276e-03 -2.49683159e+01] [-1.02278017e-02 -1.68596905e-04 9.99947680e-01 -5.13713506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.924203822 meters 0.023451028897179163 Centerline is valid? [True, True] Translation: X:182.19, Y:-24.97, Z:-5.14 [[ 9.85273745e-01 1.70710033e-01 9.68150691e-03 1.82186857e+02] [-1.70703209e-01 9.85321300e-01 -1.53304251e-03 -2.49742407e+01] [-9.80110072e-03 -1.42197761e-04 9.99951958e-01 -5.13879866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.954203822 meters 0.021170833569848828 Centerline is valid? [True, True] Translation: X:182.22, Y:-24.98, Z:-5.14 [[ 9.85651917e-01 1.68505745e-01 9.80369329e-03 1.82215112e+02] [-1.68498643e-01 9.85700664e-01 -1.55191364e-03 -2.49812910e+01] [-9.92501335e-03 -1.22262362e-04 9.99950738e-01 -5.13942859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.984203822 meters 0.01753520584218608 Centerline is valid? [True, True] Translation: X:182.24, Y:-24.99, Z:-5.14 [[ 9.86264313e-01 1.64864836e-01 1.01138803e-02 1.82243022e+02] [-1.64857091e-01 9.86316165e-01 -1.60050950e-03 -2.49902528e+01] [-1.02393514e-02 -8.88194849e-05 9.99947573e-01 -5.13805898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.014203822 meters 0.016720796163263715 Centerline is valid? [True, True] Translation: X:182.27, Y:-25.00, Z:-5.14 [[ 9.86511636e-01 1.63385817e-01 9.99331556e-03 1.82271814e+02] [-1.63378184e-01 9.86562248e-01 -1.58095068e-03 -2.49953801e+01] [-1.01173328e-02 -7.30635069e-05 9.99948816e-01 -5.13917110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04420382200001 meters 0.01560938308574684 Centerline is valid? [True, True] Translation: X:182.30, Y:-25.00, Z:-5.14 [[ 9.86769138e-01 1.61764175e-01 1.09096602e-02 1.82300253e+02] [-1.61754986e-01 9.86829442e-01 -1.72525926e-03 -2.49994330e+01] [-1.10450591e-02 -6.22593460e-05 9.99939000e-01 -5.13838476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07420382200002 meters 0.014842705417344825 Centerline is valid? [True, True] Translation: X:182.33, Y:-25.00, Z:-5.14 [[ 9.86793204e-01 1.61596190e-01 1.12180296e-02 1.82328416e+02] [-1.61586471e-01 9.86856964e-01 -1.77346533e-03 -2.50033183e+01] [-1.13571758e-02 -6.26382750e-05 9.99935503e-01 -5.13650235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10420382200002 meters 0.015585317822863192 Centerline is valid? [True, True] Translation: X:182.36, Y:-25.01, Z:-5.14 [[ 9.86834684e-01 1.61329266e-01 1.14094029e-02 1.82355417e+02] [-1.61319186e-01 9.86900636e-01 -1.80441616e-03 -2.50052393e+01] [-1.15510521e-02 -5.98951355e-05 9.99933283e-01 -5.13881628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13420382200002 meters 0.015131789943978808 Centerline is valid? [True, True] Translation: X:182.38, Y:-25.01, Z:-5.14 [[ 9.86841859e-01 1.61243718e-01 1.19837081e-02 1.82384131e+02] [-1.61232627e-01 9.86914616e-01 -1.89224464e-03 -2.50066790e+01] [-1.21320093e-02 -6.48185249e-05 9.99926402e-01 -5.13794442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16420382200002 meters 0.015134632440591175 Centerline is valid? [True, True] Translation: X:182.41, Y:-25.01, Z:-5.14 [[ 9.86850021e-01 1.61177304e-01 1.22029656e-02 1.82410524e+02] [-1.61165792e-01 9.86925465e-01 -1.92741974e-03 -2.50094619e+01] [-1.23540738e-02 -6.46264061e-05 9.99923683e-01 -5.13894949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19420382200002 meters 0.015379263389153349 Centerline is valid? [True, True] Translation: X:182.44, Y:-25.01, Z:-5.14 [[ 9.86882032e-01 1.61004120e-01 1.18965739e-02 1.82437744e+02] [-1.60993190e-01 9.86953732e-01 -1.87709008e-03 -2.50127535e+01] [-1.20435872e-02 -6.28009034e-05 9.99927471e-01 -5.14086199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22420382200002 meters 0.014894198047508888 Centerline is valid? [True, True] Translation: X:182.47, Y:-25.02, Z:-5.14 [[ 9.86849738e-01 1.61241836e-01 1.13430554e-02 1.82466378e+02] [-1.61231932e-01 9.86914923e-01 -1.78824969e-03 -2.50155767e+01] [-1.14829713e-02 -6.41290027e-05 9.99934066e-01 -5.13948701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25420382200002 meters 0.015751322059361035 Centerline is valid? [True, True] Translation: X:182.49, Y:-25.02, Z:-5.14 [[ 9.86779127e-01 1.61676381e-01 1.13005831e-02 1.82494664e+02] [-1.61666583e-01 9.86843829e-01 -1.78119670e-03 -2.50171687e+01] [-1.14398881e-02 -6.92789299e-05 9.99934560e-01 -5.14213156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284203822 meters 0.016993120247483954 Centerline is valid? [True, True] Translation: X:182.52, Y:-25.02, Z:-5.14 [[ 9.86574095e-01 1.63021656e-01 9.77211378e-03 1.82523351e+02] [-1.63014394e-01 9.86622488e-01 -1.54040755e-03 -2.50164021e+01] [-9.89250700e-03 -7.32690294e-05 9.99951065e-01 -5.14498181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314203822 meters 0.017602725580797014 Centerline is valid? [True, True] Translation: X:182.55, Y:-25.02, Z:-5.15 [[ 9.86409850e-01 1.64039954e-01 9.30060281e-03 1.82552576e+02] [-1.64033436e-01 9.86453692e-01 -1.46461870e-03 -2.50179722e+01] [-9.41486997e-03 -8.08955217e-05 9.99955676e-01 -5.14644275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344203822 meters 0.01801142607333756 Centerline is valid? [True, True] Translation: X:182.58, Y:-25.02, Z:-5.15 [[ 9.86212918e-01 1.65224546e-01 9.21569894e-03 1.82581180e+02] [-1.65218202e-01 9.86255971e-01 -1.45082731e-03 -2.50192489e+01] [-9.32875040e-03 -9.17765774e-05 9.99956482e-01 -5.14658325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.374203822 meters 0.0208323826084398 Centerline is valid? [True, True] Translation: X:182.61, Y:-25.02, Z:-5.15 [[ 9.85847477e-01 1.67364984e-01 9.68065610e-03 1.82609319e+02] [-1.67358084e-01 9.85894999e-01 -1.52426015e-03 -2.50163984e+01] [-9.79921821e-03 -1.17448037e-04 9.99951980e-01 -5.14928765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404203822 meters 0.026752441257534842 Centerline is valid? [True, True] Translation: X:182.64, Y:-25.02, Z:-5.15 [[ 9.85804180e-01 1.67637330e-01 9.37252161e-03 1.82638462e+02] [-1.67630890e-01 9.85848727e-01 -1.47410845e-03 -2.50192190e+01] [-9.48700410e-03 -1.17941864e-04 9.99954990e-01 -5.15138892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.434203822 meters 0.021174293347212617 Centerline is valid? [True, True] Translation: X:182.67, Y:-25.02, Z:-5.15 [[ 9.85789581e-01 1.67691534e-01 9.92230195e-03 1.82666188e+02] [-1.67684323e-01 9.85839507e-01 -1.56023323e-03 -2.50224270e+01] [-1.00434352e-02 -1.25752823e-04 9.99949556e-01 -5.15081933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464203822 meters 0.01974226180990828 Centerline is valid? [True, True] Translation: X:182.69, Y:-25.02, Z:-5.15 [[ 9.85847254e-01 1.67304748e-01 1.06917125e-02 1.82694923e+02] [-1.67296363e-01 9.85905220e-01 -1.68026060e-03 -2.50246248e+01] [-1.08221308e-02 -1.32204317e-04 9.99941430e-01 -5.14828479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.494203822 meters 0.01894608416355784 Centerline is valid? [True, True] Translation: X:182.72, Y:-25.03, Z:-5.15 [[ 9.85935588e-01 1.66764128e-01 1.09882275e-02 1.82723511e+02] [-1.66755244e-01 9.85996810e-01 -1.72628302e-03 -2.50284282e+01] [-1.11222393e-02 -1.30340696e-04 9.99938137e-01 -5.14816369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524203822 meters 0.019368277860507665 Centerline is valid? [True, True] Translation: X:182.75, Y:-25.03, Z:-5.15 [[ 9.86095920e-01 1.65795904e-01 1.12496902e-02 1.82750989e+02] [-1.65786533e-01 9.86160080e-01 -1.76696695e-03 -2.50320601e+01] [-1.13869512e-02 -1.22648230e-04 9.99935159e-01 -5.15087313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.554203822 meters 0.01750421363266872 Centerline is valid? [True, True] Translation: X:182.78, Y:-25.04, Z:-5.15 [[ 9.86438477e-01 1.63714217e-01 1.16955232e-02 1.82778950e+02] [-1.63703955e-01 9.86507802e-01 -1.83596508e-03 -2.50402767e+01] [-1.18382984e-02 -1.03536806e-04 9.99929920e-01 -5.15121401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584203822 meters 0.015633427954780076 Centerline is valid? [True, True] Translation: X:182.81, Y:-25.05, Z:-5.15 [[ 9.86688167e-01 1.62198881e-01 1.17466891e-02 1.82806758e+02] [-1.62188428e-01 9.86758084e-01 -1.84346017e-03 -2.50475345e+01] [-1.18901476e-02 -8.62566989e-05 9.99929306e-01 -5.14988595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.614203822 meters 0.01581822750369203 Centerline is valid? [True, True] Translation: X:182.83, Y:-25.05, Z:-5.15 [[ 9.86966973e-01 1.60497482e-01 1.16941638e-02 1.82833774e+02] [-1.60487001e-01 9.87036248e-01 -1.83534449e-03 -2.50530531e+01] [-1.18371318e-02 -6.53368854e-05 9.99929937e-01 -5.15421236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.644203822 meters 0.013794238792329163 Centerline is valid? [True, True] Translation: X:182.86, Y:-25.06, Z:-5.15 [[ 9.87586785e-01 1.56685074e-01 1.10512579e-02 1.82861133e+02] [-1.56675493e-01 9.87648615e-01 -1.73282986e-03 -2.50640583e+01] [-1.11862682e-02 -2.01414135e-05 9.99937432e-01 -5.15310044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.674203822 meters 0.01383075364018741 Centerline is valid? [True, True] Translation: X:182.89, Y:-25.07, Z:-5.16 [[ 9.87862206e-01 1.54945909e-01 1.09556629e-02 1.82887324e+02] [-1.54936385e-01 9.87922955e-01 -1.71793947e-03 -2.50702867e+01] [-1.10895386e-02 -3.43335490e-07 9.99938509e-01 -5.15522076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.704203822 meters 0.014736872641964351 Centerline is valid? [True, True] Translation: X:182.91, Y:-25.08, Z:-5.16 [[ 9.88275571e-01 1.52334398e-01 1.02774827e-02 1.82913565e+02] [-1.52325888e-01 9.88329009e-01 -1.61040294e-03 -2.50792006e+01] [-1.04028540e-02 2.59952055e-05 9.99945889e-01 -5.15830568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.734203822 meters 0.02000219890956118 Centerline is valid? [True, True] Translation: X:182.94, Y:-25.09, Z:-5.16 [[ 9.88437017e-01 1.51291953e-01 1.01492787e-02 1.82941955e+02] [-1.51283607e-01 9.88489122e-01 -1.58951947e-03 -2.50855377e+01] [-1.02729331e-02 3.57203846e-05 9.99947231e-01 -5.15792800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.764203822 meters 0.014733759834411504 Centerline is valid? [True, True] Translation: X:182.97, Y:-25.09, Z:-5.16 [[ 9.88548848e-01 1.50526025e-01 1.06344212e-02 1.82968722e+02] [-1.50516817e-01 9.88606046e-01 -1.66553979e-03 -2.50924115e+01] [-1.07639602e-02 4.58082099e-05 9.99942066e-01 -5.15847131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79420382200001 meters 0.014817703732124904 Centerline is valid? [True, True] Translation: X:183.00, Y:-25.10, Z:-5.16 [[ 9.88788510e-01 1.48909252e-01 1.11047811e-02 1.82995544e+02] [-1.48899124e-01 9.88850864e-01 -1.73794608e-03 -2.51006043e+01] [-1.12397686e-02 6.49689335e-05 9.99936830e-01 -5.15727163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82420382200002 meters 0.016105003930530715 Centerline is valid? [True, True] Translation: X:183.02, Y:-25.11, Z:-5.16 [[ 9.88922770e-01 1.48016942e-01 1.10788065e-02 1.83022864e+02] [-1.48006817e-01 9.88984823e-01 -1.73284124e-03 -2.51080421e+01] [-1.12132613e-02 7.39072820e-05 9.99937127e-01 -5.16052350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85420382200002 meters 0.01629582503559102 Centerline is valid? [True, True] Translation: X:183.05, Y:-25.11, Z:-5.16 [[ 9.89011490e-01 1.47432370e-01 1.09530243e-02 1.83050958e+02] [-1.47422448e-01 9.89072136e-01 -1.71227021e-03 -2.51138646e+01] [-1.10857752e-02 7.87332514e-05 9.99938548e-01 -5.16080100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88420382200002 meters 0.01506305893682057 Centerline is valid? [True, True] Translation: X:183.08, Y:-25.12, Z:-5.16 [[ 9.88900829e-01 1.48196838e-01 1.06229790e-02 1.83078875e+02] [-1.48187549e-01 9.88957882e-01 -1.66068913e-03 -2.51175005e+01] [-1.07517877e-02 6.80636430e-05 9.99942196e-01 -5.15943741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91420382200002 meters 0.015555428458081022 Centerline is valid? [True, True] Translation: X:183.11, Y:-25.12, Z:-5.16 [[ 9.88771036e-01 1.49061677e-01 1.06044689e-02 1.83106195e+02] [-1.49052475e-01 9.88827899e-01 -1.65721439e-03 -2.51217542e+01] [-1.07330218e-02 5.79832568e-05 9.99942398e-01 -5.16244347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94420382200002 meters 0.014445269308541297 Centerline is valid? [True, True] Translation: X:183.13, Y:-25.12, Z:-5.16 [[ 9.88613792e-01 1.50091957e-01 1.07319175e-02 1.83134646e+02] [-1.50082612e-01 9.88672040e-01 -1.67550970e-03 -2.51249812e+01] [-1.08618273e-02 4.57577838e-05 9.99941008e-01 -5.16132433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97420382200002 meters 0.013745448514472817 Centerline is valid? [True, True] Translation: X:183.16, Y:-25.13, Z:-5.16 [[ 9.88351116e-01 1.51773749e-01 1.12605391e-02 1.83162776e+02] [-1.51763576e-01 9.88415261e-01 -1.75742466e-03 -2.51305715e+01] [-1.13968197e-02 2.80129292e-05 9.99935054e-01 -5.16147700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00420382200002 meters 0.01366510002625447 Centerline is valid? [True, True] Translation: X:183.19, Y:-25.14, Z:-5.16 [[ 9.88312327e-01 1.52032023e-01 1.11807259e-02 1.83190670e+02] [-1.52022012e-01 9.88375568e-01 -1.74484692e-03 -2.51364791e+01] [-1.13160289e-02 2.47372682e-05 9.99935971e-01 -5.16207944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034203822 meters 0.013473409117173018 Centerline is valid? [True, True] Translation: X:183.22, Y:-25.14, Z:-5.16 [[ 9.88305304e-01 1.51994477e-01 1.22599151e-02 1.83217845e+02] [-1.51982454e-01 9.88381342e-01 -1.91193963e-03 -2.51434138e+01] [-1.24080756e-02 2.62880931e-05 9.99923017e-01 -5.16159602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064203822 meters 0.013375412381021922 Centerline is valid? [True, True] Translation: X:183.25, Y:-25.15, Z:-5.16 [[ 9.88319661e-01 1.51846133e-01 1.29228096e-02 1.83245523e+02] [-1.51832773e-01 9.88404144e-01 -2.01441012e-03 -2.51487086e+01] [-1.30788390e-02 2.87751053e-05 9.99914468e-01 -5.16161294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.094203822 meters 0.01358266812156406 Centerline is valid? [True, True] Translation: X:183.27, Y:-25.15, Z:-5.16 [[ 9.88365077e-01 1.51550909e-01 1.29149919e-02 1.83272493e+02] [-1.51537546e-01 9.88449453e-01 -2.01275911e-03 -2.51538604e+01] [-1.30708522e-02 3.22346364e-05 9.99914572e-01 -5.16287119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124203822 meters 0.01298588522906404 Centerline is valid? [True, True] Translation: X:183.30, Y:-25.16, Z:-5.16 [[ 9.88343071e-01 1.51657684e-01 1.33386765e-02 1.83300947e+02] [-1.51643463e-01 9.88433076e-01 -2.07706896e-03 -2.51610525e+01] [-1.34993926e-02 3.01336114e-05 9.99908879e-01 -5.16102702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.154203822 meters 0.012674337715913263 Centerline is valid? [True, True] Translation: X:183.33, Y:-25.17, Z:-5.16 [[ 9.88229480e-01 1.52369728e-01 1.36367253e-02 1.83329338e+02] [-1.52354942e-01 9.88323563e-01 -2.12278512e-03 -2.51663183e+01] [-1.38009452e-02 2.01763391e-05 9.99904762e-01 -5.16109901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184203822 meters 0.013186955680006584 Centerline is valid? [True, True] Translation: X:183.36, Y:-25.17, Z:-5.16 [[ 9.88062817e-01 1.53458699e-01 1.35017223e-02 1.83357179e+02] [-1.53444311e-01 9.88155063e-01 -2.10140287e-03 -2.51707402e+01] [-1.36642738e-02 4.55556717e-06 9.99906639e-01 -5.16454464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.214203822 meters 0.014188488201817043 Centerline is valid? [True, True] Translation: X:183.39, Y:-25.17, Z:-5.17 [[ 9.87634299e-01 1.56353931e-01 1.14865140e-02 1.83385569e+02] [-1.56343718e-01 9.87701092e-01 -1.78737835e-03 -2.51718037e+01] [-1.16247061e-02 -3.05681409e-05 9.99932430e-01 -5.16811985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244203822 meters 0.014906045641853667 Centerline is valid? [True, True] Translation: X:183.41, Y:-25.17, Z:-5.17 [[ 9.87367758e-01 1.58037857e-01 1.13554123e-02 1.83413999e+02] [-1.58028000e-01 9.87433053e-01 -1.76579915e-03 -2.51731470e+01] [-1.14917726e-02 -5.09799426e-05 9.99933966e-01 -5.16981633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.274203822 meters 0.017109614377138198 Centerline is valid? [True, True] Translation: X:183.44, Y:-25.17, Z:-5.17 [[ 9.86845415e-01 1.61315692e-01 1.06477279e-02 1.83442678e+02] [-1.61307222e-01 9.86902853e-01 -1.65520876e-03 -2.51701977e+01] [-1.07752842e-02 -8.41202318e-05 9.99941941e-01 -5.17249181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304203822 meters 0.018344011020969747 Centerline is valid? [True, True] Translation: X:183.47, Y:-25.17, Z:-5.17 [[ 9.86606246e-01 1.62800727e-01 1.01999081e-02 1.83471942e+02] [-1.62793042e-01 9.86658965e-01 -1.58482676e-03 -2.51713362e+01] [-1.03218417e-02 -9.68740947e-05 9.99946724e-01 -5.17418914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.334203822 meters 0.018094763815753492 Centerline is valid? [True, True] Translation: X:183.50, Y:-25.17, Z:-5.17 [[ 9.86456853e-01 1.63710062e-01 1.00941837e-02 1.83500456e+02] [-1.63702587e-01 9.86508492e-01 -1.56796272e-03 -2.51747453e+01] [-1.02146892e-02 -1.05716416e-04 9.99947823e-01 -5.17331894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364203822 meters 0.018094763815753492 Centerline is valid? [True, True] Translation: X:183.53, Y:-25.18, Z:-5.17 [[ 9.86468951e-01 1.63637149e-01 1.00941920e-02 1.83527636e+02] [-1.63629671e-01 9.86520589e-01 -1.56790973e-03 -2.51788290e+01] [-1.02146965e-02 -1.05015044e-04 9.99947823e-01 -5.17409941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.394203822 meters 0.020033103295966394 Centerline is valid? [True, True] Translation: X:183.56, Y:-25.18, Z:-5.18 [[ 9.86333428e-01 1.64432197e-01 1.04125946e-02 1.83555974e+02] [-1.64424295e-01 9.86388381e-01 -1.61628292e-03 -2.51787697e+01] [-1.05366313e-02 -1.17889665e-04 9.99944481e-01 -5.17720571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.424203822 meters 0.018846297708163574 Centerline is valid? [True, True] Translation: X:183.58, Y:-25.18, Z:-5.18 [[ 9.86464468e-01 1.63645488e-01 1.03926240e-02 1.83584842e+02] [-1.63637583e-01 9.86519205e-01 -1.61229187e-03 -2.51839039e+01] [-1.05163675e-02 -1.10155235e-04 9.99944695e-01 -5.17710409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.454203822 meters 0.018151036609294607 Centerline is valid? [True, True] Translation: X:183.61, Y:-25.19, Z:-5.18 [[ 9.86742839e-01 1.61936624e-01 1.07284282e-02 1.83612305e+02] [-1.61928103e-01 9.86801156e-01 -1.66402104e-03 -2.51891266e+01] [-1.08562913e-02 -9.52731733e-05 9.99941064e-01 -5.17875762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.484203822 meters 0.01411837744032717 Centerline is valid? [True, True] Translation: X:183.64, Y:-25.20, Z:-5.18 [[ 9.87615956e-01 1.56427579e-01 1.20472024e-02 1.83639522e+02] [-1.56416437e-01 9.87689430e-01 -1.86744478e-03 -2.52010491e+01] [-1.21910144e-02 -4.00622187e-05 9.99925686e-01 -5.17571753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.514203822 meters 0.013653565836045085 Centerline is valid? [True, True] Translation: X:183.67, Y:-25.21, Z:-5.18 [[ 9.88213843e-01 1.52584086e-01 1.23084110e-02 1.83665968e+02] [-1.52572163e-01 9.88290492e-01 -1.90748304e-03 -2.52098252e+01] [-1.24553371e-02 7.08025025e-06 9.99922429e-01 -5.17669945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54420382200001 meters 0.017302510700099406 Centerline is valid? [True, True] Translation: X:183.69, Y:-25.23, Z:-5.18 [[ 9.89596582e-01 1.43296317e-01 1.28362846e-02 1.83692695e+02] [-1.43282581e-01 9.89679821e-01 -1.98823935e-03 -2.52283079e+01] [-1.29887193e-02 1.28338871e-04 9.99915635e-01 -5.17672261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57420382200002 meters 0.020694961267988064 Centerline is valid? [True, True] Translation: X:183.72, Y:-25.24, Z:-5.18 [[ 9.90298893e-01 1.38364934e-01 1.27768358e-02 1.83720244e+02] [-1.38350924e-01 9.90381294e-01 -1.97823398e-03 -2.52411407e+01] [-1.29276574e-02 1.91355876e-04 9.99916416e-01 -5.17630817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60420382200002 meters 0.024174302487727777 Centerline is valid? [True, True] Translation: X:183.75, Y:-25.25, Z:-5.18 [[ 9.90910875e-01 1.33915538e-01 1.27383964e-02 1.83747902e+02] [-1.33901250e-01 9.90992718e-01 -1.97182026e-03 -2.52537452e+01] [-1.28877155e-02 2.48210928e-04 9.99916919e-01 -5.17672082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63420382200002 meters 0.02996172180195451 Centerline is valid? [True, True] Translation: X:183.78, Y:-25.27, Z:-5.18 [[ 9.91424753e-01 1.30075488e-01 1.25430110e-02 1.83775360e+02] [-1.30061339e-01 9.91504050e-01 -1.94073580e-03 -2.52688884e+01] [-1.26888884e-02 2.92732701e-04 9.99919450e-01 -5.17939740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66420382200002 meters 0.03389691552580056 Centerline is valid? [True, True] Translation: X:183.80, Y:-25.28, Z:-5.18 [[ 9.92176037e-01 1.24106550e-01 1.35748291e-02 1.83804037e+02] [-1.24089424e-01 9.92268817e-01 -2.09996635e-03 -2.52834319e+01] [-1.37304992e-02 3.99043568e-04 9.99905653e-01 -5.17633607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69420382200002 meters 0.037577441082558664 Centerline is valid? [True, True] Translation: X:183.83, Y:-25.30, Z:-5.18 [[ 9.92379532e-01 1.22352026e-01 1.45892669e-02 1.83833192e+02] [-1.22332071e-01 9.92486663e-01 -2.25583557e-03 -2.52957816e+01] [-1.47556588e-02 4.53909816e-04 9.99891026e-01 -5.17644553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72420382200002 meters 0.0393273773421454 Centerline is valid? [True, True] Translation: X:183.86, Y:-25.31, Z:-5.18 [[ 9.92570179e-01 1.20691808e-01 1.54249026e-02 1.83863763e+02] [-1.20669294e-01 9.92689897e-01 -2.38548453e-03 -2.53097144e+01] [-1.56000534e-02 5.06448709e-04 9.99878184e-01 -5.17507105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75420382200002 meters 0.03815491614073124 Centerline is valid? [True, True] Translation: X:183.89, Y:-25.32, Z:-5.18 [[ 9.92511652e-01 1.21162607e-01 1.54997668e-02 1.83894807e+02] [-1.21139891e-01 9.92632545e-01 -2.39964138e-03 -2.53167822e+01] [-1.56763197e-02 5.04031978e-04 9.99876992e-01 -5.17525361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784203822 meters 0.03907199763759805 Centerline is valid? [True, True] Translation: X:183.92, Y:-25.33, Z:-5.18 [[ 9.92339284e-01 1.22581419e-01 1.53798907e-02 1.83924654e+02] [-1.22559181e-01 9.92458344e-01 -2.38379198e-03 -2.53265564e+01] [-1.55561095e-02 4.80583620e-04 9.99878881e-01 -5.17762506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814203822 meters 0.040366753194238214 Centerline is valid? [True, True] Translation: X:183.96, Y:-25.33, Z:-5.18 [[ 9.91834203e-01 1.26761809e-01 1.40127646e-02 1.83955357e+02] [-1.26743714e-01 9.91933112e-01 -2.17550589e-03 -2.53312244e+01] [-1.41754963e-02 3.81711314e-04 9.99899450e-01 -5.17961946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844203822 meters 0.031196736921823846 Centerline is valid? [True, True] Translation: X:183.99, Y:-25.34, Z:-5.18 [[ 9.91455923e-01 1.29599379e-01 1.48038244e-02 1.83985805e+02] [-1.29579496e-01 9.91566372e-01 -2.29855221e-03 -2.53371700e+01] [-1.49768654e-02 3.60641100e-04 9.99887775e-01 -5.17991249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.874203822 meters 0.027991788361752735 Centerline is valid? [True, True] Translation: X:184.02, Y:-25.34, Z:-5.18 [[ 9.91094444e-01 1.32346028e-01 1.47082255e-02 1.84017244e+02] [-1.32326693e-01 9.91203525e-01 -2.28438530e-03 -2.53406191e+01] [-1.48811743e-02 3.17750733e-04 9.99889219e-01 -5.18054932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904203822 meters 0.021953717978613042 Centerline is valid? [True, True] Translation: X:184.05, Y:-25.34, Z:-5.18 [[ 9.90355390e-01 1.37905033e-01 1.33567738e-02 1.84048059e+02] [-1.37889588e-01 9.90445433e-01 -2.07492727e-03 -2.53432936e+01] [-1.35152985e-02 2.13155379e-04 9.99908641e-01 -5.18259560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.934203822 meters 0.031731518626522605 Centerline is valid? [True, True] Translation: X:184.08, Y:-25.35, Z:-5.19 [[ 9.90055325e-01 1.40164852e-01 1.20111899e-02 1.84076869e+02] [-1.40152522e-01 9.90128167e-01 -1.86637748e-03 -2.53511170e+01] [-1.21542180e-02 1.64418412e-04 9.99926121e-01 -5.18785532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964203822 meters 0.01643945491328868 Centerline is valid? [True, True] Translation: X:184.11, Y:-25.36, Z:-5.18 [[ 9.89343739e-01 1.44981489e-01 1.33915831e-02 1.84105594e+02] [-1.44966603e-01 9.89434361e-01 -2.08084884e-03 -2.53587582e+01] [-1.35517771e-02 1.17342450e-04 9.99908164e-01 -5.18487253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.994203822 meters 0.014907325265220595 Centerline is valid? [True, True] Translation: X:184.14, Y:-25.36, Z:-5.19 [[ 9.88933856e-01 1.47753129e-01 1.33731586e-02 1.84135071e+02] [-1.47738550e-01 9.89024270e-01 -2.07706805e-03 -2.53634647e+01] [-1.35332717e-02 7.83518657e-05 9.99908418e-01 -5.18555540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024203822 meters 0.013833125170953588 Centerline is valid? [True, True] Translation: X:184.16, Y:-25.37, Z:-5.19 [[ 9.88462518e-01 1.50923405e-01 1.28053418e-02 1.84164659e+02] [-1.50910293e-01 9.88545459e-01 -1.98967807e-03 -2.53667671e+01] [-1.29589515e-02 3.42643150e-05 9.99916029e-01 -5.18661692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.054203822 meters 0.014999439203620957 Centerline is valid? [True, True] Translation: X:184.19, Y:-25.37, Z:-5.19 [[ 9.87200575e-01 1.58964038e-01 1.28630986e-02 1.84194540e+02] [-1.58951489e-01 9.87284371e-01 -1.99870447e-03 -2.53650767e+01] [-1.30172584e-02 -7.14864781e-05 9.99915269e-01 -5.18712249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084203822 meters 0.017956003057699788 Centerline is valid? [True, True] Translation: X:184.22, Y:-25.36, Z:-5.19 [[ 9.86481288e-01 1.63353419e-01 1.30510296e-02 1.84223536e+02] [-1.63340892e-01 9.86567607e-01 -2.02725680e-03 -2.53644880e+01] [-1.32068824e-02 -1.31915913e-04 9.99912777e-01 -5.18770949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.114203822 meters 0.023434898263506712 Centerline is valid? [True, True] Translation: X:184.25, Y:-25.36, Z:-5.19 [[ 9.85690016e-01 1.68064720e-01 1.30169898e-02 1.84253172e+02] [-1.68052680e-01 9.85775944e-01 -2.02116035e-03 -2.53621123e+01] [-1.31715212e-02 -1.95302455e-04 9.99913233e-01 -5.19027387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.144203822 meters 0.02941514207639968 Centerline is valid? [True, True] Translation: X:184.28, Y:-25.36, Z:-5.19 [[ 9.84295913e-01 1.76055392e-01 1.28862235e-02 1.84284295e+02] [-1.76044289e-01 9.84380216e-01 -1.99985744e-03 -2.53613538e+01] [-1.30370292e-02 -3.00094554e-04 9.99914969e-01 -5.18889209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.174203822 meters 0.031013956761296813 Centerline is valid? [True, True] Translation: X:184.31, Y:-25.36, Z:-5.19 [[ 9.83677710e-01 1.79445626e-01 1.33202903e-02 1.84313945e+02] [-1.79434068e-01 9.83767828e-01 -2.06759133e-03 -2.53639198e+01] [-1.34750932e-02 -3.56270362e-04 9.99909143e-01 -5.18756923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.204203822 meters 0.03927296203550241 Centerline is valid? [True, True] Translation: X:184.34, Y:-25.36, Z:-5.19 [[ 9.82790308e-01 1.84257422e-01 1.31306116e-02 1.84344055e+02] [-1.84246626e-01 9.82877932e-01 -2.03762871e-03 -2.53570350e+01] [-1.32812366e-02 -4.16709137e-04 9.99911714e-01 -5.19149639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.234203822 meters 0.039274011839384185 Centerline is valid? [True, True] Translation: X:184.37, Y:-25.36, Z:-5.19 [[ 9.82655628e-01 1.85024474e-01 1.24040799e-02 1.84372058e+02] [-1.85014888e-01 9.82733831e-01 -1.92589445e-03 -2.53615150e+01] [-1.25462466e-02 -4.02448425e-04 9.99921212e-01 -5.19262819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.264203822 meters 0.038809852861414765 Centerline is valid? [True, True] Translation: X:184.40, Y:-25.37, Z:-5.19 [[ 9.82632694e-01 1.85129176e-01 1.26561278e-02 1.84399355e+02] [-1.85119222e-01 9.82714108e-01 -1.96374196e-03 -2.53662379e+01] [-1.28009012e-02 -4.13255474e-04 9.99917980e-01 -5.19284455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29420382200001 meters 0.037440582390995576 Centerline is valid? [True, True] Translation: X:184.43, Y:-25.37, Z:-5.19 [[ 9.82793814e-01 1.84219131e-01 1.34026430e-02 1.84427912e+02] [-1.84207903e-01 9.82885105e-01 -2.07812651e-03 -2.53713255e+01] [-1.35560889e-02 -4.26502883e-04 9.99908021e-01 -5.19225876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32420382200002 meters 0.03482928291360142 Centerline is valid? [True, True] Translation: X:184.46, Y:-25.38, Z:-5.19 [[ 9.83031962e-01 1.82955221e-01 1.32494944e-02 1.84455931e+02] [-1.82944142e-01 9.83121164e-01 -2.05376902e-03 -2.53783959e+01] [-1.34016061e-02 -4.04996793e-04 9.99910112e-01 -5.19265317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35420382200002 meters 0.03580228982114124 Centerline is valid? [True, True] Translation: X:184.48, Y:-25.38, Z:-5.20 [[ 9.83265985e-01 1.81697772e-01 1.31879687e-02 1.84483496e+02] [-1.81686687e-01 9.83354346e-01 -2.04387644e-03 -2.53804725e+01] [-1.33398141e-02 -3.86404156e-04 9.99910946e-01 -5.19521603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38420382200002 meters 0.03110683170271076 Centerline is valid? [True, True] Translation: X:184.51, Y:-25.39, Z:-5.19 [[ 9.83776444e-01 1.78947724e-01 1.27130011e-02 1.84511857e+02] [-1.78937208e-01 9.83858525e-01 -1.96915885e-03 -2.53873145e+01] [-1.28601710e-02 -3.37616830e-04 9.99917248e-01 -5.19497973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41420382200002 meters 0.0346076221766985 Centerline is valid? [True, True] Translation: X:184.54, Y:-25.39, Z:-5.20 [[ 9.84029169e-01 1.77574899e-01 1.23995556e-02 1.84539876e+02] [-1.77564791e-01 9.84107239e-01 -1.92021338e-03 -2.53853359e+01] [-1.25434741e-02 -3.12178522e-04 9.99921279e-01 -5.20033046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44420382200002 meters 0.028964091229969145 Centerline is valid? [True, True] Translation: X:184.57, Y:-25.40, Z:-5.20 [[ 9.84647383e-01 1.74157023e-01 1.17839807e-02 1.84567583e+02] [-1.74147659e-01 9.84717861e-01 -1.82401301e-03 -2.53963377e+01] [-1.19215610e-02 -2.56143026e-04 9.99928903e-01 -5.20008133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47420382200002 meters 0.026579629359260434 Centerline is valid? [True, True] Translation: X:184.60, Y:-25.40, Z:-5.20 [[ 9.85008248e-01 1.72092020e-01 1.19619529e-02 1.84595416e+02] [-1.72082227e-01 9.85080850e-01 -1.85097563e-03 -2.54032248e+01] [-1.21020289e-02 -2.35213236e-04 9.99926740e-01 -5.19999293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50420382200002 meters 0.02492413755334791 Centerline is valid? [True, True] Translation: X:184.62, Y:-25.41, Z:-5.20 [[ 9.85280466e-01 1.70500604e-01 1.23267134e-02 1.84624149e+02] [-1.70490087e-01 9.85357546e-01 -1.90678785e-03 -2.54085159e+01] [-1.24713285e-02 -2.22861620e-04 9.99922205e-01 -5.19988295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534203822 meters 0.023986487643625543 Centerline is valid? [True, True] Translation: X:184.65, Y:-25.41, Z:-5.20 [[ 9.85550465e-01 1.68959044e-01 1.19634151e-02 1.84651386e+02] [-1.68949028e-01 9.85623053e-01 -1.85024595e-03 -2.54122671e+01] [-1.21040335e-02 -1.97696600e-04 9.99926724e-01 -5.20111474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564203822 meters 0.021373053284822436 Centerline is valid? [True, True] Translation: X:184.68, Y:-25.42, Z:-5.20 [[ 9.86099026e-01 1.65829976e-01 1.04465480e-02 1.84679734e+02] [-1.65822170e-01 9.86154349e-01 -1.61502411e-03 -2.54196067e+01] [-1.05697282e-02 -1.39695569e-04 9.99944129e-01 -5.20474810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.594203822 meters 0.02037896527039283 Centerline is valid? [True, True] Translation: X:184.71, Y:-25.43, Z:-5.21 [[ 9.86347052e-01 1.64365910e-01 1.01656175e-02 1.84707602e+02] [-1.64358446e-01 9.86399429e-01 -1.57113835e-03 -2.54255751e+01] [-1.02856009e-02 -1.21117409e-04 9.99947094e-01 -5.20637873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624203822 meters 0.01761217272898342 Centerline is valid? [True, True] Translation: X:184.74, Y:-25.43, Z:-5.20 [[ 9.86663496e-01 1.62449287e-01 1.02652557e-02 1.84735484e+02] [-1.62441576e-01 9.86716889e-01 -1.58608176e-03 -2.54339673e+01] [-1.03865590e-02 -1.02575351e-04 9.99946053e-01 -5.20418215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.654203822 meters 0.0178647407617819 Centerline is valid? [True, True] Translation: X:184.76, Y:-25.44, Z:-5.20 [[ 9.86736443e-01 1.61957645e-01 1.09960285e-02 1.84762639e+02] [-1.61948772e-01 9.86797705e-01 -1.69855159e-03 -2.54378325e+01] [-1.11259491e-02 -1.04770549e-04 9.99938099e-01 -5.20493607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684203822 meters 0.0170655678949867 Centerline is valid? [True, True] Translation: X:184.79, Y:-25.44, Z:-5.20 [[ 9.86745638e-01 1.61869442e-01 1.14599117e-02 1.84791475e+02] [-1.61859809e-01 9.86812177e-01 -1.76921575e-03 -2.54428554e+01] [-1.15951623e-02 -1.09133192e-04 9.99932768e-01 -5.20302643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.714203822 meters 0.023106030265581945 Centerline is valid? [True, True] Translation: X:184.82, Y:-25.44, Z:-5.20 [[ 9.86665366e-01 1.62264833e-01 1.27113923e-02 1.84819362e+02] [-1.62253023e-01 9.86747236e-01 -1.96181581e-03 -2.54442495e+01] [-1.28612650e-02 -1.26806117e-04 9.99917282e-01 -5.20479283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744203822 meters 0.018000339558344847 Centerline is valid? [True, True] Translation: X:184.85, Y:-25.45, Z:-5.20 [[ 9.86543093e-01 1.62963775e-01 1.32489275e-02 1.84848285e+02] [-1.62951022e-01 9.86632043e-01 -2.04366929e-03 -2.54483438e+01] [-1.34048605e-02 -1.42758469e-04 9.99910141e-01 -5.20309409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.774203822 meters 0.019481167993671895 Centerline is valid? [True, True] Translation: X:184.88, Y:-25.45, Z:-5.21 [[ 9.86398340e-01 1.63852835e-01 1.30600023e-02 1.84876248e+02] [-1.63840527e-01 9.86484782e-01 -2.01408628e-03 -2.54501855e+01] [-1.32135072e-02 -1.53066294e-04 9.99912686e-01 -5.20518426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804203822 meters 0.021605116567601165 Centerline is valid? [True, True] Translation: X:184.90, Y:-25.45, Z:-5.21 [[ 9.85935908e-01 1.66655989e-01 1.24966424e-02 1.84904968e+02] [-1.66644951e-01 9.86015085e-01 -1.92670147e-03 -2.54496667e+01] [-1.26429742e-02 -1.82898191e-04 9.99920058e-01 -5.20531942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.834203822 meters 0.023099865280538683 Centerline is valid? [True, True] Translation: X:184.93, Y:-25.45, Z:-5.21 [[ 9.85660774e-01 1.68292513e-01 1.22665316e-02 1.84934223e+02] [-1.68282021e-01 9.85737079e-01 -1.89000607e-03 -2.54504069e+01] [-1.24096490e-02 -2.01331883e-04 9.99922977e-01 -5.20653637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.864203822 meters 0.02567357903344509 Centerline is valid? [True, True] Translation: X:184.96, Y:-25.45, Z:-5.21 [[ 9.85387285e-01 1.70003100e-01 1.05282505e-02 1.84962641e+02] [-1.69995471e-01 9.85443509e-01 -1.62185127e-03 -2.54498075e+01] [-1.06507159e-02 -1.91603281e-04 9.99943261e-01 -5.21081170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.894203822 meters 0.024746646004510302 Centerline is valid? [True, True] Translation: X:184.99, Y:-25.45, Z:-5.21 [[ 9.85382286e-01 1.70058441e-01 1.00934369e-02 1.84991420e+02] [-1.70051437e-01 9.85433962e-01 -1.55445577e-03 -2.54549593e+01] [-1.02107638e-02 -1.84670270e-04 9.99947852e-01 -5.21131339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.924203822 meters 0.02563934263258059 Centerline is valid? [True, True] Translation: X:185.02, Y:-25.46, Z:-5.21 [[ 9.85480705e-01 1.69477575e-01 1.02534030e-02 1.85019209e+02] [-1.69470319e-01 9.85534027e-01 -1.57877979e-03 -2.54577504e+01] [-1.03726453e-02 -1.81790461e-04 9.99946186e-01 -5.21372819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.954203822 meters 0.023027732224179847 Centerline is valid? [True, True] Translation: X:185.05, Y:-25.47, Z:-5.21 [[ 9.85689476e-01 1.68267831e-01 1.01090860e-02 1.85047405e+02] [-1.68260722e-01 9.85741299e-01 -1.55575604e-03 -2.54656564e+01] [-1.02267273e-02 -1.67469763e-04 9.99947692e-01 -5.21241173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.984203822 meters 0.021998407080964438 Centerline is valid? [True, True] Translation: X:185.08, Y:-25.47, Z:-5.21 [[ 9.85896309e-01 1.67047228e-01 1.01829058e-02 1.85075903e+02] [-1.67039956e-01 9.85948883e-01 -1.56660151e-03 -2.54725113e+01] [-1.03015210e-02 -1.56445487e-04 9.99946926e-01 -5.21312094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.014203822 meters 0.021701006930711926 Centerline is valid? [True, True] Translation: X:185.10, Y:-25.48, Z:-5.21 [[ 9.86092823e-01 1.65899204e-01 9.91957217e-03 1.85103465e+02] [-1.65892247e-01 9.86142705e-01 -1.52585137e-03 -2.54789828e+01] [-1.00352513e-02 -1.40949026e-04 9.99949636e-01 -5.21454689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04420382200001 meters 0.02113492044411182 Centerline is valid? [True, True] Translation: X:185.13, Y:-25.49, Z:-5.22 [[ 9.86402051e-01 1.64108805e-01 8.90470762e-03 1.85129923e+02] [-1.64103132e-01 9.86442237e-01 -1.36911320e-03 -2.54870481e+01] [-9.00866324e-03 -1.10794339e-04 9.99959415e-01 -5.21838443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07420382200002 meters 0.02018762668199553 Centerline is valid? [True, True] Translation: X:185.16, Y:-25.49, Z:-5.22 [[ 9.86552563e-01 1.63202579e-01 8.88585892e-03 1.85157551e+02] [-1.63196896e-01 9.86592574e-01 -1.36578539e-03 -2.54942657e+01] [-8.98962213e-03 -1.02725513e-04 9.99959587e-01 -5.21931223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10420382200002 meters 0.020042750696009488 Centerline is valid? [True, True] Translation: X:185.19, Y:-25.50, Z:-5.22 [[ 9.86586041e-01 1.62989651e-01 9.07508215e-03 1.85185615e+02] [-1.62983719e-01 9.86627773e-01 -1.39439803e-03 -2.54991178e+01] [-9.18100054e-03 -1.03397007e-04 9.99957848e-01 -5.21985066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13420382200002 meters 0.020171662995966035 Centerline is valid? [True, True] Translation: X:185.21, Y:-25.50, Z:-5.22 [[ 9.86563791e-01 1.63122142e-01 9.11337563e-03 1.85214102e+02] [-1.63116170e-01 9.86605877e-01 -1.39983727e-03 -2.55029696e+01] [-9.21965441e-03 -1.05510163e-04 9.99957493e-01 -5.22010386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16420382200002 meters 0.020564344672062904 Centerline is valid? [True, True] Translation: X:185.24, Y:-25.51, Z:-5.22 [[ 9.86487192e-01 1.63569213e-01 9.38793245e-03 1.85243029e+02] [-1.63562900e-01 9.86531854e-01 -1.44150986e-03 -2.55059098e+01] [-9.49728104e-03 -1.13486448e-04 9.99954893e-01 -5.22080458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19420382200002 meters 0.021983197168225985 Centerline is valid? [True, True] Translation: X:185.27, Y:-25.51, Z:-5.22 [[ 9.86255478e-01 1.64930323e-01 9.90560063e-03 1.85270852e+02] [-1.64923367e-01 9.86305212e-01 -1.52065468e-03 -2.55077314e+01] [-1.00207476e-02 -1.33911006e-04 9.99949782e-01 -5.22195232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22420382200002 meters 0.02137981320476394 Centerline is valid? [True, True] Translation: X:185.30, Y:-25.51, Z:-5.22 [[ 9.86110480e-01 1.65812183e-01 9.61463385e-03 1.85298968e+02] [-1.65805678e-01 9.86157341e-01 -1.47527677e-03 -2.55135374e+01] [-9.72616061e-03 -1.39374999e-04 9.99952690e-01 -5.22093374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25420382200002 meters 0.02137981320476394 Centerline is valid? [True, True] Translation: X:185.33, Y:-25.52, Z:-5.22 [[ 9.86118529e-01 1.65764301e-01 9.61470590e-03 1.85326980e+02] [-1.65757799e-01 9.86165390e-01 -1.47480692e-03 -2.55177412e+01] [-9.72616053e-03 -1.39378047e-04 9.99952690e-01 -5.22173802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284203822 meters 0.024090258242727664 Centerline is valid? [True, True] Translation: X:185.35, Y:-25.52, Z:-5.22 [[ 9.85670803e-01 1.68386283e-01 9.95625719e-03 1.85354680e+02] [-1.68379448e-01 9.85721071e-01 -1.52687240e-03 -2.55181049e+01] [-1.00711969e-02 -1.71435548e-04 9.99949270e-01 -5.22264799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314203822 meters 0.025970960627454107 Centerline is valid? [True, True] Translation: X:185.38, Y:-25.52, Z:-5.22 [[ 9.85336006e-01 1.70287498e-01 1.07295196e-02 1.85383397e+02] [-1.70279678e-01 9.85394401e-01 -1.64492934e-03 -2.55178732e+01] [-1.08529194e-02 -2.06211032e-04 9.99941084e-01 -5.22201396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344203822 meters 0.026982846236128448 Centerline is valid? [True, True] Translation: X:185.41, Y:-25.52, Z:-5.22 [[ 9.84970867e-01 1.72346847e-01 1.13558657e-02 1.85412959e+02] [-1.72338241e-01 9.85036296e-01 -1.73948804e-03 -2.55182259e+01] [-1.14857351e-02 -2.43704872e-04 9.99934007e-01 -5.22079364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.374203822 meters 0.032392838996512734 Centerline is valid? [True, True] Translation: X:185.44, Y:-25.51, Z:-5.22 [[ 9.84205049e-01 1.76693757e-01 1.09424686e-02 1.85443903e+02] [-1.76686047e-01 9.84265836e-01 -1.67504915e-03 -2.55114233e+01] [-1.10662687e-02 -2.84789684e-04 9.99938726e-01 -5.22308903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404203822 meters 0.03375886656748834 Centerline is valid? [True, True] Translation: X:185.47, Y:-25.51, Z:-5.22 [[ 9.83855703e-01 1.78673252e-01 1.01894829e-02 1.85473673e+02] [-1.78666671e-01 9.83908424e-01 -1.55987708e-03 -2.55122297e+01] [-1.03042264e-02 -2.85827034e-04 9.99946869e-01 -5.22413393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.434203822 meters 0.03843045767649856 Centerline is valid? [True, True] Translation: X:185.50, Y:-25.51, Z:-5.23 [[ 9.83510258e-01 1.80582978e-01 9.86709210e-03 1.85503177e+02] [-1.80576904e-01 9.83559709e-01 -1.51052339e-03 -2.55091963e+01] [-9.97764904e-03 -2.96153690e-04 9.99950178e-01 -5.22738910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464203822 meters 0.03814909695452183 Centerline is valid? [True, True] Translation: X:185.53, Y:-25.51, Z:-5.23 [[ 9.83052740e-01 1.83065372e-01 9.71491976e-03 1.85532568e+02] [-1.83059607e-01 9.83100691e-01 -1.48688660e-03 -2.55111857e+01] [-9.82294178e-03 -3.16721453e-04 9.99951704e-01 -5.22695574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.494203822 meters 0.04123804137748073 Centerline is valid? [True, True] Translation: X:185.56, Y:-25.51, Z:-5.23 [[ 9.82993916e-01 1.83365006e-01 1.00117964e-02 1.85561097e+02] [-1.83358894e-01 9.83044844e-01 -1.53290491e-03 -2.55101620e+01] [-1.01231259e-02 -3.28915713e-04 9.99948706e-01 -5.22850198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524203822 meters 0.0359623671007223 Centerline is valid? [True, True] Translation: X:185.59, Y:-25.51, Z:-5.22 [[ 9.83201136e-01 1.82144528e-01 1.17854669e-02 1.85589526e+02] [-1.82135996e-01 9.83271697e-01 -1.80226808e-03 -2.55148252e+01] [-1.19165893e-02 -3.74565724e-04 9.99928925e-01 -5.22428076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.554203822 meters 0.040453154891406766 Centerline is valid? [True, True] Translation: X:185.62, Y:-25.51, Z:-5.23 [[ 9.83493258e-01 1.80508224e-01 1.25615894e-02 1.85618046e+02] [-1.80498405e-01 9.83573402e-01 -1.92041991e-03 -2.55096461e+01] [-1.27018968e-02 -3.78626812e-04 9.99919256e-01 -5.22827957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584203822 meters 0.03635008317849058 Centerline is valid? [True, True] Translation: X:185.65, Y:-25.52, Z:-5.23 [[ 9.83927177e-01 1.78128252e-01 1.25553360e-02 1.85646429e+02] [-1.78118265e-01 9.84007218e-01 -1.91826719e-03 -2.55167458e+01] [-1.26962388e-02 -3.48899431e-04 9.99919339e-01 -5.22856775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.614203822 meters 0.03440014406400683 Centerline is valid? [True, True] Translation: X:185.67, Y:-25.52, Z:-5.24 [[ 9.84903225e-01 1.72729300e-01 1.14116670e-02 1.85674526e+02] [-1.72720692e-01 9.84969301e-01 -1.74302672e-03 -2.55225920e+01] [-1.15412135e-02 -2.54318381e-04 9.99933366e-01 -5.23601193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.644203822 meters 0.025087969753416192 Centerline is valid? [True, True] Translation: X:185.70, Y:-25.54, Z:-5.23 [[ 9.85380713e-01 1.69992384e-01 1.12889609e-02 1.85701410e+02] [-1.69983779e-01 9.85445352e-01 -1.72447677e-03 -2.55377334e+01] [-1.14178020e-02 -2.19674090e-04 9.99934791e-01 -5.23092397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.674203822 meters 0.023290121360357404 Centerline is valid? [True, True] Translation: X:185.73, Y:-25.54, Z:-5.23 [[ 9.85756092e-01 1.67804874e-01 1.12450360e-02 1.85729750e+02] [-1.67796202e-01 9.85820210e-01 -1.71700345e-03 -2.55432748e+01] [-1.13737053e-02 -1.94327714e-04 9.99935298e-01 -5.23197646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.704203822 meters 0.02157855626291128 Centerline is valid? [True, True] Translation: X:185.76, Y:-25.55, Z:-5.23 [[ 9.86160838e-01 1.65441489e-01 1.07663582e-02 1.85757237e+02] [-1.65433398e-01 9.86219594e-01 -1.64398813e-03 -2.55474408e+01] [-1.08899772e-02 -1.59878507e-04 9.99940690e-01 -5.23346124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.734203822 meters 0.022008791085485764 Centerline is valid? [True, True] Translation: X:185.78, Y:-25.55, Z:-5.24 [[ 9.86267918e-01 1.64831830e-01 1.02986526e-02 1.85784364e+02] [-1.64824395e-01 9.86321675e-01 -1.57243192e-03 -2.55484767e+01] [-1.04169711e-02 -1.46630024e-04 9.99945731e-01 -5.23586723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.764203822 meters 0.02081203960299881 Centerline is valid? [True, True] Translation: X:185.81, Y:-25.55, Z:-5.24 [[ 9.86336135e-01 1.64442470e-01 9.98511331e-03 1.85812766e+02] [-1.64435470e-01 9.86386666e-01 -1.52355243e-03 -2.55469272e+01] [-1.00997194e-02 -1.39171990e-04 9.99948987e-01 -5.23528894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79420382200001 meters 0.02109985888794587 Centerline is valid? [True, True] Translation: X:185.84, Y:-25.55, Z:-5.24 [[ 9.86358828e-01 1.64322119e-01 9.72132516e-03 1.85840844e+02] [-1.64315488e-01 9.86406723e-01 -1.48239040e-03 -2.55484274e+01] [-9.83277003e-03 -1.35195430e-04 9.99951648e-01 -5.23686172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82420382200002 meters 0.027224313053060722 Centerline is valid? [True, True] Translation: X:185.87, Y:-25.55, Z:-5.24 [[ 9.86449207e-01 1.63790063e-01 9.52768567e-03 1.85869015e+02] [-1.63783672e-01 9.86495210e-01 -1.45255142e-03 -2.55516259e+01] [-9.63692976e-03 -1.27611142e-04 9.99953556e-01 -5.23829512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85420382200002 meters 0.019608058519875248 Centerline is valid? [True, True] Translation: X:185.90, Y:-25.55, Z:-5.24 [[ 9.86678612e-01 1.62390196e-01 9.73350008e-03 1.85897125e+02] [-1.62383463e-01 9.86726614e-01 -1.48340715e-03 -2.55525325e+01] [-9.84519435e-03 -1.16913342e-04 9.99951528e-01 -5.23818882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88420382200002 meters 0.02050740564068937 Centerline is valid? [True, True] Translation: X:185.93, Y:-25.55, Z:-5.24 [[ 9.86767684e-01 1.61853976e-01 9.63476304e-03 1.85925428e+02] [-1.61847367e-01 9.86814713e-01 -1.46700262e-03 -2.55539580e+01] [-9.74516613e-03 -1.11770253e-04 9.99952508e-01 -5.24162777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91420382200002 meters 0.01932198193928524 Centerline is valid? [True, True] Translation: X:185.95, Y:-25.56, Z:-5.24 [[ 9.86985636e-01 1.60534994e-01 9.37394490e-03 1.85954080e+02] [-1.60528685e-01 9.87030145e-01 -1.42650188e-03 -2.55576117e+01] [-9.48136966e-03 -9.68501874e-05 9.99955046e-01 -5.24257039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94420382200002 meters 0.018599724484694907 Centerline is valid? [True, True] Translation: X:185.98, Y:-25.56, Z:-5.24 [[ 9.87118796e-01 1.59678611e-01 9.96111769e-03 1.85981522e+02] [-1.59671447e-01 9.87169050e-01 -1.51549901e-03 -2.55604868e+01] [-1.00752999e-02 -9.45285103e-05 9.99949238e-01 -5.24258660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97420382200002 meters 0.017614700820849184 Centerline is valid? [True, True] Translation: X:186.01, Y:-25.56, Z:-5.24 [[ 9.87212440e-01 1.59043123e-01 1.08112355e-02 1.86010706e+02] [-1.59034659e-01 9.87271632e-01 -1.64363374e-03 -2.55635977e+01] [-1.09350347e-02 -9.67454733e-05 9.99940206e-01 -5.24155907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00420382200002 meters 0.015916474707385816 Centerline is valid? [True, True] Translation: X:186.04, Y:-25.57, Z:-5.24 [[ 9.87448652e-01 1.57574792e-01 1.07398221e-02 1.86039905e+02] [-1.57566354e-01 9.87507052e-01 -1.63263584e-03 -2.55666642e+01] [-1.08629123e-02 -8.00905606e-05 9.99940994e-01 -5.24061060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034203822 meters 0.01634764529019567 Centerline is valid? [True, True] Translation: X:186.07, Y:-25.57, Z:-5.24 [[ 9.87552389e-01 1.56920572e-01 1.07802065e-02 1.86067072e+02] [-1.56912035e-01 9.87611224e-01 -1.63843826e-03 -2.55693533e+01] [-1.09037576e-02 -7.35005186e-05 9.99940550e-01 -5.24387129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064203822 meters 0.015265841952231627 Centerline is valid? [True, True] Translation: X:186.10, Y:-25.57, Z:-5.24 [[ 9.87731859e-01 1.55752143e-01 1.12714472e-02 1.86096125e+02] [-1.55742746e-01 9.87796166e-01 -1.71208628e-03 -2.55712074e+01] [-1.14005534e-02 -6.43639787e-05 9.99935010e-01 -5.24354454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.094203822 meters 0.014493466990375953 Centerline is valid? [True, True] Translation: X:186.12, Y:-25.57, Z:-5.24 [[ 9.87795310e-01 1.55343384e-01 1.13516024e-02 1.86124541e+02] [-1.55333832e-01 9.87860531e-01 -1.72372193e-03 -2.55742963e+01] [-1.14815688e-02 -6.06034680e-05 9.99934083e-01 -5.24262126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124203822 meters 0.014522142554028407 Centerline is valid? [True, True] Translation: X:186.15, Y:-25.58, Z:-5.24 [[ 9.87814616e-01 1.55239054e-01 1.10959487e-02 1.86153437e+02] [-1.55229927e-01 9.87876932e-01 -1.68438160e-03 -2.55768106e+01] [-1.12229136e-02 -5.85665390e-05 9.99937019e-01 -5.24362873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.154203822 meters 0.014464906276748766 Centerline is valid? [True, True] Translation: X:186.18, Y:-25.58, Z:-5.24 [[ 9.87839057e-01 1.55094100e-01 1.09461339e-02 1.86181955e+02] [-1.55085215e-01 9.87899700e-01 -1.66111550e-03 -2.55787625e+01] [-1.10713116e-02 -5.66687477e-05 9.99938710e-01 -5.24458199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184203822 meters 0.01575832284364227 Centerline is valid? [True, True] Translation: X:186.21, Y:-25.58, Z:-5.25 [[ 9.87806291e-01 1.55292784e-01 1.10852395e-02 1.86208934e+02] [-1.55283675e-01 9.87868487e-01 -1.68300126e-03 -2.55805955e+01] [-1.12121167e-02 -5.88774965e-05 9.99937141e-01 -5.24839454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.214203822 meters 0.015369291210362566 Centerline is valid? [True, True] Translation: X:186.24, Y:-25.58, Z:-5.25 [[ 9.87717728e-01 1.55827607e-01 1.14649892e-02 1.86237966e+02] [-1.55817934e-01 9.87784264e-01 -1.73769407e-03 -2.55813222e+01] [-1.15957166e-02 -7.00996770e-05 9.99932765e-01 -5.24627677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244203822 meters 0.015538946663849751 Centerline is valid? [True, True] Translation: X:186.27, Y:-25.58, Z:-5.25 [[ 9.87642954e-01 1.56300292e-01 1.14723023e-02 1.86266788e+02] [-1.56290645e-01 9.87709579e-01 -1.73823966e-03 -2.55824612e+01] [-1.16029902e-02 -7.62533710e-05 9.99932680e-01 -5.24659108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.274203822 meters 0.015387566149808752 Centerline is valid? [True, True] Translation: X:186.30, Y:-25.58, Z:-5.25 [[ 9.87534944e-01 1.56982930e-01 1.14496391e-02 1.86296074e+02] [-1.56973373e-01 9.87601313e-01 -1.73427270e-03 -2.55835042e+01] [-1.15799298e-02 -8.46335693e-05 9.99932947e-01 -5.24611087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304203822 meters 0.017493930129465884 Centerline is valid? [True, True] Translation: X:186.33, Y:-25.58, Z:-5.25 [[ 9.87293412e-01 1.58495523e-01 1.14406005e-02 1.86325291e+02] [-1.58486081e-01 9.87359691e-01 -1.73301497e-03 -2.55781538e+01] [-1.15706628e-02 -1.02181668e-04 9.99933052e-01 -5.24947877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.334203822 meters 0.016986016367832233 Centerline is valid? [True, True] Translation: X:186.35, Y:-25.58, Z:-5.25 [[ 9.87176002e-01 1.59196086e-01 1.18384057e-02 1.86353297e+02] [-1.59186044e-01 9.87246977e-01 -1.79182473e-03 -2.55807333e+01] [-1.19726817e-02 -1.15662589e-04 9.99928318e-01 -5.24855972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.364203822 meters 0.01893462070390792 Centerline is valid? [True, True] Translation: X:186.38, Y:-25.58, Z:-5.25 [[ 9.86952112e-01 1.60544170e-01 1.22922210e-02 1.86381649e+02] [-1.60533463e-01 9.87028647e-01 -1.85931456e-03 -2.55785864e+01] [-1.24312764e-02 -1.38258374e-04 9.99922719e-01 -5.25022164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.394203822 meters 0.01804361899958481 Centerline is valid? [True, True] Translation: X:186.41, Y:-25.58, Z:-5.25 [[ 9.86954918e-01 1.60547578e-01 1.20193852e-02 1.86410195e+02] [-1.60537352e-01 9.87028093e-01 -1.81715093e-03 -2.55813908e+01] [-1.21552101e-02 -1.36114235e-04 9.99926113e-01 -5.24968974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.424203822 meters 0.01931411267125129 Centerline is valid? [True, True] Translation: X:186.44, Y:-25.58, Z:-5.25 [[ 9.87016536e-01 1.60189672e-01 1.17314071e-02 1.86437551e+02] [-1.60179904e-01 9.87086244e-01 -1.77366417e-03 -2.55822120e+01] [-1.18640332e-02 -1.28499795e-04 9.99929612e-01 -5.25375917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.454203822 meters 0.0171410745226218 Centerline is valid? [True, True] Translation: X:186.47, Y:-25.59, Z:-5.25 [[ 9.87373269e-01 1.58001250e-01 1.13856713e-02 1.86466446e+02] [-1.57991922e-01 9.87438907e-01 -1.71984173e-03 -2.55863479e+01] [-1.15143919e-02 -1.00718336e-04 9.99933702e-01 -5.25414824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.484203822 meters 0.01658604755258668 Centerline is valid? [True, True] Translation: X:186.49, Y:-25.59, Z:-5.26 [[ 9.87607262e-01 1.56512323e-01 1.16528306e-02 1.86494125e+02] [-1.56502453e-01 9.87676002e-01 -1.75979471e-03 -2.55892183e+01] [-1.17846507e-02 -8.57105391e-05 9.99930555e-01 -5.25617013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.514203822 meters 0.014349206835037655 Centerline is valid? [True, True] Translation: X:186.52, Y:-25.59, Z:-5.25 [[ 9.87881359e-01 1.54769407e-01 1.16983392e-02 1.86522961e+02] [-1.54759348e-01 9.87950619e-01 -1.76579550e-03 -2.55949422e+01] [-1.18306726e-02 -6.60308886e-05 9.99930013e-01 -5.25371399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54420382200001 meters 0.017613264898181557 Centerline is valid? [True, True] Translation: X:186.55, Y:-25.60, Z:-5.26 [[ 9.88315477e-01 1.51923893e-01 1.23145913e-02 1.86550455e+02] [-1.51912531e-01 9.88392194e-01 -1.85831648e-03 -2.56015492e+01] [-1.24539686e-02 -3.41377893e-05 9.99922446e-01 -5.25576012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57420382200002 meters 0.013255846631926683 Centerline is valid? [True, True] Translation: X:186.58, Y:-25.61, Z:-5.26 [[ 9.88487483e-01 1.50873316e-01 1.13902857e-02 1.86578718e+02] [-1.50863535e-01 9.88553105e-01 -1.71805331e-03 -2.56063841e+01] [-1.15191107e-02 -2.01045686e-05 9.99933653e-01 -5.25676352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60420382200002 meters 0.01398161967355452 Centerline is valid? [True, True] Translation: X:186.61, Y:-25.61, Z:-5.26 [[ 9.88853804e-01 1.48550878e-01 1.00394692e-02 1.86606409e+02] [-1.48543156e-01 9.88904766e-01 -1.51469990e-03 -2.56107058e+01] [-1.01530889e-02 6.52232578e-06 9.99948456e-01 -5.26185381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63420382200002 meters 0.01378888170592868 Centerline is valid? [True, True] Translation: X:186.63, Y:-25.62, Z:-5.26 [[ 9.89074531e-01 1.47070648e-01 1.00894353e-02 1.86634425e+02] [-1.47062784e-01 9.89125990e-01 -1.52101298e-03 -2.56151117e+01] [-1.02034190e-02 2.06147543e-05 9.99947944e-01 -5.26159997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66420382200002 meters 0.01390258349254653 Centerline is valid? [True, True] Translation: X:186.66, Y:-25.62, Z:-5.26 [[ 9.89241890e-01 1.45906150e-01 1.05772286e-02 1.86661575e+02] [-1.45897447e-01 9.89298435e-01 -1.59395844e-03 -2.56189913e+01] [-1.06966041e-02 3.36198026e-05 9.99942789e-01 -5.26235865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69420382200002 meters 0.014667269057338202 Centerline is valid? [True, True] Translation: X:186.69, Y:-25.63, Z:-5.26 [[ 9.89698183e-01 1.42711248e-01 1.14458188e-02 1.86688620e+02] [-1.42700861e-01 9.89764363e-01 -1.72336170e-03 -2.56260456e+01] [-1.15746066e-02 7.22797510e-05 9.99933009e-01 -5.26132687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72420382200002 meters 0.015327582029202542 Centerline is valid? [True, True] Translation: X:186.72, Y:-25.63, Z:-5.26 [[ 9.89976957e-01 1.40697910e-01 1.22361436e-02 1.86715623e+02] [-1.40685898e-01 9.90052568e-01 -1.84133378e-03 -2.56328654e+01] [-1.23734972e-02 1.01425164e-04 9.99923440e-01 -5.25997077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75420382200002 meters 0.016945431429868055 Centerline is valid? [True, True] Translation: X:186.74, Y:-25.64, Z:-5.26 [[ 9.90230605e-01 1.38819209e-01 1.31367997e-02 1.86742210e+02] [-1.38805209e-01 9.90317732e-01 -1.97593018e-03 -2.56400039e+01] [-1.32839028e-02 1.33170296e-04 9.99911756e-01 -5.25996658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784203822 meters 0.028175670809189986 Centerline is valid? [True, True] Translation: X:186.77, Y:-25.65, Z:-5.26 [[ 9.90809994e-01 1.34438875e-01 1.48910997e-02 1.86770097e+02] [-1.34420423e-01 9.90921865e-01 -2.23771839e-03 -2.56493389e+01] [-1.50567527e-02 2.15485805e-04 9.99886617e-01 -5.25863040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814203822 meters 0.02178635571374093 Centerline is valid? [True, True] Translation: X:186.80, Y:-25.66, Z:-5.26 [[ 9.91107606e-01 1.32241706e-01 1.47595446e-02 1.86798249e+02] [-1.32223345e-01 9.91217469e-01 -2.21725170e-03 -2.56574693e+01] [-1.49231316e-02 2.45978661e-04 9.99888614e-01 -5.25813754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844203822 meters 0.03309401346235794 Centerline is valid? [True, True] Translation: X:186.83, Y:-25.67, Z:-5.26 [[ 9.91347289e-01 1.30349849e-01 1.54747937e-02 1.86825002e+02] [-1.30329445e-01 9.91468020e-01 -2.32404384e-03 -2.56666448e+01] [-1.56457018e-02 2.87113280e-04 9.99877557e-01 -5.25999493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.874203822 meters 0.026435139856614446 Centerline is valid? [True, True] Translation: X:186.85, Y:-25.68, Z:-5.26 [[ 9.91644804e-01 1.28036323e-01 1.57252048e-02 1.86851099e+02] [-1.28014976e-01 9.91769425e-01 -2.36081894e-03 -2.56779108e+01] [-1.58980479e-02 3.28032112e-04 9.99873564e-01 -5.25879124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904203822 meters 0.027399897175794177 Centerline is valid? [True, True] Translation: X:186.88, Y:-25.69, Z:-5.26 [[ 9.91740619e-01 1.27304120e-01 1.56270682e-02 1.86879140e+02] [-1.27282969e-01 9.91863674e-01 -2.34470918e-03 -2.56854257e+01] [-1.57984125e-02 3.36283683e-04 9.99875141e-01 -5.26015945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.934203822 meters 0.03149685351771488 Centerline is valid? [True, True] Translation: X:186.91, Y:-25.69, Z:-5.26 [[ 9.91784652e-01 1.26995017e-01 1.53450054e-02 1.86907596e+02] [-1.26974597e-01 9.91903299e-01 -2.30170892e-03 -2.56915553e+01] [-1.55130670e-02 3.34373701e-04 9.99879609e-01 -5.26264011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964203822 meters 0.042675924658370064 Centerline is valid? [True, True] Translation: X:186.94, Y:-25.70, Z:-5.27 [[ 9.91727508e-01 1.27547761e-01 1.44263231e-02 1.86935916e+02] [-1.27529781e-01 9.91832383e-01 -2.16331145e-03 -2.56997689e+01] [-1.45844199e-02 3.05629655e-04 9.99893595e-01 -5.26528077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.994203822 meters 0.025989266268643302 Centerline is valid? [True, True] Translation: X:186.96, Y:-25.71, Z:-5.27 [[ 9.91614163e-01 1.28497483e-01 1.37749267e-02 1.86962755e+02] [-1.28481187e-01 9.91709796e-01 -2.06519389e-03 -2.57057515e+01] [-1.39261019e-02 2.78056571e-04 9.99902988e-01 -5.26702959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024203822 meters 0.022380545579268503 Centerline is valid? [True, True] Translation: X:186.99, Y:-25.71, Z:-5.27 [[ 9.91241123e-01 1.31441304e-01 1.28148103e-02 1.86991146e+02] [-1.31427457e-01 9.91323931e-01 -1.92040808e-03 -2.57080082e+01] [-1.29560490e-02 2.19369530e-04 9.99916043e-01 -5.26836633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.054203822 meters 0.020994440128542312 Centerline is valid? [True, True] Translation: X:187.02, Y:-25.71, Z:-5.27 [[ 9.91019816e-01 1.33128468e-01 1.25113735e-02 1.87019840e+02] [-1.33115411e-01 9.91098771e-01 -1.87436694e-03 -2.57125291e+01] [-1.26495385e-02 1.92078146e-04 9.99919973e-01 -5.26978183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084203822 meters 0.020104734718515465 Centerline is valid? [True, True] Translation: X:187.05, Y:-25.72, Z:-5.27 [[ 9.90804153e-01 1.34773561e-01 1.19673993e-02 1.87046963e+02] [-1.34761738e-01 9.90876410e-01 -1.79254786e-03 -2.57176888e+01] [-1.20998017e-02 1.63316339e-04 9.99926781e-01 -5.27193359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.114203822 meters 0.01628333579406182 Centerline is valid? [True, True] Translation: X:187.08, Y:-25.72, Z:-5.27 [[ 9.90310178e-01 1.38422495e-01 1.11787865e-02 1.87075081e+02] [-1.38412415e-01 9.90373263e-01 -1.67410687e-03 -2.57217635e+01] [-1.13029053e-02 1.10602240e-04 9.99936114e-01 -5.27221108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.144203822 meters 0.015487557809596729 Centerline is valid? [True, True] Translation: X:187.10, Y:-25.73, Z:-5.27 [[ 9.90003194e-01 1.40613531e-01 1.10231945e-02 1.87102180e+02] [-1.40603876e-01 9.90064557e-01 -1.64986865e-03 -2.57264816e+01] [-1.11456681e-02 8.34713560e-05 9.99937882e-01 -5.27488412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.174203822 meters 0.015487557809596729 Centerline is valid? [True, True] Translation: X:187.13, Y:-25.73, Z:-5.28 [[ 9.90013242e-01 1.40542766e-01 1.10232778e-02 1.87129382e+02] [-1.40533113e-01 9.90074605e-01 -1.64931188e-03 -2.57304138e+01] [-1.11456663e-02 8.37050637e-05 9.99937882e-01 -5.27566459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.204203822 meters 0.014004658195226456 Centerline is valid? [True, True] Translation: X:187.16, Y:-25.73, Z:-5.28 [[ 9.89699000e-01 1.42728937e-01 1.11507601e-02 1.87157925e+02] [-1.42719212e-01 9.89761813e-01 -1.66714922e-03 -2.57337224e+01] [-1.12745469e-02 5.85482297e-05 9.99936439e-01 -5.27549123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.234203822 meters 0.012829851066966477 Centerline is valid? [True, True] Translation: X:187.19, Y:-25.73, Z:-5.28 [[ 9.88978840e-01 1.47516657e-01 1.26368228e-02 1.87186377e+02] [-1.47504566e-01 9.89059571e-01 -1.88870485e-03 -2.57336567e+01] [-1.27771860e-02 3.90006538e-06 9.99918368e-01 -5.27504970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.264203822 meters 0.01286702743278022 Centerline is valid? [True, True] Translation: X:187.21, Y:-25.74, Z:-5.27 [[ 9.88625117e-01 1.49828119e-01 1.31115574e-02 1.87214839e+02] [-1.49815319e-01 9.88712058e-01 -1.95858748e-03 -2.57353943e+01] [-1.32570064e-02 -2.80033882e-05 9.99912122e-01 -5.27459975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29420382200001 meters 0.014688952876412354 Centerline is valid? [True, True] Translation: X:187.24, Y:-25.74, Z:-5.28 [[ 9.88000661e-01 1.53877577e-01 1.32810391e-02 1.87243844e+02] [-1.53864819e-01 9.88089917e-01 -1.98324189e-03 -2.57371302e+01] [-1.34280373e-02 -8.40403836e-05 9.99909836e-01 -5.27581255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32420382200002 meters 0.015137952696106573 Centerline is valid? [True, True] Translation: X:187.27, Y:-25.74, Z:-5.27 [[ 9.87689081e-01 1.55842351e-01 1.35440315e-02 1.87272712e+02] [-1.55829277e-01 9.87781934e-01 -2.02187005e-03 -2.57405779e+01] [-1.36936426e-02 -1.13577657e-04 9.99906231e-01 -5.27497765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35420382200002 meters 0.017704464994322704 Centerline is valid? [True, True] Translation: X:187.30, Y:-25.74, Z:-5.28 [[ 9.87415098e-01 1.57581519e-01 1.33973453e-02 1.87300306e+02] [-1.57568892e-01 9.87505973e-01 -1.99949411e-03 -2.57415141e+01] [-1.35450419e-02 -1.36674184e-04 9.99908252e-01 -5.27834591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38420382200002 meters 0.018758275713925368 Centerline is valid? [True, True] Translation: X:187.33, Y:-25.75, Z:-5.28 [[ 9.87034954e-01 1.60007350e-01 1.26351904e-02 1.87328650e+02] [-1.59996329e-01 9.87115810e-01 -1.88486248e-03 -2.57459485e+01] [-1.27739881e-02 -1.61158934e-04 9.99918396e-01 -5.27946639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41420382200002 meters 0.019808434798936927 Centerline is valid? [True, True] Translation: X:187.36, Y:-25.75, Z:-5.28 [[ 9.87002558e-01 1.60175881e-01 1.30245260e-02 1.87356418e+02] [-1.60164192e-01 9.87088476e-01 -1.94243270e-03 -2.57496550e+01] [-1.31674904e-02 -1.68876640e-04 9.99913291e-01 -5.28160174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44420382200002 meters 0.0180279626705194 Centerline is valid? [True, True] Translation: X:187.38, Y:-25.76, Z:-5.28 [[ 9.87328836e-01 1.58130860e-01 1.32816107e-02 1.87384520e+02] [-1.58118536e-01 9.87418154e-01 -1.97951732e-03 -2.57599673e+01] [-1.34275263e-02 -1.45634316e-04 9.99909836e-01 -5.28286449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47420382200002 meters 0.015575933944438545 Centerline is valid? [True, True] Translation: X:187.41, Y:-25.77, Z:-5.28 [[ 9.87671773e-01 1.55972770e-01 1.33027962e-02 1.87412252e+02] [-1.55960215e-01 9.87761348e-01 -1.98239497e-03 -2.57705549e+01] [-1.34491875e-02 -1.16751406e-04 9.99909549e-01 -5.28210610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50420382200002 meters 0.01805798154684591 Centerline is valid? [True, True] Translation: X:187.44, Y:-25.78, Z:-5.28 [[ 9.88088170e-01 1.53244651e-01 1.40657477e-02 1.87439248e+02] [-1.53230347e-01 9.88188276e-01 -2.09546906e-03 -2.57800001e+01] [-1.42207264e-02 -8.47912058e-05 9.99898877e-01 -5.28245159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534203822 meters 0.011745045853396833 Centerline is valid? [True, True] Translation: X:187.47, Y:-25.79, Z:-5.28 [[ 9.88774371e-01 1.48564586e-01 1.59312952e-02 1.87465916e+02] [-1.48545649e-01 9.88902707e-01 -2.37213844e-03 -2.57927156e+01] [-1.61069167e-02 -2.10148847e-05 9.99870275e-01 -5.27937254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564203822 meters 0.011428922493671043 Centerline is valid? [True, True] Translation: X:187.49, Y:-25.80, Z:-5.28 [[ 9.89069189e-01 1.46573141e-01 1.60765006e-02 1.87494063e+02] [-1.46553611e-01 9.89199835e-01 -2.39263974e-03 -2.58018173e+01] [-1.62535685e-02 1.04170291e-05 9.99867902e-01 -5.27942487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.594203822 meters 0.012117224455430018 Centerline is valid? [True, True] Translation: X:187.52, Y:-25.81, Z:-5.28 [[ 9.89531459e-01 1.43439285e-01 1.58953496e-02 1.87521395e+02] [-1.43419802e-01 9.89659117e-01 -2.36490548e-03 -2.58148373e+01] [-1.60701980e-02 6.04404924e-05 9.99870864e-01 -5.28054859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624203822 meters 0.012477057152480193 Centerline is valid? [True, True] Translation: X:187.55, Y:-25.82, Z:-5.28 [[ 9.89645416e-01 1.42666436e-01 1.57556217e-02 1.87549786e+02] [-1.42647208e-01 9.89770823e-01 -2.34335177e-03 -2.58222064e+01] [-1.59287723e-02 7.15918991e-05 9.99873126e-01 -5.28186925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.654203822 meters 0.013087825273249403 Centerline is valid? [True, True] Translation: X:187.58, Y:-25.83, Z:-5.28 [[ 9.89780496e-01 1.41778239e-01 1.52807062e-02 1.87577756e+02] [-1.41760059e-01 9.89898441e-01 -2.27183932e-03 -2.58294983e+01] [-1.54484446e-02 8.24284356e-05 9.99880662e-01 -5.28352326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684203822 meters 0.01777426982445399 Centerline is valid? [True, True] Translation: X:187.61, Y:-25.84, Z:-5.29 [[ 9.89871721e-01 1.41165517e-01 1.50423367e-02 1.87605494e+02] [-1.41147835e-01 9.89986004e-01 -2.23603391e-03 -2.58371274e+01] [-1.52073537e-02 9.01934714e-05 9.99884357e-01 -5.28522233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.714203822 meters 0.012876798507577464 Centerline is valid? [True, True] Translation: X:187.63, Y:-25.84, Z:-5.28 [[ 9.89809434e-01 1.41525065e-01 1.57461101e-02 1.87633644e+02] [-1.41505752e-01 9.89934669e-01 -2.33963961e-03 -2.58422106e+01] [-1.59187379e-02 8.76322104e-05 9.99873285e-01 -5.28482827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744203822 meters 0.012838839949803196 Centerline is valid? [True, True] Translation: X:187.66, Y:-25.85, Z:-5.29 [[ 9.89709523e-01 1.42185592e-01 1.60722527e-02 1.87660562e+02] [-1.42165563e-01 9.89840013e-01 -2.38776929e-03 -2.58471205e+01] [-1.62484652e-02 7.82771409e-05 9.99867982e-01 -5.28628585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.774203822 meters 0.0125915481008871 Centerline is valid? [True, True] Translation: X:187.69, Y:-25.85, Z:-5.29 [[ 9.89373079e-01 1.44554701e-01 1.56476785e-02 1.87688488e+02] [-1.44536027e-01 9.89496810e-01 -2.32375081e-03 -2.58505890e+01] [-1.58192371e-02 3.74032069e-05 9.99874867e-01 -5.28981664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804203822 meters 0.011842378037966714 Centerline is valid? [True, True] Translation: X:187.72, Y:-25.85, Z:-5.29 [[ 9.88874697e-01 1.47899624e-01 1.58913296e-02 1.87717995e+02] [-1.47880816e-01 9.89002377e-01 -2.35866939e-03 -2.58517883e+01] [-1.60654091e-02 -1.75943170e-05 9.99870943e-01 -5.28914211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.834203822 meters 0.028351483040479786 Centerline is valid? [True, True] Translation: X:187.75, Y:-25.86, Z:-5.29 [[ 9.88650231e-01 1.49395946e-01 1.58610179e-02 1.87746506e+02] [-1.49377409e-01 9.88777452e-01 -2.35375719e-03 -2.58550895e+01] [-1.60346587e-02 -4.22351805e-05 9.99871436e-01 -5.29041771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.864203822 meters 0.01256441930542295 Centerline is valid? [True, True] Translation: X:187.78, Y:-25.86, Z:-5.29 [[ 9.88403416e-01 1.51009513e-01 1.59628918e-02 1.87775049e+02] [-1.50990961e-01 9.88532307e-01 -2.36806371e-03 -2.58580197e+01] [-1.61374344e-02 -6.96501010e-05 9.99869781e-01 -5.29057531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.894203822 meters 0.013579159990026627 Centerline is valid? [True, True] Translation: X:187.80, Y:-25.86, Z:-5.29 [[ 9.88208741e-01 1.52266288e-01 1.60767433e-02 1.87803166e+02] [-1.52247647e-01 9.88339501e-01 -2.38428767e-03 -2.58595349e+01] [-1.62523271e-02 -9.14724182e-05 9.99867918e-01 -5.29191007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.924203822 meters 0.014808505751762123 Centerline is valid? [True, True] Translation: X:187.83, Y:-25.86, Z:-5.29 [[ 9.87913064e-01 1.54133800e-01 1.64484027e-02 1.87831205e+02] [-1.54114564e-01 9.88049976e-01 -2.43832561e-03 -2.58582018e+01] [-1.66276723e-02 -1.26084682e-04 9.99861743e-01 -5.29287441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.954203822 meters 0.015163811891070819 Centerline is valid? [True, True] Translation: X:187.86, Y:-25.86, Z:-5.29 [[ 9.87809467e-01 1.54849880e-01 1.59365141e-02 1.87859873e+02] [-1.54831932e-01 9.87938002e-01 -2.36139940e-03 -2.58609847e+01] [-1.61099503e-02 -1.34868594e-04 9.99870217e-01 -5.29415192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.984203822 meters 0.01673437258146811 Centerline is valid? [True, True] Translation: X:187.89, Y:-25.86, Z:-5.30 [[ 9.87571210e-01 1.56407139e-01 1.54891101e-02 1.87887823e+02] [-1.56390386e-01 9.87692656e-01 -2.29453248e-03 -2.58632877e+01] [-1.56573615e-02 -1.56333685e-04 9.99877404e-01 -5.29574329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.014203822 meters 0.017475513546185012 Centerline is valid? [True, True] Translation: X:187.92, Y:-25.87, Z:-5.30 [[ 9.87490167e-01 1.56834834e-01 1.63096748e-02 1.87915219e+02] [-1.56816334e-01 9.87624830e-01 -2.41499603e-03 -2.58662883e+01] [-1.64865953e-02 -1.72838590e-04 9.99864072e-01 -5.29648563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04420382200001 meters 0.017504972422189118 Centerline is valid? [True, True] Translation: X:187.94, Y:-25.87, Z:-5.30 [[ 9.87476896e-01 1.56847736e-01 1.69754793e-02 1.87942813e+02] [-1.56827716e-01 9.87622780e-01 -2.51247036e-03 -2.58702120e+01] [-1.71594453e-02 -1.81219215e-04 9.99852749e-01 -5.29603630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07420382200002 meters 0.0156756422183363 Centerline is valid? [True, True] Translation: X:187.97, Y:-25.88, Z:-5.29 [[ 9.87754601e-01 1.54970798e-01 1.80249611e-02 1.87971657e+02] [-1.54947940e-01 9.87919038e-01 -2.66637879e-03 -2.58759226e+01] [-1.82204131e-02 -1.59202674e-04 9.99833982e-01 -5.29467092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10420382200002 meters 0.013759922196712024 Centerline is valid? [True, True] Translation: X:188.00, Y:-25.88, Z:-5.29 [[ 9.88043781e-01 1.53026705e-01 1.87700346e-02 1.87999986e+02] [-1.53001578e-01 9.88222045e-01 -2.77600547e-03 -2.58818762e+01] [-1.89737649e-02 -1.29029955e-04 9.99819974e-01 -5.29360351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13420382200002 meters 0.01197652144482055 Centerline is valid? [True, True] Translation: X:188.03, Y:-25.89, Z:-5.29 [[ 9.88413367e-01 1.50511271e-01 1.96309201e-02 1.88028385e+02] [-1.50483310e-01 9.88608289e-01 -2.90232045e-03 -2.58881493e+01] [-1.98441222e-02 -8.54334986e-05 9.99803082e-01 -5.29353869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16420382200002 meters 0.010684208068694538 Centerline is valid? [True, True] Translation: X:188.06, Y:-25.90, Z:-5.29 [[ 9.89228799e-01 1.45086015e-01 1.94018275e-02 1.88057033e+02] [-1.45057680e-01 9.89419046e-01 -2.86733834e-03 -2.58999418e+01] [-1.96125483e-02 2.20695792e-05 9.99807655e-01 -5.29406069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19420382200002 meters 0.01133881675016413 Centerline is valid? [True, True] Translation: X:188.09, Y:-25.91, Z:-5.29 [[ 9.89604665e-01 1.42445919e-01 1.97931103e-02 1.88085438e+02] [-1.42415914e-01 9.89802584e-01 -2.92455094e-03 -2.59095324e+01] [-2.00078621e-02 7.52953431e-05 9.99799820e-01 -5.29491920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22420382200002 meters 0.014044645789233794 Centerline is valid? [True, True] Translation: X:188.11, Y:-25.92, Z:-5.30 [[ 9.90136050e-01 1.38504024e-01 2.11479996e-02 1.88113171e+02] [-1.38468876e-01 9.90361857e-01 -3.12445768e-03 -2.59232102e+01] [-2.13769221e-02 1.65298451e-04 9.99771474e-01 -5.29513192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25420382200002 meters 0.021899111159256343 Centerline is valid? [True, True] Translation: X:188.14, Y:-25.93, Z:-5.30 [[ 9.90317726e-01 1.37261630e-01 2.07375582e-02 1.88144059e+02] [-1.37227573e-01 9.90534810e-01 -3.06329791e-03 -2.59277321e+01] [-2.09617465e-02 1.87873451e-04 9.99780261e-01 -5.29649433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284203822 meters 0.02786847405024785 Centerline is valid? [True, True] Translation: X:188.18, Y:-25.93, Z:-5.30 [[ 9.90482250e-01 1.36138953e-01 2.02755733e-02 1.88175041e+02] [-1.36106150e-01 9.90689731e-01 -2.99554178e-03 -2.59333325e+01] [-2.04946122e-02 2.07400735e-04 9.99789942e-01 -5.29846699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314203822 meters 0.01684638551809934 Centerline is valid? [True, True] Translation: X:188.20, Y:-25.94, Z:-5.30 [[ 9.90711491e-01 1.34451497e-01 2.03356080e-02 1.88204840e+02] [-1.34418144e-01 9.90920146e-01 -3.00443957e-03 -2.59415706e+01] [-2.05549151e-02 2.43058110e-04 9.99788696e-01 -5.29929243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344203822 meters 0.019371896642105663 Centerline is valid? [True, True] Translation: X:188.24, Y:-25.95, Z:-5.30 [[ 9.90818579e-01 1.33691323e-01 2.01289446e-02 1.88235351e+02] [-1.33658454e-01 9.91022988e-01 -2.97556812e-03 -2.59500355e+01] [-2.03460545e-02 2.57844566e-04 9.99792964e-01 -5.30260672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.374203822 meters 0.030409598872179942 Centerline is valid? [True, True] Translation: X:188.27, Y:-25.95, Z:-5.31 [[ 9.90947200e-01 1.32854268e-01 1.93233237e-02 1.88266834e+02] [-1.32823798e-01 9.91135547e-01 -2.85753896e-03 -2.59546392e+01] [-1.95316692e-02 2.65072994e-04 9.99809204e-01 -5.30506103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404203822 meters 0.020687064675282432 Centerline is valid? [True, True] Translation: X:188.30, Y:-25.96, Z:-5.31 [[ 9.91095606e-01 1.31989408e-01 1.75583606e-02 1.88297443e+02] [-1.31964069e-01 9.91251093e-01 -2.59915060e-03 -2.59634823e+01] [-1.77478045e-02 2.58934040e-04 9.99842462e-01 -5.30772012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.434203822 meters 0.020630154849479606 Centerline is valid? [True, True] Translation: X:188.33, Y:-25.97, Z:-5.31 [[ 9.91058884e-01 1.32314143e-01 1.71830118e-02 1.88328301e+02] [-1.32289879e-01 9.91207801e-01 -2.54615979e-03 -2.59697384e+01] [-1.73688283e-02 2.50255728e-04 9.99849119e-01 -5.30914592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464203822 meters 0.018376593348562092 Centerline is valid? [True, True] Translation: X:188.36, Y:-25.97, Z:-5.31 [[ 9.90841593e-01 1.33907733e-01 1.73682687e-02 1.88359567e+02] [-1.33883116e-01 9.90993777e-01 -2.57772265e-03 -2.59715690e+01] [-1.75570232e-02 2.28796897e-04 9.99845837e-01 -5.30872925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.494203822 meters 0.01706753941633227 Centerline is valid? [True, True] Translation: X:188.39, Y:-25.97, Z:-5.31 [[ 9.90648165e-01 1.35318122e-01 1.74705220e-02 1.88390809e+02] [-1.35293425e-01 9.90802182e-01 -2.59332476e-03 -2.59744035e+01] [-1.76607551e-02 2.05425651e-04 9.99844016e-01 -5.30911873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524203822 meters 0.015601596947930207 Centerline is valid? [True, True] Translation: X:188.42, Y:-25.98, Z:-5.31 [[ 9.90444590e-01 1.36811200e-01 1.73841740e-02 1.88421205e+02] [-1.36786965e-01 9.90597125e-01 -2.58119155e-03 -2.59772917e+01] [-1.75738487e-02 1.78598809e-04 9.99845552e-01 -5.30945102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.554203822 meters 0.016476292366024207 Centerline is valid? [True, True] Translation: X:188.45, Y:-25.98, Z:-5.31 [[ 9.90216991e-01 1.38422654e-01 1.75920201e-02 1.88450842e+02] [-1.38398093e-01 9.90373236e-01 -2.61192291e-03 -2.59831716e+01] [-1.77842152e-02 1.51668416e-04 9.99841837e-01 -5.31387449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584203822 meters 0.013718740784544752 Centerline is valid? [True, True] Translation: X:188.48, Y:-25.98, Z:-5.32 [[ 9.89752380e-01 1.41651408e-01 1.80306614e-02 1.88479653e+02] [-1.41626129e-01 9.89916597e-01 -2.67773594e-03 -2.59812231e+01] [-1.82281560e-02 9.66827471e-05 9.99833849e-01 -5.31507184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.614203822 meters 0.011312812653991108 Centerline is valid? [True, True] Translation: X:188.51, Y:-25.98, Z:-5.31 [[ 9.89329679e-01 1.44592844e-01 1.78800491e-02 1.88510422e+02] [-1.44568482e-01 9.89491237e-01 -2.65444935e-03 -2.59804205e+01] [-1.80759662e-02 4.12339653e-05 9.99836616e-01 -5.31343229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.644203822 meters 0.011147476461544976 Centerline is valid? [True, True] Translation: X:188.54, Y:-25.98, Z:-5.31 [[ 9.89088728e-01 1.46231821e-01 1.78813332e-02 1.88540383e+02] [-1.46207719e-01 9.89250350e-01 -2.65489514e-03 -2.59830655e+01] [-1.80773453e-02 1.15379111e-05 9.99836591e-01 -5.31442363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.674203822 meters 0.011127403568472678 Centerline is valid? [True, True] Translation: X:188.57, Y:-25.98, Z:-5.32 [[ 9.88821254e-01 1.48002957e-01 1.81011879e-02 1.88568865e+02] [-1.47978559e-01 9.88986918e-01 -2.68732613e-03 -2.59842906e+01] [-1.82995702e-02 -2.13025019e-05 9.99832549e-01 -5.31502123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.704203822 meters 0.01215425081935692 Centerline is valid? [True, True] Translation: X:188.60, Y:-25.98, Z:-5.32 [[ 9.88490314e-01 1.50142546e-01 1.85503374e-02 1.88596747e+02] [-1.50117315e-01 9.88664358e-01 -2.75316004e-03 -2.59833815e+01] [-1.87534239e-02 -6.32548100e-05 9.99824137e-01 -5.31711461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.734203822 meters 0.015078810388252128 Centerline is valid? [True, True] Translation: X:188.63, Y:-25.98, Z:-5.32 [[ 9.87828001e-01 1.54552958e-01 1.75847559e-02 1.88626143e+02] [-1.54531002e-01 9.87984496e-01 -2.60880897e-03 -2.59779702e+01] [-1.77766653e-02 -1.40335400e-04 9.99841973e-01 -5.31881647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.764203822 meters 0.025061149420636634 Centerline is valid? [True, True] Translation: X:188.65, Y:-25.98, Z:-5.32 [[ 9.87505345e-01 1.56722912e-01 1.64658203e-02 1.88654882e+02] [-1.56703979e-01 9.87642597e-01 -2.44185217e-03 -2.59795071e+01] [-1.66450397e-02 -1.68917495e-04 9.99861447e-01 -5.32064341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79420382200001 meters 0.018976482132418555 Centerline is valid? [True, True] Translation: X:188.68, Y:-25.98, Z:-5.32 [[ 9.86909135e-01 1.60496418e-01 1.58511653e-02 1.88683648e+02] [-1.60479368e-01 9.87036397e-01 -2.35009620e-03 -2.59755093e+01] [-1.60228591e-02 -2.24453586e-04 9.99871601e-01 -5.32197465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82420382200002 meters 0.020458273456129824 Centerline is valid? [True, True] Translation: X:188.71, Y:-25.98, Z:-5.32 [[ 9.86642522e-01 1.62122601e-01 1.58995404e-02 1.88712256e+02] [-1.62105674e-01 9.86770591e-01 -2.35624124e-03 -2.59758977e+01] [-1.60711988e-02 -2.52637916e-04 9.99870818e-01 -5.32264456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85420382200002 meters 0.02370249960602402 Centerline is valid? [True, True] Translation: X:188.74, Y:-25.97, Z:-5.32 [[ 9.86358063e-01 1.63808587e-01 1.62640322e-02 1.88740984e+02] [-1.63791122e-01 9.86492100e-01 -2.40917448e-03 -2.59726742e+01] [-1.64389828e-02 -2.87595422e-04 9.99864829e-01 -5.32449005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88420382200002 meters 0.026952762742180666 Centerline is valid? [True, True] Translation: X:188.77, Y:-25.97, Z:-5.32 [[ 9.85867964e-01 1.66602278e-01 1.75510327e-02 1.88770310e+02] [-1.66582405e-01 9.86024112e-01 -2.59853540e-03 -2.59655446e+01] [-1.77386633e-02 -3.61880433e-04 9.99842592e-01 -5.32288567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91420382200002 meters 0.027024001485488298 Centerline is valid? [True, True] Translation: X:188.80, Y:-25.97, Z:-5.32 [[ 9.85776476e-01 1.67093842e-01 1.80107355e-02 1.88799421e+02] [-1.67073019e-01 9.85940922e-01 -2.66535415e-03 -2.59670245e+01] [-1.82028855e-02 -3.81664536e-04 9.99834241e-01 -5.32265598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94420382200002 meters 0.02732633003440992 Centerline is valid? [True, True] Translation: X:188.83, Y:-25.97, Z:-5.32 [[ 9.85858781e-01 1.66523641e-01 1.87707462e-02 1.88827996e+02] [-1.66500936e-01 9.86037386e-01 -2.77697142e-03 -2.59662208e+01] [-1.89710889e-02 -3.87645150e-04 9.99819958e-01 -5.32285952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97420382200002 meters 0.02556119363563439 Centerline is valid? [True, True] Translation: X:188.86, Y:-25.97, Z:-5.32 [[ 9.86068258e-01 1.65259495e-01 1.89390832e-02 1.88856812e+02] [-1.65236173e-01 9.86250051e-01 -2.80059765e-03 -2.59702030e+01] [-1.91414971e-02 -3.67841171e-04 9.99816717e-01 -5.32303524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00420382200002 meters 0.02172533736195663 Centerline is valid? [True, True] Translation: X:188.89, Y:-25.97, Z:-5.32 [[ 9.86580699e-01 1.62177004e-01 1.88982403e-02 1.88885308e+02] [-1.62153233e-01 9.86761635e-01 -2.79366217e-03 -2.59749771e+01] [-1.91011262e-02 -3.08237582e-04 9.99817509e-01 -5.32402157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034203822 meters 0.02172533736195663 Centerline is valid? [True, True] Translation: X:188.91, Y:-25.98, Z:-5.32 [[ 9.86592333e-01 1.62106204e-01 1.88983411e-02 1.88912516e+02] [-1.62082434e-01 9.86773269e-01 -2.79297963e-03 -2.59788594e+01] [-1.91011372e-02 -3.07556829e-04 9.99817509e-01 -5.32480200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064203822 meters 0.020323241708810016 Centerline is valid? [True, True] Translation: X:188.94, Y:-25.98, Z:-5.33 [[ 9.86874140e-01 1.60396780e-01 1.87697547e-02 1.88940454e+02] [-1.60373053e-01 9.87052581e-01 -2.77238344e-03 -2.59832825e+01] [-1.89714162e-02 -2.74169341e-04 9.99819989e-01 -5.32573670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.094203822 meters 0.019021310517241437 Centerline is valid? [True, True] Translation: X:188.97, Y:-25.99, Z:-5.33 [[ 9.87109726e-01 1.58928971e-01 1.88671763e-02 1.88968660e+02] [-1.58904747e-01 9.87289988e-01 -2.78584572e-03 -2.59873150e+01] [-1.90701259e-02 -2.48148471e-04 9.99818118e-01 -5.32719733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124203822 meters 0.016034197786541835 Centerline is valid? [True, True] Translation: X:189.00, Y:-25.99, Z:-5.33 [[ 9.87727826e-01 1.55185294e-01 1.76427250e-02 1.88996935e+02] [-1.55163528e-01 9.87885367e-01 -2.60428299e-03 -2.59920503e+01] [-1.78331363e-02 -1.65184669e-04 9.99840963e-01 -5.33067628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.154203822 meters 0.014498650748092657 Centerline is valid? [True, True] Translation: X:189.02, Y:-26.00, Z:-5.33 [[ 9.88043118e-01 1.53169581e-01 1.76032852e-02 1.89024558e+02] [-1.53147606e-01 9.88199910e-01 -2.59773747e-03 -2.59973721e+01] [-1.77934592e-02 -1.29224347e-04 9.99841676e-01 -5.33229723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184203822 meters 0.012144323174335777 Centerline is valid? [True, True] Translation: X:189.05, Y:-26.00, Z:-5.33 [[ 9.88621295e-01 1.49296816e-01 1.83955628e-02 1.89052507e+02] [-1.49272171e-01 9.88792424e-01 -2.71336069e-03 -2.60043239e+01] [-1.85944893e-02 -6.34594353e-05 9.99827106e-01 -5.33174045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.214203822 meters 0.011600688900129802 Centerline is valid? [True, True] Translation: X:189.08, Y:-26.01, Z:-5.33 [[ 9.88897369e-01 1.47451022e-01 1.84442036e-02 1.89081458e+02] [-1.47425944e-01 9.89069358e-01 -2.71954232e-03 -2.60089679e+01] [-1.86435959e-02 -2.98058736e-05 9.99826193e-01 -5.33216774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244203822 meters 0.011354940711417124 Centerline is valid? [True, True] Translation: X:189.11, Y:-26.01, Z:-5.33 [[ 9.89205813e-01 1.45335133e-01 1.86964618e-02 1.89109445e+02] [-1.45308997e-01 9.89382484e-01 -2.75617217e-03 -2.60138543e+01] [-1.88985204e-02 9.65742179e-06 9.99821407e-01 -5.33248433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.274203822 meters 0.012719802414800852 Centerline is valid? [True, True] Translation: X:189.14, Y:-26.02, Z:-5.33 [[ 9.89825666e-01 1.41051008e-01 1.87019609e-02 1.89136697e+02] [-1.41024108e-01 9.90002326e-01 -2.75610542e-03 -2.60239254e+01] [-1.89037362e-02 9.06365477e-05 9.99821304e-01 -5.33314769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304203822 meters 0.01420511001811206 Centerline is valid? [True, True] Translation: X:189.17, Y:-26.03, Z:-5.34 [[ 9.90143747e-01 1.38873360e-01 1.81535029e-02 1.89165043e+02] [-1.38847663e-01 9.90310140e-01 -2.67446842e-03 -2.60318004e+01] [-1.83490104e-02 1.27536722e-04 9.99831635e-01 -5.33538759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.334203822 meters 0.015222104460417616 Centerline is valid? [True, True] Translation: X:189.19, Y:-26.04, Z:-5.34 [[ 9.90475448e-01 1.36585544e-01 1.74004416e-02 1.89192922e+02] [-1.36561595e-01 9.90628267e-01 -2.56279757e-03 -2.60385792e+01] [-1.75874104e-02 1.62156012e-04 9.99845316e-01 -5.33584825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.364203822 meters 0.01803866549749392 Centerline is valid? [True, True] Translation: X:189.22, Y:-26.05, Z:-5.34 [[ 9.90971773e-01 1.32885933e-01 1.77840879e-02 1.89220711e+02] [-1.32860341e-01 9.91131311e-01 -2.61815264e-03 -2.60507638e+01] [-1.79742820e-02 2.31715381e-04 9.99838423e-01 -5.33688250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.394203822 meters 0.021666804898743695 Centerline is valid? [True, True] Translation: X:189.25, Y:-26.06, Z:-5.34 [[ 9.91194429e-01 1.31243107e-01 1.75741729e-02 1.89248077e+02] [-1.31217863e-01 9.91350180e-01 -2.58695405e-03 -2.60615061e+01] [-1.77616793e-02 2.58129044e-04 9.99842216e-01 -5.33945856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.424203822 meters 0.022331052809139884 Centerline is valid? [True, True] Translation: X:189.28, Y:-26.07, Z:-5.34 [[ 9.91455222e-01 1.29291128e-01 1.73305027e-02 1.89277204e+02] [-1.29266293e-01 9.91606636e-01 -2.55033229e-03 -2.60675251e+01] [-1.75147768e-02 2.88290416e-04 9.99846563e-01 -5.33904358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.454203822 meters 0.021365881591163403 Centerline is valid? [True, True] Translation: X:189.31, Y:-26.07, Z:-5.34 [[ 9.91514994e-01 1.28891121e-01 1.68847576e-02 1.89306207e+02] [-1.28867497e-01 9.91658710e-01 -2.48436502e-03 -2.60710689e+01] [-1.70641295e-02 2.87388730e-04 9.99854356e-01 -5.33910027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.484203822 meters 0.021275304209577125 Centerline is valid? [True, True] Translation: X:189.34, Y:-26.08, Z:-5.34 [[ 9.91492319e-01 1.29124596e-01 1.64262300e-02 1.89335116e+02] [-1.29102275e-01 9.91628339e-01 -2.41651371e-03 -2.60766184e+01] [-1.66007465e-02 2.75291110e-04 9.99862160e-01 -5.34080770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.514203822 meters 0.02168137215628177 Centerline is valid? [True, True] Translation: X:189.36, Y:-26.08, Z:-5.34 [[ 9.91392028e-01 1.29941281e-01 1.60346707e-02 1.89363677e+02] [-1.29920128e-01 9.91521658e-01 -2.35838277e-03 -2.60828028e+01] [-1.62051745e-02 2.54855416e-04 9.99868655e-01 -5.34366138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54420382200001 meters 0.02120981097222111 Centerline is valid? [True, True] Translation: X:189.39, Y:-26.09, Z:-5.35 [[ 9.91037458e-01 1.32610851e-01 1.60971438e-02 1.89392360e+02] [-1.32589885e-01 9.91168158e-01 -2.36750857e-03 -2.60877477e+01] [-1.62689337e-02 2.11971216e-04 9.99867630e-01 -5.34698089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57420382200002 meters 0.016770795613009322 Centerline is valid? [True, True] Translation: X:189.42, Y:-26.09, Z:-5.34 [[ 9.90819812e-01 1.34253765e-01 1.58753212e-02 1.89421372e+02] [-1.34233584e-01 9.90946968e-01 -2.33483841e-03 -2.60863544e+01] [-1.60450622e-02 1.82402896e-04 9.99871253e-01 -5.34378114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60420382200002 meters 0.014112542319908205 Centerline is valid? [True, True] Translation: X:189.45, Y:-26.09, Z:-5.35 [[ 9.90232815e-01 1.38571063e-01 1.53958736e-02 1.89450218e+02] [-1.38552616e-01 9.90352487e-01 -2.26359456e-03 -2.60867464e+01] [-1.55610105e-02 1.08347047e-04 9.99878914e-01 -5.34513611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63420382200002 meters 0.013055215010072738 Centerline is valid? [True, True] Translation: X:189.48, Y:-26.09, Z:-5.35 [[ 9.89858818e-01 1.41221586e-01 1.53617492e-02 1.89478406e+02] [-1.41203549e-01 9.89978010e-01 -2.25797677e-03 -2.60876595e+01] [-1.55266690e-02 6.59447061e-05 9.99879452e-01 -5.34684595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66420382200002 meters 0.012407209852947883 Centerline is valid? [True, True] Translation: X:189.51, Y:-26.08, Z:-5.35 [[ 9.89009325e-01 1.47116510e-01 1.47406613e-02 1.89508087e+02] [-1.47100571e-01 9.89119170e-01 -2.16569198e-03 -2.60837075e+01] [-1.48988797e-02 -2.64701286e-05 9.99889005e-01 -5.34749196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69420382200002 meters 0.013660261658897827 Centerline is valid? [True, True] Translation: X:189.54, Y:-26.08, Z:-5.35 [[ 9.88622450e-01 1.49741081e-01 1.42569155e-02 1.89535980e+02] [-1.49726451e-01 9.88725242e-01 -2.09412412e-03 -2.60839846e+01] [-1.44097486e-02 -6.43392429e-05 9.99896172e-01 -5.34987505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72420382200002 meters 0.01504198101045164 Centerline is valid? [True, True] Translation: X:189.56, Y:-26.08, Z:-5.35 [[ 9.88176974e-01 1.52663761e-01 1.41436786e-02 1.89564747e+02] [-1.52649676e-01 9.88278182e-01 -2.07644559e-03 -2.60847466e+01] [-1.42948870e-02 -1.07132247e-04 9.99897817e-01 -5.35056365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75420382200002 meters 0.017369766796842736 Centerline is valid? [True, True] Translation: X:189.59, Y:-26.08, Z:-5.35 [[ 9.87765639e-01 1.55276377e-01 1.44322311e-02 1.89592940e+02] [-1.55261999e-01 9.87871057e-01 -2.11822298e-03 -2.60841461e+01] [-1.45860934e-02 -1.48469181e-04 9.99893606e-01 -5.35199813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78420382200002 meters 0.02044696804674729 Centerline is valid? [True, True] Translation: X:189.62, Y:-26.08, Z:-5.35 [[ 9.87061375e-01 1.59672224e-01 1.46499806e-02 1.89622270e+02] [-1.59657909e-01 9.87170063e-01 -2.14909120e-03 -2.60819481e+01] [-1.48051724e-02 -2.17700352e-04 9.99890374e-01 -5.35148952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814203822 meters 0.02180039076147562 Centerline is valid? [True, True] Translation: X:189.65, Y:-26.08, Z:-5.35 [[ 9.86844340e-01 1.61029732e-01 1.44108643e-02 1.89651381e+02] [-1.61016036e-01 9.86949528e-01 -2.11331558e-03 -2.60831712e+01] [-1.45631023e-02 -2.34866711e-04 9.99893925e-01 -5.35263008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844203822 meters 0.024344125918795208 Centerline is valid? [True, True] Translation: X:189.68, Y:-26.08, Z:-5.36 [[ 9.86656773e-01 1.62258582e-01 1.34374800e-02 1.89679506e+02] [-1.62246786e-01 9.86748244e-01 -1.97060231e-03 -2.60813750e+01] [-1.35791570e-02 -2.35879836e-04 9.99907771e-01 -5.35571126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.874203822 meters 0.022515046011269028 Centerline is valid? [True, True] Translation: X:189.71, Y:-26.09, Z:-5.36 [[ 9.86718626e-01 1.61909099e-01 1.31071391e-02 1.89707210e+02] [-1.61897863e-01 9.86805651e-01 -1.92079110e-03 -2.60871854e+01] [-1.32451925e-02 -2.26737467e-04 9.99912253e-01 -5.35538799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904203822 meters 0.024486903330254328 Centerline is valid? [True, True] Translation: X:189.73, Y:-26.09, Z:-5.36 [[ 9.86811314e-01 1.61360096e-01 1.28976511e-02 1.89734661e+02] [-1.61349185e-01 9.86895573e-01 -1.88893972e-03 -2.60887107e+01] [-1.30334343e-02 -2.16998416e-04 9.99915038e-01 -5.35950045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.934203822 meters 0.02079851143254239 Centerline is valid? [True, True] Translation: X:189.76, Y:-26.10, Z:-5.36 [[ 9.87183073e-01 1.59130327e-01 1.21293093e-02 1.89762256e+02] [-1.59120519e-01 9.87257569e-01 -1.77553880e-03 -2.60968891e+01] [-1.22572945e-02 -1.77240147e-04 9.99924861e-01 -5.35804727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964203822 meters 0.019760144646534965 Centerline is valid? [True, True] Translation: X:189.79, Y:-26.10, Z:-5.36 [[ 9.87360865e-01 1.57992443e-01 1.25263551e-02 1.89790727e+02] [-1.57981900e-01 9.87440307e-01 -1.83298548e-03 -2.61011442e+01] [-1.26586257e-02 -1.69119250e-04 9.99919862e-01 -5.35827331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.994203822 meters 0.018563885149590197 Centerline is valid? [True, True] Translation: X:189.82, Y:-26.10, Z:-5.36 [[ 9.87778755e-01 1.55262809e-01 1.36598575e-02 1.89818410e+02] [-1.55250019e-01 9.87873190e-01 -1.99821461e-03 -2.61037905e+01] [-1.38044554e-02 -1.46899196e-04 9.99904703e-01 -5.35942050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024203822 meters 0.016412558900132636 Centerline is valid? [True, True] Translation: X:189.85, Y:-26.11, Z:-5.36 [[ 9.87993941e-01 1.53889017e-01 1.36434422e-02 1.89846484e+02] [-1.53876141e-01 9.88088131e-01 -1.99478080e-03 -2.61096550e+01] [-1.37878981e-02 -1.28568885e-04 9.99904934e-01 -5.35841792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.054203822 meters 0.015241781993314895 Centerline is valid? [True, True] Translation: X:189.87, Y:-26.11, Z:-5.36 [[ 9.88250030e-01 1.52255545e-01 1.34211597e-02 1.89874878e+02] [-1.52242944e-01 9.88341155e-01 -1.96164087e-03 -2.61147982e+01] [-1.35633552e-02 -1.04685211e-04 9.99908008e-01 -5.35940986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084203822 meters 0.013859044194176655 Centerline is valid? [True, True] Translation: X:189.90, Y:-26.12, Z:-5.36 [[ 9.88859167e-01 1.48280923e-01 1.30504889e-02 1.89901831e+02] [-1.48268668e-01 9.88945279e-01 -1.90703396e-03 -2.61218288e+01] [-1.31889962e-02 -4.91905980e-05 9.99913020e-01 -5.36225057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.114203822 meters 0.013064995391375499 Centerline is valid? [True, True] Translation: X:189.93, Y:-26.13, Z:-5.36 [[ 9.89186378e-01 1.46108306e-01 1.27543530e-02 1.89928961e+02] [-1.46096427e-01 9.89268600e-01 -1.86320067e-03 -2.61282562e+01] [-1.28897101e-02 -2.03126797e-05 9.99916924e-01 -5.36199871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.144203822 meters 0.01326541862127825 Centerline is valid? [True, True] Translation: X:189.96, Y:-26.14, Z:-5.36 [[ 9.89826524e-01 1.41686796e-01 1.29732296e-02 1.89955595e+02] [-1.41674140e-01 9.89911537e-01 -1.89409737e-03 -2.61354257e+01] [-1.31107182e-02 3.68566765e-05 9.99914050e-01 -5.36252630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.174203822 meters 0.013741815973354034 Centerline is valid? [True, True] Translation: X:189.98, Y:-26.14, Z:-5.36 [[ 9.90092545e-01 1.39779818e-01 1.33549899e-02 1.89983690e+02] [-1.39766250e-01 9.90182609e-01 -1.94853860e-03 -2.61410721e+01] [-1.34962452e-02 6.26566836e-05 9.99908920e-01 -5.36227576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.204203822 meters 0.014749287163520653 Centerline is valid? [True, True] Translation: X:190.01, Y:-26.15, Z:-5.36 [[ 9.90331243e-01 1.38025124e-01 1.38958145e-02 1.90011315e+02] [-1.38010271e-01 9.90428724e-01 -2.02687784e-03 -2.61476588e+01] [-1.40425739e-02 8.95153277e-05 9.99901394e-01 -5.36295187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.234203822 meters 0.01476875776852843 Centerline is valid? [True, True] Translation: X:190.04, Y:-26.15, Z:-5.36 [[ 9.90644975e-01 1.35627499e-01 1.50902338e-02 1.90039666e+02] [-1.35609721e-01 9.90759892e-01 -2.19990657e-03 -2.61526210e+01] [-1.52491662e-02 1.32943988e-04 9.99883716e-01 -5.35755685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.264203822 meters 0.014963732989262943 Centerline is valid? [True, True] Translation: X:190.07, Y:-26.16, Z:-5.36 [[ 9.90710744e-01 1.35015561e-01 1.62178687e-02 1.90067435e+02] [-1.34994958e-01 9.90843466e-01 -2.36351796e-03 -2.61571181e+01] [-1.63884810e-02 1.52232119e-04 9.99865688e-01 -5.35705366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29420382200001 meters 0.01591490336680733 Centerline is valid? [True, True] Translation: X:190.09, Y:-26.16, Z:-5.36 [[ 9.90810848e-01 1.34180657e-01 1.70122074e-02 1.90094399e+02] [-1.34157883e-01 9.90956872e-01 -2.47812298e-03 -2.61633687e+01] [-1.71908800e-02 1.73029399e-04 9.99852211e-01 -5.35785948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32420382200002 meters 0.016968648544927627 Centerline is valid? [True, True] Translation: X:190.12, Y:-26.17, Z:-5.36 [[ 9.90935626e-01 1.33323404e-01 1.64758737e-02 1.90121686e+02] [-1.33301944e-01 9.91072569e-01 -2.39886689e-03 -2.61713564e+01] [-1.66486116e-02 1.80856685e-04 9.99861386e-01 -5.36000352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35420382200002 meters 0.016475360424267123 Centerline is valid? [True, True] Translation: X:190.15, Y:-26.18, Z:-5.36 [[ 9.91007939e-01 1.32933494e-01 1.52299103e-02 1.90150653e+02] [-1.32915123e-01 9.91124945e-01 -2.21667693e-03 -2.61750264e+01] [-1.53894146e-02 1.72459049e-04 9.99881561e-01 -5.36117165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38420382200002 meters 0.017473666587742083 Centerline is valid? [True, True] Translation: X:190.18, Y:-26.18, Z:-5.37 [[ 9.91066036e-01 1.32744474e-01 1.29234871e-02 1.90177734e+02] [-1.32731232e-01 9.91150283e-01 -1.88084435e-03 -2.61818558e+01] [-1.30587895e-02 1.48690603e-04 9.99914719e-01 -5.36691045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41420382200002 meters 0.019088816411130922 Centerline is valid? [True, True] Translation: X:190.20, Y:-26.19, Z:-5.37 [[ 9.91103900e-01 1.32499097e-01 1.25318817e-02 1.90204142e+02] [-1.32486634e-01 9.91183115e-01 -1.82315539e-03 -2.61893741e+01] [-1.26629560e-02 1.46629588e-04 9.99919811e-01 -5.37085932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44420382200002 meters 0.024691148337854983 Centerline is valid? [True, True] Translation: X:190.23, Y:-26.20, Z:-5.37 [[ 9.91111274e-01 1.32473038e-01 1.22203727e-02 1.90232023e+02] [-1.32461190e-01 9.91186599e-01 -1.77742794e-03 -2.61950173e+01] [-1.23481309e-02 1.42903756e-04 9.99923749e-01 -5.37251271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47420382200002 meters 0.018035552596762056 Centerline is valid? [True, True] Translation: X:190.26, Y:-26.20, Z:-5.37 [[ 9.91131241e-01 1.32339517e-01 1.20463628e-02 1.90260753e+02] [-1.32328001e-01 9.91204435e-01 -1.75159060e-03 -2.61998285e+01] [-1.21722129e-02 1.41985055e-04 9.99925906e-01 -5.37061158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50420382200002 meters 0.01789852114747651 Centerline is valid? [True, True] Translation: X:190.29, Y:-26.21, Z:-5.37 [[ 9.91144954e-01 1.32231218e-01 1.21072302e-02 1.90289277e+02] [-1.32219584e-01 9.91218888e-01 -1.75984573e-03 -2.62062634e+01] [-1.22336218e-02 1.43449260e-04 9.99925156e-01 -5.37106559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53420382200002 meters 0.018460535172567932 Centerline is valid? [True, True] Translation: X:190.32, Y:-26.22, Z:-5.37 [[ 9.91091153e-01 1.32717305e-01 1.11554307e-02 1.90316101e+02] [-1.32707461e-01 9.91153924e-01 -1.62137109e-03 -2.62165779e+01] [-1.12719329e-02 1.26517658e-04 9.99936462e-01 -5.37462279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564203822 meters 0.017529977155558676 Centerline is valid? [True, True] Translation: X:190.34, Y:-26.22, Z:-5.38 [[ 9.90970829e-01 1.33651173e-01 1.06854988e-02 1.90344608e+02] [-1.33642206e-01 9.91028431e-01 -1.55207854e-03 -2.62218817e+01] [-1.07970702e-02 1.10030931e-04 9.99941704e-01 -5.37547260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.594203822 meters 0.01664283927370207 Centerline is valid? [True, True] Translation: X:190.37, Y:-26.23, Z:-5.38 [[ 9.90594680e-01 1.36465001e-01 9.97414915e-03 1.90371959e+02] [-1.36457333e-01 9.90644890e-01 -1.44857524e-03 -2.62277669e+01] [-1.00785197e-02 7.39051327e-05 9.99949208e-01 -5.37857512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624203822 meters 0.015734776853302056 Centerline is valid? [True, True] Translation: X:190.40, Y:-26.23, Z:-5.38 [[ 9.90356377e-01 1.38111372e-01 1.09313914e-02 1.90399038e+02] [-1.38102271e-01 9.90416703e-01 -1.58673261e-03 -2.62320577e+01] [-1.10457784e-02 6.17807946e-05 9.99938992e-01 -5.37895237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.654203822 meters 0.014517308622556579 Centerline is valid? [True, True] Translation: X:190.43, Y:-26.24, Z:-5.38 [[ 9.90121660e-01 1.39764049e-01 1.11852527e-02 1.90427988e+02] [-1.39754635e-01 9.90184836e-01 -1.62270207e-03 -2.62356754e+01] [-1.13022630e-02 4.34815561e-05 9.99936126e-01 -5.37782734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684203822 meters 0.013807187774888836 Centerline is valid? [True, True] Translation: X:190.46, Y:-26.24, Z:-5.38 [[ 9.89628253e-01 1.43184881e-01 1.15762954e-02 1.90455548e+02] [-1.43175037e-01 9.89695958e-01 -1.67902636e-03 -2.62399894e+01] [-1.16974239e-02 4.17541213e-06 9.99931583e-01 -5.37795253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.714203822 meters 0.013402224482206921 Centerline is valid? [True, True] Translation: X:190.48, Y:-26.25, Z:-5.38 [[ 9.89410584e-01 1.44668181e-01 1.17394186e-02 1.90484314e+02] [-1.44658172e-01 9.89480226e-01 -1.70179679e-03 -2.62455053e+01] [-1.18621184e-02 -1.44270824e-05 9.99929642e-01 -5.37673912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744203822 meters 0.014205449307932431 Centerline is valid? [True, True] Translation: X:190.51, Y:-26.25, Z:-5.38 [[ 9.88979058e-01 1.47521326e-01 1.25650847e-02 1.90511204e+02] [-1.47510095e-01 9.89058874e-01 -1.82102822e-03 -2.62517025e+01] [-1.26962491e-02 -5.25180762e-05 9.99919398e-01 -5.37673531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.774203822 meters 0.014374828927617917 Centerline is valid? [True, True] Translation: X:190.54, Y:-26.26, Z:-5.38 [[ 9.88754121e-01 1.49020289e-01 1.25793861e-02 1.90539711e+02] [-1.49009168e-01 9.88834136e-01 -1.82202421e-03 -2.62568584e+01] [-1.27104450e-02 -7.29099153e-05 9.99919216e-01 -5.37553610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804203822 meters 0.016297980821280224 Centerline is valid? [True, True] Translation: X:190.57, Y:-26.26, Z:-5.38 [[ 9.88546142e-01 1.50365278e-01 1.29154622e-02 1.90567363e+02] [-1.50353678e-01 9.88630505e-01 -1.87001481e-03 -2.62605474e+01] [-1.30498052e-02 -9.32913301e-05 9.99914843e-01 -5.37891638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.834203822 meters 0.016124246588108678 Centerline is valid? [True, True] Translation: X:190.60, Y:-26.27, Z:-5.38 [[ 9.88351034e-01 1.51696353e-01 1.22657994e-02 1.90595166e+02] [-1.51686000e-01 9.88427137e-01 -1.77542001e-03 -2.62670497e+01] [-1.23931737e-02 -1.05811841e-04 9.99923196e-01 -5.37758503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.864203822 meters 0.018436907959565072 Centerline is valid? [True, True] Translation: X:190.62, Y:-26.27, Z:-5.38 [[ 9.87863659e-01 1.54829659e-01 1.23761126e-02 1.90623571e+02] [-1.54819373e-01 9.87941170e-01 -1.79074976e-03 -2.62715399e+01] [-1.25041323e-02 -1.47045382e-04 9.99921809e-01 -5.37767883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.894203822 meters 0.020099406931023432 Centerline is valid? [True, True] Translation: X:190.65, Y:-26.27, Z:-5.38 [[ 9.87535208e-01 1.56903619e-01 1.24686374e-02 1.90651881e+02] [-1.56893352e-01 9.87613904e-01 -1.80350032e-03 -2.62743452e+01] [-1.25971754e-02 -1.75226248e-04 9.99920637e-01 -5.37811997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.924203822 meters 0.025526056753716865 Centerline is valid? [True, True] Translation: X:190.68, Y:-26.27, Z:-5.38 [[ 9.86920653e-01 1.60773538e-01 1.18107770e-02 1.90680521e+02] [-1.60764610e-01 9.86991299e-01 -1.70762206e-03 -2.62745767e+01] [-1.19316745e-02 -2.13467483e-04 9.99928792e-01 -5.38215775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.954203822 meters 0.026374441819963197 Centerline is valid? [True, True] Translation: X:190.71, Y:-26.28, Z:-5.38 [[ 9.86691278e-01 1.62208981e-01 1.13388166e-02 1.90709257e+02] [-1.62200850e-01 9.86756402e-01 -1.63919268e-03 -2.62797687e+01] [-1.14545417e-02 -2.21788572e-04 9.99934370e-01 -5.38342909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.984203822 meters 0.026374441819963197 Centerline is valid? [True, True] Translation: X:190.74, Y:-26.28, Z:-5.38 [[ 9.86702743e-01 1.62139221e-01 1.13388375e-02 1.90736484e+02] [-1.62131087e-01 9.86767867e-01 -1.63904852e-03 -2.62835644e+01] [-1.14545545e-02 -2.21124371e-04 9.99934370e-01 -5.38420967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.014203822 meters 0.0275797350363894 Centerline is valid? [True, True] Translation: X:190.76, Y:-26.29, Z:-5.39 [[ 9.86474778e-01 1.63562883e-01 1.07096191e-02 1.90764655e+02] [-1.63555722e-01 9.86532885e-01 -1.54702326e-03 -2.62897791e+01] [-1.08184270e-02 -2.25520069e-04 9.99941454e-01 -5.38549000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04420382200001 meters 0.033687978890483514 Centerline is valid? [True, True] Translation: X:190.79, Y:-26.30, Z:-5.39 [[ 9.86410368e-01 1.63959818e-01 1.05718764e-02 1.90793379e+02] [-1.63952868e-01 9.86466992e-01 -1.52664297e-03 -2.62955342e+01] [-1.06791152e-02 -2.27393003e-04 9.99942951e-01 -5.38683634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07420382200002 meters 0.03084438737451701 Centerline is valid? [True, True] Translation: X:190.82, Y:-26.30, Z:-5.39 [[ 9.86341544e-01 1.64407765e-01 1.00222337e-02 1.90821527e+02] [-1.64401546e-01 9.86392436e-01 -1.44685846e-03 -2.63009991e+01] [-1.01237303e-02 -2.20574103e-04 9.99948729e-01 -5.38778766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10420382200002 meters 0.02977180556032916 Centerline is valid? [True, True] Translation: X:190.85, Y:-26.30, Z:-5.39 [[ 9.86284895e-01 1.64738390e-01 1.01670227e-02 1.90849037e+02] [-1.64732008e-01 9.86337271e-01 -1.46773530e-03 -2.63035240e+01] [-1.02699057e-02 -2.27228905e-04 9.99947237e-01 -5.39015021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13420382200002 meters 0.03300251490727899 Centerline is valid? [True, True] Translation: X:190.88, Y:-26.31, Z:-5.39 [[ 9.85800549e-01 1.67566067e-01 1.09036929e-02 1.90877885e+02] [-1.67558919e-01 9.85860810e-01 -1.57235196e-03 -2.63056656e+01] [-1.10129963e-02 -2.76985573e-04 9.99939317e-01 -5.38851026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16420382200002 meters 0.03542395193733241 Centerline is valid? [True, True] Translation: X:190.91, Y:-26.31, Z:-5.39 [[ 9.85219984e-01 1.70822718e-01 1.26957182e-02 1.90908032e+02] [-1.70813307e-01 9.85301713e-01 -1.82996833e-03 -2.63050506e+01] [-1.28217130e-02 -3.65676243e-04 9.99917732e-01 -5.38507299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19420382200002 meters 0.034591974049866435 Centerline is valid? [True, True] Translation: X:190.94, Y:-26.31, Z:-5.38 [[ 9.84981789e-01 1.72194119e-01 1.26515160e-02 1.90936883e+02] [-1.72184886e-01 9.85062962e-01 -1.82368976e-03 -2.63093336e+01] [-1.27765685e-02 -3.82098631e-04 9.99918303e-01 -5.38475419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22420382200002 meters 0.03475898604760682 Centerline is valid? [True, True] Translation: X:190.97, Y:-26.31, Z:-5.39 [[ 9.84793328e-01 1.73331375e-01 1.17616480e-02 1.90965776e+02] [-1.73323481e-01 9.84863492e-01 -1.69494708e-03 -2.63123605e+01] [-1.18774052e-02 -3.69397206e-04 9.99929393e-01 -5.38575214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25420382200002 meters 0.0402468979586125 Centerline is valid? [True, True] Translation: X:190.99, Y:-26.31, Z:-5.39 [[ 9.84653641e-01 1.74096733e-01 1.21463699e-02 1.90993932e+02] [-1.74088376e-01 9.84728478e-01 -1.75012863e-03 -2.63078911e+01] [-1.22655681e-02 -3.91271284e-04 9.99924699e-01 -5.38958970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28420382200002 meters 0.0381382312805051 Centerline is valid? [True, True] Translation: X:191.02, Y:-26.31, Z:-5.39 [[ 9.84571062e-01 1.74518494e-01 1.27718214e-02 1.91022351e+02] [-1.74509309e-01 9.84653807e-01 -1.83877129e-03 -2.63100859e+01] [-1.28967222e-02 -4.18400718e-04 9.99916746e-01 -5.38769738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314203822 meters 0.0399034454018918 Centerline is valid? [True, True] Translation: X:191.05, Y:-26.31, Z:-5.39 [[ 9.84629276e-01 1.74166135e-01 1.30899669e-02 1.91050606e+02] [-1.74156456e-01 9.84716191e-01 -1.88447874e-03 -2.63094291e+01] [-1.32181147e-02 -4.24189302e-04 9.99912547e-01 -5.38946687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344203822 meters 0.037351200815938485 Centerline is valid? [True, True] Translation: X:191.08, Y:-26.31, Z:-5.39 [[ 9.84772802e-01 1.73419487e-01 1.21741567e-02 1.91079665e+02] [-1.73411077e-01 9.84847974e-01 -1.75111264e-03 -2.63108020e+01] [-1.22933707e-02 -3.86685525e-04 9.99924359e-01 -5.39015399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.374203822 meters 0.039084865728940765 Centerline is valid? [True, True] Translation: X:191.11, Y:-26.31, Z:-5.39 [[ 9.84909482e-01 1.72683253e-01 1.15674842e-02 1.91108187e+02] [-1.72675615e-01 9.84977343e-01 -1.66335167e-03 -2.63089390e+01] [-1.16809428e-02 -3.59171614e-04 9.99931711e-01 -5.39367864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404203822 meters 0.037839404498072264 Centerline is valid? [True, True] Translation: X:191.14, Y:-26.31, Z:-5.40 [[ 9.85074997e-01 1.71786642e-01 1.07981239e-02 1.91137301e+02] [-1.71779937e-01 9.85134125e-01 -1.55227455e-03 -2.63115456e+01] [-1.09042604e-02 -3.25794205e-04 9.99940494e-01 -5.39579680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.434203822 meters 0.03465487637502332 Centerline is valid? [True, True] Translation: X:191.17, Y:-26.31, Z:-5.40 [[ 9.85632556e-01 1.68602149e-01 1.00885570e-02 1.91166424e+02] [-1.68596139e-01 9.85684149e-01 -1.44944810e-03 -2.63149843e+01] [-1.01885108e-02 -2.72268523e-04 9.99948059e-01 -5.39796955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464203822 meters 0.02940235773786362 Centerline is valid? [True, True] Translation: X:191.19, Y:-26.32, Z:-5.40 [[ 9.85998674e-01 1.66458569e-01 9.90759199e-03 1.91194910e+02] [-1.66452663e-01 9.86048419e-01 -1.42347859e-03 -2.63225309e+01] [-1.00063156e-02 -2.45597071e-04 9.99949905e-01 -5.39624571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.494203822 meters 0.024460021035779093 Centerline is valid? [True, True] Translation: X:191.22, Y:-26.33, Z:-5.40 [[ 9.86955908e-01 1.60655339e-01 1.03873962e-02 1.91224718e+02] [-1.60648538e-01 9.87010549e-01 -1.49130309e-03 -2.63256009e+01] [-1.04920555e-02 -1.96869621e-04 9.99944937e-01 -5.39672828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524203822 meters 0.022315131964360132 Centerline is valid? [True, True] Translation: X:191.25, Y:-26.33, Z:-5.40 [[ 9.87560657e-01 1.56885328e-01 1.05329358e-02 1.91252491e+02] [-1.56878109e-01 9.87616813e-01 -1.51329472e-03 -2.63295882e+01] [-1.06399183e-02 -1.57916721e-04 9.99943382e-01 -5.39909366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.554203822 meters 0.01887780460948843 Centerline is valid? [True, True] Translation: X:191.28, Y:-26.34, Z:-5.40 [[ 9.88209583e-01 1.52725330e-01 1.08071330e-02 1.91280589e+02] [-1.52717492e-01 9.88268668e-01 -1.55172428e-03 -2.63363754e+01] [-1.09173386e-02 -1.17009448e-04 9.99940397e-01 -5.39929146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.584203822 meters 0.01365902042604299 Centerline is valid? [True, True] Translation: X:191.31, Y:-26.35, Z:-5.40 [[ 9.89534005e-01 1.43780491e-01 1.22320493e-02 1.91307890e+02] [-1.43769777e-01 9.89609605e-01 -1.75535503e-03 -2.63487357e+01] [-1.23573393e-02 -2.16155071e-05 9.99923645e-01 -5.39800559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.614203822 meters 0.01349887574477353 Centerline is valid? [True, True] Translation: X:191.34, Y:-26.36, Z:-5.40 [[ 9.90192392e-01 1.39112717e-01 1.29104270e-02 1.91335581e+02] [-1.39100389e-01 9.90276553e-01 -1.85235885e-03 -2.63577910e+01] [-1.30425798e-02 3.83462244e-05 9.99914941e-01 -5.39690175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.644203822 meters 0.018315375637807888 Centerline is valid? [True, True] Translation: X:191.36, Y:-26.37, Z:-5.40 [[ 9.91353783e-01 1.30522699e-01 1.34722481e-02 1.91363986e+02] [-1.30508495e-01 9.91445309e-01 -1.93191946e-03 -2.63712449e+01] [-1.36091565e-02 1.56972842e-04 9.99907379e-01 -5.39600354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.674203822 meters 0.021763202655480894 Centerline is valid? [True, True] Translation: X:191.39, Y:-26.38, Z:-5.40 [[ 9.91864845e-01 1.26527858e-01 1.39581930e-02 1.91392353e+02] [-1.26512218e-01 9.91963030e-01 -2.00140990e-03 -2.63800517e+01] [-1.40992455e-02 2.19246178e-04 9.99900577e-01 -5.39583762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.704203822 meters 0.025164626953961114 Centerline is valid? [True, True] Translation: X:191.42, Y:-26.39, Z:-5.40 [[ 9.92307936e-01 1.22935581e-01 1.45534741e-02 1.91421606e+02] [-1.22918207e-01 9.92414613e-01 -2.08571621e-03 -2.63889061e+01] [-1.46994891e-02 2.80785796e-04 9.99891917e-01 -5.39595493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.734203822 meters 0.031487876702786105 Centerline is valid? [True, True] Translation: X:191.45, Y:-26.40, Z:-5.40 [[ 9.92974527e-01 1.17517117e-01 1.38317240e-02 1.91450231e+02] [-1.17500901e-01 9.93070798e-01 -1.98211180e-03 -2.64023204e+01] [-1.39688132e-02 3.42946500e-04 9.99902373e-01 -5.39791919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.764203822 meters 0.040731886381621264 Centerline is valid? [True, True] Translation: X:191.48, Y:-26.41, Z:-5.40 [[ 9.93176751e-01 1.15806868e-01 1.37372001e-02 1.91481099e+02] [-1.15790710e-01 9.93271683e-01 -1.96854266e-03 -2.64068461e+01] [-1.38727426e-02 3.64470658e-04 9.99903702e-01 -5.39919156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79420382200001 meters 0.035578790517712754 Centerline is valid? [True, True] Translation: X:191.51, Y:-26.42, Z:-5.40 [[ 9.93389426e-01 1.14106453e-01 1.25365460e-02 1.91510957e+02] [-1.14092884e-01 9.93468466e-01 -1.79465874e-03 -2.64192247e+01] [-1.26594453e-02 3.52464327e-04 9.99919804e-01 -5.40226289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82420382200002 meters 0.03542167231869354 Centerline is valid? [True, True] Translation: X:191.54, Y:-26.42, Z:-5.40 [[ 9.93382614e-01 1.14222081e-01 1.20124492e-02 1.91542058e+02] [-1.14209584e-01 9.93455183e-01 -1.72350815e-03 -2.64234330e+01] [-1.21306926e-02 3.40166203e-04 9.99926363e-01 -5.40342759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85420382200002 meters 0.03154934367864823 Centerline is valid? [True, True] Translation: X:191.57, Y:-26.42, Z:-5.40 [[ 9.93304203e-01 1.14918627e-01 1.18519529e-02 1.91573892e+02] [-1.14906508e-01 9.93374855e-01 -1.70072987e-03 -2.64229307e+01] [-1.19688775e-02 3.27475609e-04 9.99928317e-01 -5.40230056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88420382200002 meters 0.03216580003275856 Centerline is valid? [True, True] Translation: X:191.60, Y:-26.43, Z:-5.41 [[ 9.93034083e-01 1.17251464e-01 1.16363303e-02 1.91602732e+02] [-1.17239931e-01 9.93102214e-01 -1.67066984e-03 -2.64301312e+01] [-1.17519538e-02 2.94789535e-04 9.99930900e-01 -5.40563645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91420382200002 meters 0.027956616752761548 Centerline is valid? [True, True] Translation: X:191.63, Y:-26.43, Z:-5.40 [[ 9.92822569e-01 1.19030495e-01 1.16226945e-02 1.91633496e+02] [-1.19019116e-01 9.92890561e-01 -1.66836876e-03 -2.64305609e+01] [-1.17386504e-02 2.73071341e-04 9.99931062e-01 -5.40459747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94420382200002 meters 0.025000597392507113 Centerline is valid? [True, True] Translation: X:191.66, Y:-26.43, Z:-5.41 [[ 9.92318419e-01 1.23146944e-01 1.17892205e-02 1.91662652e+02] [-1.23135522e-01 9.92388421e-01 -1.69267225e-03 -2.64336110e+01] [-1.19079333e-02 2.27998030e-04 9.99929072e-01 -5.40662389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97420382200002 meters 0.022093134357529975 Centerline is valid? [True, True] Translation: X:191.69, Y:-26.44, Z:-5.41 [[ 9.92020967e-01 1.25513114e-01 1.18684362e-02 1.91692111e+02] [-1.25501711e-01 9.92091940e-01 -1.70375092e-03 -2.64356319e+01] [-1.19884230e-02 2.00647579e-04 9.99928116e-01 -5.40645607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00420382200002 meters 0.02043731212103398 Centerline is valid? [True, True] Translation: X:191.72, Y:-26.44, Z:-5.41 [[ 9.91702735e-01 1.27967729e-01 1.22451907e-02 1.91720386e+02] [-1.27955779e-01 9.91778317e-01 -1.75770517e-03 -2.64386602e+01] [-1.23694441e-02 1.76278112e-04 9.99923480e-01 -5.40725699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03420382200002 meters 0.01638493930866145 Centerline is valid? [True, True] Translation: X:191.75, Y:-26.44, Z:-5.41 [[ 9.91010179e-01 1.33192065e-01 1.25975574e-02 1.91750334e+02] [-1.33179847e-01 9.91090239e-01 -1.80759879e-03 -2.64363729e+01] [-1.27260740e-02 1.13608035e-04 9.99919014e-01 -5.40758945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064203822 meters 0.01514411944629519 Centerline is valid? [True, True] Translation: X:191.78, Y:-26.44, Z:-5.41 [[ 9.90689666e-01 1.35563192e-01 1.25142599e-02 1.91778553e+02] [-1.35551323e-01 9.90768699e-01 -1.79570990e-03 -2.64376176e+01] [-1.26421692e-02 8.26667437e-05 9.99920081e-01 -5.40940373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.094203822 meters 0.01330290682646078 Centerline is valid? [True, True] Translation: X:191.81, Y:-26.44, Z:-5.41 [[ 9.90058410e-01 1.40204379e-01 1.12728037e-02 1.91807433e+02] [-1.40195056e-01 9.90122584e-01 -1.61699406e-03 -2.64367364e+01] [-1.13881672e-02 2.05272268e-05 9.99935153e-01 -5.41066288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124203822 meters 0.013769078988024932 Centerline is valid? [True, True] Translation: X:191.84, Y:-26.44, Z:-5.41 [[ 9.89727298e-01 1.42536785e-01 1.10968644e-02 1.91835143e+02] [-1.42527897e-01 9.89789505e-01 -1.59178231e-03 -2.64384653e+01] [-1.12104474e-02 -6.18233048e-06 9.99937161e-01 -5.41336517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.154203822 meters 0.014422925923339588 Centerline is valid? [True, True] Translation: X:191.86, Y:-26.44, Z:-5.41 [[ 9.89389619e-01 1.44875495e-01 1.09212455e-02 1.91863593e+02] [-1.44867038e-01 9.89449893e-01 -1.56569538e-03 -2.64400896e+01] [-1.10328561e-02 -3.30457374e-05 9.99939136e-01 -5.41438794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184203822 meters 0.015915391256854403 Centerline is valid? [True, True] Translation: X:191.89, Y:-26.44, Z:-5.41 [[ 9.88660008e-01 1.49807535e-01 1.04446331e-02 1.91893104e+02] [-1.49800079e-01 9.88715174e-01 -1.49698294e-03 -2.64363926e+01] [-1.05510265e-02 -8.45996908e-05 9.99944333e-01 -5.41252617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.214203822 meters 0.019384321260628955 Centerline is valid? [True, True] Translation: X:191.92, Y:-26.43, Z:-5.42 [[ 9.88265619e-01 1.52379577e-01 1.05608238e-02 1.91921809e+02] [-1.52372101e-01 9.88322038e-01 -1.51364238e-03 -2.64332600e+01] [-1.06681431e-02 -1.13294183e-04 9.99943087e-01 -5.41674547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244203822 meters 0.019488457733687632 Centerline is valid? [True, True] Translation: X:191.95, Y:-26.43, Z:-5.42 [[ 9.87923168e-01 1.54574783e-01 1.06982021e-02 1.91950960e+02] [-1.54567255e-01 9.87981081e-01 -1.53186497e-03 -2.64346943e+01] [-1.08064090e-02 -1.40226844e-04 9.99941599e-01 -5.41510271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.274203822 meters 0.023364118087419224 Centerline is valid? [True, True] Translation: X:191.98, Y:-26.43, Z:-5.42 [[ 9.87492682e-01 1.57306128e-01 1.06294565e-02 1.91979363e+02] [-1.57298854e-01 9.87549874e-01 -1.52217984e-03 -2.64314214e+01] [-1.07365666e-02 -1.68859874e-04 9.99942347e-01 -5.41854919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304203822 meters 0.023748076766467046 Centerline is valid? [True, True] Translation: X:192.01, Y:-26.43, Z:-5.42 [[ 9.87478950e-01 1.57396810e-01 1.05625970e-02 1.92006751e+02] [-1.57389642e-01 9.87535425e-01 -1.51166203e-03 -2.64335411e+01] [-1.06688695e-02 -1.69708940e-04 9.99943072e-01 -5.41940203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.334203822 meters 0.021995158294435675 Centerline is valid? [True, True] Translation: X:192.03, Y:-26.44, Z:-5.42 [[ 9.87825021e-01 1.55203409e-01 1.06597144e-02 1.92034290e+02] [-1.55195997e-01 9.87882523e-01 -1.52408878e-03 -2.64389249e+01] [-1.07670894e-02 -1.48811973e-04 9.99942022e-01 -5.42119274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.364203822 meters 0.01878536642080612 Centerline is valid? [True, True] Translation: X:192.06, Y:-26.45, Z:-5.42 [[ 9.88124181e-01 1.53310773e-01 1.03155195e-02 1.92062212e+02] [-1.53303736e-01 9.88178016e-01 -1.47414905e-03 -2.64471279e+01] [-1.04195725e-02 -1.24765361e-04 9.99945707e-01 -5.41973550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.394203822 meters 0.017881368365948287 Centerline is valid? [True, True] Translation: X:192.09, Y:-26.45, Z:-5.42 [[ 9.88508441e-01 1.50806302e-01 1.04173896e-02 1.92089660e+02] [-1.50798988e-01 9.88563326e-01 -1.48858371e-03 -2.64521752e+01] [-1.05227371e-02 -9.94542366e-05 9.99944630e-01 -5.42194630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.424203822 meters 0.014157438474041266 Centerline is valid? [True, True] Translation: X:192.12, Y:-26.46, Z:-5.42 [[ 9.89392636e-01 1.44766074e-01 1.20414438e-02 1.92116464e+02] [-1.44755871e-01 9.89465908e-01 -1.71921190e-03 -2.64618962e+01] [-1.21634816e-02 -4.20940881e-05 9.99926021e-01 -5.42147363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.454203822 meters 0.012893811995470744 Centerline is valid? [True, True] Translation: X:192.14, Y:-26.47, Z:-5.42 [[ 9.89855234e-01 1.41547458e-01 1.22854538e-02 1.92144550e+02] [-1.41536601e-01 9.89931471e-01 -1.75310221e-03 -2.64704566e+01] [-1.24099045e-02 -3.52397015e-06 9.99922994e-01 -5.42004425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.484203822 meters 0.013277791818469569 Centerline is valid? [True, True] Translation: X:192.17, Y:-26.48, Z:-5.42 [[ 9.90279885e-01 1.38554595e-01 1.21808453e-02 1.92171719e+02] [-1.38543700e-01 9.90354797e-01 -1.73777823e-03 -2.64788714e+01] [-1.23041358e-02 3.33074349e-05 9.99924301e-01 -5.42121422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.514203822 meters 0.01589666067807991 Centerline is valid? [True, True] Translation: X:192.20, Y:-26.49, Z:-5.42 [[ 9.91067516e-01 1.32858680e-01 1.15650487e-02 1.92199607e+02] [-1.32848486e-01 9.91134987e-01 -1.64870191e-03 -2.64919589e+01] [-1.16815687e-02 9.75756967e-05 9.99931763e-01 -5.42215726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54420382200001 meters 0.017755821537614694 Centerline is valid? [True, True] Translation: X:192.23, Y:-26.50, Z:-5.42 [[ 9.91373662e-01 1.30574885e-01 1.13341386e-02 1.92227319e+02] [-1.30564945e-01 9.91438442e-01 -1.61571894e-03 -2.65005072e+01] [-1.14480730e-02 1.21940018e-04 9.99934461e-01 -5.42372436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57420382200002 meters 0.02068544237894835 Centerline is valid? [True, True] Translation: X:192.25, Y:-26.51, Z:-5.43 [[ 9.91783463e-01 1.27443974e-01 1.11174125e-02 1.92254700e+02] [-1.27434218e-01 9.91845759e-01 -1.58442891e-03 -2.65102690e+01] [-1.12286843e-02 1.54671619e-04 9.99936944e-01 -5.42559359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60420382200002 meters 0.021094698016753996 Centerline is valid? [True, True] Translation: X:192.28, Y:-26.51, Z:-5.43 [[ 9.91874418e-01 1.26732352e-01 1.11378036e-02 1.92282992e+02] [-1.26722518e-01 9.91936936e-01 -1.58712333e-03 -2.65143577e+01] [-1.12491386e-02 1.62816512e-04 9.99936713e-01 -5.42549593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63420382200002 meters 0.021371125255729175 Centerline is valid? [True, True] Translation: X:192.31, Y:-26.52, Z:-5.43 [[ 9.91909922e-01 1.26363711e-01 1.21210649e-02 1.92311476e+02] [-1.26352047e-01 9.91983962e-01 -1.72634104e-03 -2.65188814e+01] [-1.22420488e-02 1.80853444e-04 9.99925047e-01 -5.42528942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66420382200002 meters 0.021165941985786016 Centerline is valid? [True, True] Translation: X:192.34, Y:-26.52, Z:-5.43 [[ 9.91847973e-01 1.26845967e-01 1.21531464e-02 1.92340032e+02] [-1.26834284e-01 9.91922411e-01 -1.73046866e-03 -2.65232319e+01] [-1.22744813e-02 1.74926207e-04 9.99924650e-01 -5.42611690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69420382200002 meters 0.020583207042679883 Centerline is valid? [True, True] Translation: X:192.37, Y:-26.53, Z:-5.43 [[ 9.91758048e-01 1.27521012e-01 1.24244191e-02 1.92369089e+02] [-1.27508862e-01 9.91835855e-01 -1.76844412e-03 -2.65264529e+01] [-1.25484981e-02 1.69645157e-04 9.99921250e-01 -5.42664432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72420382200002 meters 0.018722017400023595 Centerline is valid? [True, True] Translation: X:192.40, Y:-26.53, Z:-5.43 [[ 9.91496459e-01 1.29535207e-01 1.24660055e-02 1.92398809e+02] [-1.29523138e-01 9.91574813e-01 -1.77406704e-03 -2.65279133e+01] [-1.25907812e-02 1.44345033e-04 9.99920723e-01 -5.42761768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75420382200002 meters 0.018242994978463305 Centerline is valid? [True, True] Translation: X:192.43, Y:-26.53, Z:-5.43 [[ 9.91396615e-01 1.30292215e-01 1.25176382e-02 1.92428567e+02] [-1.30280112e-01 9.91475628e-01 -1.78093224e-03 -2.65325859e+01] [-1.26429748e-02 1.34810881e-04 9.99920065e-01 -5.42884480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78420382200002 meters 0.0165458402024449 Centerline is valid? [True, True] Translation: X:192.46, Y:-26.54, Z:-5.43 [[ 9.91308333e-01 1.30924430e-01 1.29066495e-02 1.92457776e+02] [-1.30911614e-01 9.91392342e-01 -1.83649962e-03 -2.65356827e+01] [-1.30359962e-02 1.30907049e-04 9.99915019e-01 -5.42724272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814203822 meters 0.016848014127827785 Centerline is valid? [True, True] Translation: X:192.49, Y:-26.54, Z:-5.43 [[ 9.91312388e-01 1.30828924e-01 1.35477678e-02 1.92486386e+02] [-1.30814802e-01 9.91404949e-01 -1.92716685e-03 -2.65400421e+01] [-1.36834532e-02 1.38175806e-04 9.99906368e-01 -5.42769853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844203822 meters 0.016848014127827785 Centerline is valid? [True, True] Translation: X:192.52, Y:-26.54, Z:-5.43 [[ 9.91315485e-01 1.30805449e-01 1.35478623e-02 1.92515259e+02] [-1.30791334e-01 9.91408047e-01 -1.92650205e-03 -2.65441025e+01] [-1.36834567e-02 1.37828328e-04 9.99906368e-01 -5.42852643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.874203822 meters 0.01709693615985704 Centerline is valid? [True, True] Translation: X:192.54, Y:-26.55, Z:-5.43 [[ 9.91356875e-01 1.30412365e-01 1.42885042e-02 1.92543841e+02] [-1.30396627e-01 9.91459829e-01 -2.03160319e-03 -2.65493933e+01] [-1.44314241e-02 1.50871036e-04 9.99895850e-01 -5.42835632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904203822 meters 0.017481778300797994 Centerline is valid? [True, True] Translation: X:192.57, Y:-26.56, Z:-5.43 [[ 9.91448996e-01 1.29670838e-01 1.46411306e-02 1.92572817e+02] [-1.29654243e-01 9.91557082e-01 -2.08102800e-03 -2.65553602e+01] [-1.47873654e-02 1.64948404e-04 9.99890647e-01 -5.42819958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.934203822 meters 0.018620027507166587 Centerline is valid? [True, True] Translation: X:192.60, Y:-26.56, Z:-5.43 [[ 9.91743613e-01 1.27413169e-01 1.45083107e-02 1.92602018e+02] [-1.27396640e-01 9.91849709e-01 -2.06164653e-03 -2.65636316e+01] [-1.46527447e-02 1.96314750e-04 9.99892624e-01 -5.42790560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964203822 meters 0.02904923465625877 Centerline is valid? [True, True] Translation: X:192.63, Y:-26.57, Z:-5.43 [[ 9.91877392e-01 1.26293824e-01 1.51363244e-02 1.92630517e+02] [-1.26275705e-01 9.91992853e-01 -2.15068437e-03 -2.65729564e+01] [-1.52867438e-02 2.21865166e-04 9.99883126e-01 -5.43089967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.994203822 meters 0.022689764831064035 Centerline is valid? [True, True] Translation: X:192.66, Y:-26.58, Z:-5.43 [[ 9.92194278e-01 1.23706180e-01 1.57256122e-02 1.92661084e+02] [-1.23686335e-01 9.92318854e-01 -2.23212001e-03 -2.65841884e+01] [-1.58809485e-02 2.69653380e-04 9.99873853e-01 -5.42841677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024203822 meters 0.025190781992336334 Centerline is valid? [True, True] Translation: X:192.69, Y:-26.59, Z:-5.43 [[ 9.92233933e-01 1.23333996e-01 1.61414635e-02 1.92691657e+02] [-1.23312994e-01 9.92365177e-01 -2.29380124e-03 -2.65933398e+01] [-1.63011300e-02 2.85535225e-04 9.99867087e-01 -5.43004181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.054203822 meters 0.023188045786572253 Centerline is valid? [True, True] Translation: X:192.72, Y:-26.60, Z:-5.43 [[ 9.92268855e-01 1.22994129e-01 1.65820094e-02 1.92722915e+02] [-1.22971847e-01 9.92407352e-01 -2.36061894e-03 -2.65970725e+01] [-1.67464503e-02 3.03248340e-04 9.99859722e-01 -5.42808277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.084203822 meters 0.02235785368717241 Centerline is valid? [True, True] Translation: X:192.75, Y:-26.61, Z:-5.43 [[ 9.92239221e-01 1.23293660e-01 1.61245655e-02 1.92754230e+02] [-1.23272644e-01 9.92370188e-01 -2.29467687e-03 -2.66074740e+01] [-1.62844572e-02 2.89150565e-04 9.99867358e-01 -5.42991827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.114203822 meters 0.023869617952731143 Centerline is valid? [True, True] Translation: X:192.78, Y:-26.62, Z:-5.43 [[ 9.92160188e-01 1.24087707e-01 1.48459375e-02 1.92784821e+02] [-1.24069970e-01 9.92271221e-01 -2.11346639e-03 -2.66164175e+01] [-1.49934517e-02 2.54962195e-04 9.99887559e-01 -5.43436640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.144203822 meters 0.021356115159851002 Centerline is valid? [True, True] Translation: X:192.82, Y:-26.62, Z:-5.43 [[ 9.92068692e-01 1.24900018e-01 1.41314136e-02 1.92817369e+02] [-1.24883993e-01 9.92169306e-01 -2.01425940e-03 -2.66192804e+01] [-1.42723359e-02 2.33496331e-04 9.99898118e-01 -5.43437952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.174203822 meters 0.022455841264167026 Centerline is valid? [True, True] Translation: X:192.85, Y:-26.63, Z:-5.44 [[ 9.91838390e-01 1.26754053e-01 1.37846928e-02 1.92846963e+02] [-1.26738950e-01 9.91934155e-01 -1.96730066e-03 -2.66296163e+01] [-1.39228709e-02 2.04186830e-04 9.99903051e-01 -5.43968339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.204203822 meters 0.02002631605103329 Centerline is valid? [True, True] Translation: X:192.88, Y:-26.63, Z:-5.44 [[ 9.91740104e-01 1.27599559e-01 1.30352676e-02 1.92877843e+02] [-1.27586075e-01 9.91825750e-01 -1.86423189e-03 -2.66339366e+01] [-1.31665892e-02 1.85714900e-04 9.99913299e-01 -5.43900747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.234203822 meters 0.0256166265986984 Centerline is valid? [True, True] Translation: X:192.91, Y:-26.64, Z:-5.44 [[ 9.91487194e-01 1.29643772e-01 1.20680311e-02 1.92907332e+02] [-1.29632361e-01 9.91560624e-01 -1.72634327e-03 -2.66409057e+01] [-1.21899941e-02 1.47239890e-04 9.99925688e-01 -5.44422055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.264203822 meters 0.017635570741356684 Centerline is valid? [True, True] Translation: X:192.94, Y:-26.64, Z:-5.44 [[ 9.91353154e-01 1.30728805e-01 1.13535686e-02 1.92938906e+02] [-1.30718777e-01 9.91418158e-01 -1.62404377e-03 -2.66447668e+01] [-1.14684434e-02 1.25876306e-04 9.99934227e-01 -5.44330343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29420382200001 meters 0.02860483171996828 Centerline is valid? [True, True] Translation: X:192.97, Y:-26.65, Z:-5.45 [[ 9.91196534e-01 1.31937448e-01 1.10426583e-02 1.92970115e+02] [-1.31928035e-01 9.91258038e-01 -1.57982732e-03 -2.66504710e+01] [-1.11545621e-02 1.09083169e-04 9.99937780e-01 -5.44650552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32420382200002 meters 0.014987889113360383 Centerline is valid? [True, True] Translation: X:193.00, Y:-26.66, Z:-5.44 [[ 9.90797779e-01 1.34820703e-01 1.19640858e-02 1.93000547e+02] [-1.34809856e-01 9.90870007e-01 -1.71220975e-03 -2.66574290e+01] [-1.20856951e-02 8.35769386e-05 9.99926962e-01 -5.44450234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35420382200002 meters 0.014149232796424932 Centerline is valid? [True, True] Translation: X:193.03, Y:-26.66, Z:-5.44 [[ 9.90582336e-01 1.36295296e-01 1.30471388e-02 1.93030579e+02] [-1.36282522e-01 9.90668253e-01 -1.86740095e-03 -2.66614746e+01] [-1.31799041e-02 7.17174236e-05 9.99913139e-01 -5.44410347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38420382200002 meters 0.013018838617701626 Centerline is valid? [True, True] Translation: X:193.06, Y:-26.67, Z:-5.44 [[ 9.90252431e-01 1.38640012e-01 1.33817201e-02 1.93061139e+02] [-1.38626783e-01 9.90342842e-01 -1.91564412e-03 -2.66658194e+01] [-1.35180757e-02 4.19064371e-05 9.99908626e-01 -5.44344286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41420382200002 meters 0.013015052962443275 Centerline is valid? [True, True] Translation: X:193.09, Y:-26.67, Z:-5.45 [[ 9.90133190e-01 1.39486012e-01 1.34134026e-02 1.93090862e+02] [-1.39472800e-01 9.90224041e-01 -1.92000237e-03 -2.66715036e+01] [-1.35500872e-02 3.02532466e-05 9.99908193e-01 -5.44526131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44420382200002 meters 0.012948368880947924 Centerline is valid? [True, True] Translation: X:193.12, Y:-26.68, Z:-5.45 [[ 9.90043981e-01 1.40144054e-01 1.31361726e-02 1.93121303e+02] [-1.40131436e-01 9.90131125e-01 -1.88065165e-03 -2.66768108e+01] [-1.32700955e-02 2.11371125e-05 9.99911948e-01 -5.44667429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47420382200002 meters 0.013004284258740013 Centerline is valid? [True, True] Translation: X:193.15, Y:-26.68, Z:-5.45 [[ 9.89880452e-01 1.41336029e-01 1.26813928e-02 1.93151068e+02] [-1.41324368e-01 9.89961680e-01 -1.81554271e-03 -2.66825486e+01] [-1.28106946e-02 4.98041118e-06 9.99917940e-01 -5.44848766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50420382200002 meters 0.012633187872630116 Centerline is valid? [True, True] Translation: X:193.18, Y:-26.69, Z:-5.45 [[ 9.89756896e-01 1.42214493e-01 1.25029877e-02 1.93181891e+02] [-1.42203233e-01 9.89835864e-01 -1.78961157e-03 -2.66874494e+01] [-1.26304143e-02 -6.68488529e-06 9.99920233e-01 -5.44805916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53420382200002 meters 0.012548425190605719 Centerline is valid? [True, True] Translation: X:193.21, Y:-26.69, Z:-5.45 [[ 9.89663941e-01 1.42854461e-01 1.25652691e-02 1.93212756e+02] [-1.42843136e-01 9.89743706e-01 -1.79883943e-03 -2.66920378e+01] [-1.26933682e-02 -1.46159105e-05 9.99919436e-01 -5.44822243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564203822 meters 0.014140531082141479 Centerline is valid? [True, True] Translation: X:193.24, Y:-26.69, Z:-5.45 [[ 9.89227243e-01 1.45800489e-01 1.31026150e-02 1.93242710e+02] [-1.45788420e-01 9.89314012e-01 -1.87669404e-03 -2.66923788e+01] [-1.32362236e-02 -5.37326771e-05 9.99912396e-01 -5.45065387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.594203822 meters 0.013755683848620165 Centerline is valid? [True, True] Translation: X:193.27, Y:-26.70, Z:-5.45 [[ 9.88957687e-01 1.47593432e-01 1.33743209e-02 1.93273600e+02] [-1.47581027e-01 9.89048114e-01 -1.91525072e-03 -2.66954252e+01] [-1.35105253e-02 -7.96940988e-05 9.99908726e-01 -5.44776129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624203822 meters 0.016032421949892142 Centerline is valid? [True, True] Translation: X:193.30, Y:-26.69, Z:-5.45 [[ 9.88407134e-01 1.51185983e-01 1.39332832e-02 1.93303998e+02] [-1.51172873e-01 9.88505327e-01 -1.99547283e-03 -2.66929192e+01] [-1.40748122e-02 -1.33994868e-04 9.99900936e-01 -5.44811631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.654203822 meters 0.01739204948933248 Centerline is valid? [True, True] Translation: X:193.33, Y:-26.69, Z:-5.45 [[ 9.88135332e-01 1.52984565e-01 1.35752962e-02 1.93333840e+02] [-1.52972289e-01 9.88228566e-01 -1.94422322e-03 -2.66937309e+01] [-1.37129316e-02 -1.55488468e-04 9.99905961e-01 -5.44910248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684203822 meters 0.018501307266814947 Centerline is valid? [True, True] Translation: X:193.36, Y:-26.69, Z:-5.45 [[ 9.87933018e-01 1.54257718e-01 1.38891421e-02 1.93363166e+02] [-1.54244999e-01 9.88030630e-01 -1.98880683e-03 -2.66949776e+01] [-1.40296866e-02 -1.77522784e-04 9.99901563e-01 -5.45022630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.714203822 meters 0.019562954080087177 Centerline is valid? [True, True] Translation: X:193.39, Y:-26.70, Z:-5.45 [[ 9.87795014e-01 1.55111757e-01 1.41899071e-02 1.93392029e+02] [-1.55098572e-01 9.87896910e-01 -2.03167623e-03 -2.66963076e+01] [-1.43333023e-02 -1.93954688e-04 9.99897254e-01 -5.45102854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744203822 meters 0.01882019239758394 Centerline is valid? [True, True] Translation: X:193.42, Y:-26.70, Z:-5.45 [[ 9.87918764e-01 1.54343217e-01 1.39530077e-02 1.93420979e+02] [-1.54330402e-01 9.88017277e-01 -1.99708757e-03 -2.67006621e+01] [-1.40940496e-02 -1.80412992e-04 9.99900658e-01 -5.45196618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.774203822 meters 0.016048438217290687 Centerline is valid? [True, True] Translation: X:193.45, Y:-26.71, Z:-5.45 [[ 9.88539750e-01 1.50364550e-01 1.34039160e-02 1.93449168e+02] [-1.50352359e-01 9.88630612e-01 -1.91837260e-03 -2.67078792e+01] [-1.35399769e-02 -1.18922827e-04 9.99908323e-01 -5.45488709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804203822 meters 0.014338237806887222 Centerline is valid? [True, True] Translation: X:193.48, Y:-26.72, Z:-5.46 [[ 9.89013850e-01 1.47202396e-01 1.35299594e-02 1.93477475e+02] [-1.47189690e-01 9.89106389e-01 -1.93554803e-03 -2.67152395e+01] [-1.36674866e-02 -7.71867259e-05 9.99906593e-01 -5.45639079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.834203822 meters 0.01229947903121021 Centerline is valid? [True, True] Translation: X:193.51, Y:-26.72, Z:-5.46 [[ 9.89562371e-01 1.43392475e-01 1.43147622e-02 1.93506970e+02] [-1.43377859e-01 9.89665902e-01 -2.04745919e-03 -2.67246392e+01] [-1.44604223e-02 -2.63313843e-05 9.99895442e-01 -5.45511562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.864203822 meters 0.013711547222814797 Centerline is valid? [True, True] Translation: X:193.54, Y:-26.74, Z:-5.45 [[ 9.90670071e-01 1.35543655e-01 1.41678720e-02 1.93537603e+02] [-1.35528570e-01 9.90771371e-01 -2.02399647e-03 -2.67402188e+01] [-1.43114618e-02 8.49613031e-05 9.99897582e-01 -5.45465905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.894203822 meters 0.018861752462330607 Centerline is valid? [True, True] Translation: X:193.57, Y:-26.75, Z:-5.46 [[ 9.91102332e-01 1.32359653e-01 1.40388953e-02 1.93568675e+02] [-1.32344487e-01 9.91201748e-01 -2.00801120e-03 -2.67500673e+01] [-1.41811572e-02 1.32174184e-04 9.99899434e-01 -5.45655705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.924203822 meters 0.02172064300428585 Centerline is valid? [True, True] Translation: X:193.60, Y:-26.77, Z:-5.46 [[ 9.91836780e-01 1.26744374e-01 1.39880736e-02 1.93597637e+02] [-1.26728694e-01 9.91935389e-01 -2.00529572e-03 -2.67652589e+01] [-1.41294252e-02 2.16235744e-04 9.99900151e-01 -5.45917719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.954203822 meters 0.022155425562196036 Centerline is valid? [True, True] Translation: X:193.63, Y:-26.77, Z:-5.46 [[ 9.92059270e-01 1.25008567e-01 1.38298063e-02 1.93629649e+02] [-1.24993096e-01 9.92155634e-01 -1.98081966e-03 -2.67715352e+01] [-1.39689397e-02 2.36460202e-04 9.99902402e-01 -5.45869551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.984203822 meters 0.023101569277953763 Centerline is valid? [True, True] Translation: X:193.66, Y:-26.78, Z:-5.46 [[ 9.92147210e-01 1.24338888e-01 1.35556465e-02 1.93661487e+02] [-1.24323931e-01 9.92239780e-01 -1.94381759e-03 -2.67785786e+01] [-1.36921438e-02 2.43261939e-04 9.99906229e-01 -5.45978590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.014203822 meters 0.022735060234373147 Centerline is valid? [True, True] Translation: X:193.69, Y:-26.78, Z:-5.46 [[ 9.92121889e-01 1.24530232e-01 1.36520370e-02 1.93694447e+02] [-1.24515052e-01 9.92215784e-01 -1.95965551e-03 -2.67839891e+01] [-1.37898030e-02 2.44333020e-04 9.99904886e-01 -5.45902585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04420382200001 meters 0.021842591162229807 Centerline is valid? [True, True] Translation: X:193.73, Y:-26.79, Z:-5.46 [[ 9.91994432e-01 1.25558597e-01 1.34938901e-02 1.93726583e+02] [-1.25543821e-01 9.92086179e-01 -1.93995550e-03 -2.67872988e+01] [-1.36306800e-02 2.30350527e-04 9.99907071e-01 -5.46025451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07420382200002 meters 0.021539963065973777 Centerline is valid? [True, True] Translation: X:193.76, Y:-26.79, Z:-5.46 [[ 9.91658433e-01 1.28274708e-01 1.26155292e-02 1.93757359e+02] [-1.28261986e-01 9.91738658e-01 -1.81579148e-03 -2.67919143e+01] [-1.27442281e-02 1.82552109e-04 9.99918772e-01 -5.46462411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10420382200002 meters 0.018926687669848778 Centerline is valid? [True, True] Translation: X:193.79, Y:-26.79, Z:-5.46 [[ 9.91426002e-01 1.30066936e-01 1.25329378e-02 1.93790051e+02] [-1.30054478e-01 9.91505202e-01 -1.80746137e-03 -2.67936302e+01] [-1.26615640e-02 1.61999519e-04 9.99919826e-01 -5.46442063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13420382200002 meters 0.017474139675495225 Centerline is valid? [True, True] Translation: X:193.82, Y:-26.80, Z:-5.47 [[ 9.91136417e-01 1.32199723e-01 1.31086108e-02 1.93821624e+02] [-1.32186290e-01 9.91223090e-01 -1.88970441e-03 -2.67963015e+01] [-1.32433761e-02 1.40176225e-04 9.99912293e-01 -5.46523405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16420382200002 meters 0.015104505841273744 Centerline is valid? [True, True] Translation: X:193.85, Y:-26.80, Z:-5.47 [[ 9.90597745e-01 1.36065276e-01 1.42249282e-02 1.93852932e+02] [-1.36049800e-01 9.90699869e-01 -2.05457393e-03 -2.67965984e+01] [-1.43721907e-02 9.99576723e-05 9.99896710e-01 -5.46574301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19420382200002 meters 0.01325048689499086 Centerline is valid? [True, True] Translation: X:193.89, Y:-26.80, Z:-5.46 [[ 9.90267492e-01 1.38399985e-01 1.46880237e-02 1.93885382e+02] [-1.38383733e-01 9.90376413e-01 -2.12201749e-03 -2.67979676e+01] [-1.48403594e-02 6.87813873e-05 9.99889873e-01 -5.46403419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22420382200002 meters 0.012350347428898728 Centerline is valid? [True, True] Translation: X:193.92, Y:-26.79, Z:-5.47 [[ 9.89556780e-01 1.43341531e-01 1.51850099e-02 1.93916707e+02] [-1.43324668e-01 9.89673282e-01 -2.19863972e-03 -2.67942485e+01] [-1.53433550e-02 -7.07665353e-07 9.99882284e-01 -5.46650331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25420382200002 meters 0.012524006386122956 Centerline is valid? [True, True] Translation: X:193.95, Y:-26.79, Z:-5.47 [[ 9.89208383e-01 1.45785850e-01 1.46034625e-02 1.93947806e+02] [-1.45770515e-01 9.89316170e-01 -2.11476670e-03 -2.67934828e+01] [-1.47557446e-02 -3.68093012e-05 9.99891127e-01 -5.46635606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28420382200002 meters 0.01538973560358515 Centerline is valid? [True, True] Translation: X:193.98, Y:-26.79, Z:-5.47 [[ 9.88520966e-01 1.50510993e-01 1.31430623e-02 1.93978021e+02] [-1.50498987e-01 9.88608331e-01 -1.90346289e-03 -2.67894763e+01] [-1.32798329e-02 -9.64045845e-05 9.99911814e-01 -5.47046574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314203822 meters 0.016856686038714826 Centerline is valid? [True, True] Translation: X:194.01, Y:-26.79, Z:-5.47 [[ 9.88271523e-01 1.52185282e-01 1.26109855e-02 1.94007454e+02] [-1.52174364e-01 9.88351975e-01 -1.82644712e-03 -2.67909201e+01] [-1.27420508e-02 -1.14043021e-04 9.99918810e-01 -5.47253677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344203822 meters 0.01793696912680445 Centerline is valid? [True, True] Translation: X:194.04, Y:-26.79, Z:-5.47 [[ 9.88093340e-01 1.53371297e-01 1.21982429e-02 1.94036556e+02] [-1.53361171e-01 9.88168624e-01 -1.76678198e-03 -2.67930396e+01] [-1.23248945e-02 -1.24991313e-04 9.99924038e-01 -5.47458024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.374203822 meters 0.01907104640693469 Centerline is valid? [True, True] Translation: X:194.07, Y:-26.79, Z:-5.47 [[ 9.87846635e-01 1.54902257e-01 1.28186328e-02 1.94065240e+02] [-1.54891212e-01 9.87929789e-01 -1.85595646e-03 -2.67934098e+01] [-1.29514011e-02 -1.52093237e-04 9.99916116e-01 -5.47453833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404203822 meters 0.019624794506329157 Centerline is valid? [True, True] Translation: X:194.09, Y:-26.80, Z:-5.48 [[ 9.87823479e-01 1.55064232e-01 1.26434651e-02 1.94092710e+02] [-1.55053506e-01 9.87904378e-01 -1.83018637e-03 -2.67953919e+01] [-1.27743309e-02 -1.52512520e-04 9.99918393e-01 -5.47598161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.434203822 meters 0.01906948538955261 Centerline is valid? [True, True] Translation: X:194.12, Y:-26.80, Z:-5.48 [[ 9.87897984e-01 1.54623921e-01 1.22072237e-02 1.94121558e+02] [-1.54613899e-01 9.87973392e-01 -1.76619291e-03 -2.67984166e+01] [-1.23335079e-02 -1.42588031e-04 9.99923929e-01 -5.47726025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464203822 meters 0.01705613400675618 Centerline is valid? [True, True] Translation: X:194.15, Y:-26.80, Z:-5.48 [[ 9.87992619e-01 1.53991490e-01 1.25381992e-02 1.94150503e+02] [-1.53980879e-01 9.88072164e-01 -1.81309308e-03 -2.68039010e+01] [-1.26678465e-02 -1.39320355e-04 9.99919750e-01 -5.47535935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.494203822 meters 0.018335533036306795 Centerline is valid? [True, True] Translation: X:194.18, Y:-26.81, Z:-5.48 [[ 9.88052085e-01 1.53598012e-01 1.26778735e-02 1.94178726e+02] [-1.53587135e-01 9.88133408e-01 -1.83296890e-03 -2.68055115e+01] [-1.28089707e-02 -1.36089516e-04 9.99917953e-01 -5.47863936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524203822 meters 0.027848737922076566 Centerline is valid? [True, True] Translation: X:194.21, Y:-26.81, Z:-5.48 [[ 9.88141878e-01 1.53063873e-01 1.21276505e-02 1.94206864e+02] [-1.53053878e-01 9.88216290e-01 -1.75349834e-03 -2.68101264e+01] [-1.22531390e-02 -1.23478797e-04 9.99924920e-01 -5.48023395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.554203822 meters 0.016627777237000787 Centerline is valid? [True, True] Translation: X:194.24, Y:-26.82, Z:-5.48 [[ 9.88374332e-01 1.51550975e-01 1.21852823e-02 1.94235061e+02] [-1.51540780e-01 9.88449438e-01 -1.76103322e-03 -2.68167705e+01] [-1.23114218e-02 -1.06007153e-04 9.99924206e-01 -5.48101237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.584203822 meters 0.015839406770762374 Centerline is valid? [True, True] Translation: X:194.26, Y:-26.82, Z:-5.48 [[ 9.88489947e-01 1.50773112e-01 1.24536154e-02 1.94264517e+02] [-1.50762410e-01 9.88568389e-01 -1.79914828e-03 -2.68218374e+01] [-1.25825137e-02 -9.90970937e-05 9.99920832e-01 -5.48109428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.614203822 meters 0.015501873633454507 Centerline is valid? [True, True] Translation: X:194.29, Y:-26.83, Z:-5.48 [[ 9.88705087e-01 1.49402661e-01 1.18783350e-02 1.94293224e+02] [-1.49392827e-01 9.88776435e-01 -1.71597465e-03 -2.68252686e+01] [-1.20013889e-02 -7.79451768e-05 9.99927978e-01 -5.48350235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.644203822 meters 0.01508584987539584 Centerline is valid? [True, True] Translation: X:194.32, Y:-26.83, Z:-5.48 [[ 9.88800797e-01 1.48771361e-01 1.18349554e-02 1.94321473e+02] [-1.48761556e-01 9.88871618e-01 -1.70947489e-03 -2.68290009e+01] [-1.19575724e-02 -7.02562397e-05 9.99928503e-01 -5.48436711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.674203822 meters 0.01500840031102377 Centerline is valid? [True, True] Translation: X:194.35, Y:-26.83, Z:-5.49 [[ 9.88831647e-01 1.48548262e-01 1.20577194e-02 1.94349887e+02] [-1.48538080e-01 9.88905157e-01 -1.74066021e-03 -2.68322144e+01] [-1.21825130e-02 -6.98105885e-05 9.99925788e-01 -5.48511555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.704203822 meters 0.014898162410690302 Centerline is valid? [True, True] Translation: X:194.38, Y:-26.84, Z:-5.48 [[ 9.88712723e-01 1.49392943e-01 1.13534004e-02 1.94379946e+02] [-1.49383974e-01 9.88777904e-01 -1.63876646e-03 -2.68350391e+01] [-1.14708116e-02 -7.57468153e-05 9.99934205e-01 -5.48421075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.734203822 meters 0.01637083571110852 Centerline is valid? [True, True] Translation: X:194.41, Y:-26.84, Z:-5.49 [[ 9.88573694e-01 1.50321825e-01 1.11982636e-02 1.94408871e+02] [-1.50313160e-01 9.88637113e-01 -1.61631200e-03 -2.68359176e+01] [-1.13139860e-02 -8.54028654e-05 9.99935991e-01 -5.48720291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.764203822 meters 0.016922856818909784 Centerline is valid? [True, True] Translation: X:194.44, Y:-26.84, Z:-5.49 [[ 9.88436798e-01 1.51221366e-01 1.11711899e-02 1.94437838e+02] [-1.51212802e-01 9.88499919e-01 -1.61217199e-03 -2.68373933e+01] [-1.12865151e-02 -9.56968090e-05 9.99936301e-01 -5.48785802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79420382200001 meters 0.016922856818909784 Centerline is valid? [True, True] Translation: X:194.47, Y:-26.84, Z:-5.49 [[ 9.88443955e-01 1.51174571e-01 1.11712669e-02 1.94465884e+02] [-1.51166011e-01 9.88507076e-01 -1.61163795e-03 -2.68413453e+01] [-1.12865151e-02 -9.57020590e-05 9.99936301e-01 -5.48866221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82420382200002 meters 0.01737373532424106 Centerline is valid? [True, True] Translation: X:194.50, Y:-26.84, Z:-5.49 [[ 9.88198725e-01 1.52748860e-01 1.14484326e-02 1.94495160e+02] [-1.52739981e-01 9.88265031e-01 -1.65105892e-03 -2.68408354e+01] [-1.15662830e-02 -1.17059060e-04 9.99933101e-01 -5.48752898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85420382200002 meters 0.017508522604099786 Centerline is valid? [True, True] Translation: X:194.52, Y:-26.84, Z:-5.49 [[ 9.88154473e-01 1.53049470e-01 1.12515523e-02 1.94523756e+02] [-1.53040919e-01 9.88218521e-01 -1.62213722e-03 -2.68430716e+01] [-1.13672596e-02 -1.19025756e-04 9.99935384e-01 -5.48728182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88420382200002 meters 0.017143365321051582 Centerline is valid? [True, True] Translation: X:194.55, Y:-26.84, Z:-5.49 [[ 9.88145101e-01 1.53037821e-01 1.21936038e-02 1.94553114e+02] [-1.53027786e-01 9.88220324e-01 -1.75723104e-03 -2.68438337e+01] [-1.23188899e-02 -1.29560954e-04 9.99924111e-01 -5.48600045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91420382200002 meters 0.018031074433564345 Centerline is valid? [True, True] Translation: X:194.58, Y:-26.85, Z:-5.49 [[ 9.88168772e-01 1.52823173e-01 1.29443331e-02 1.94580918e+02] [-1.52811855e-01 9.88253540e-01 -1.86486804e-03 -2.68453843e+01] [-1.30772781e-02 -1.35243184e-04 9.99914480e-01 -5.48809043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94420382200002 meters 0.016660817267538788 Centerline is valid? [True, True] Translation: X:194.61, Y:-26.85, Z:-5.49 [[ 9.88263276e-01 1.52229301e-01 1.27254824e-02 1.94609829e+02] [-1.52218328e-01 9.88345195e-01 -1.83217956e-03 -2.68506976e+01] [-1.28560808e-02 -1.26375876e-04 9.99917349e-01 -5.48702938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97420382200002 meters 0.016759461442206875 Centerline is valid? [True, True] Translation: X:194.64, Y:-26.85, Z:-5.49 [[ 9.88440545e-01 1.51064432e-01 1.28384832e-02 1.94638000e+02] [-1.51053168e-01 9.88523912e-01 -1.84814555e-03 -2.68532613e+01] [-1.29703367e-02 -1.12511568e-04 9.99915875e-01 -5.48942996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00420382200002 meters 0.017144520137858468 Centerline is valid? [True, True] Translation: X:194.67, Y:-26.86, Z:-5.49 [[ 9.88484908e-01 1.50765914e-01 1.29316091e-02 1.94665788e+02] [-1.50754466e-01 9.88569485e-01 -1.86110993e-03 -2.68551070e+01] [-1.30643861e-02 -1.09818751e-04 9.99914651e-01 -5.49163551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03420382200002 meters 0.015186743209726742 Centerline is valid? [True, True] Translation: X:194.69, Y:-26.86, Z:-5.49 [[ 9.88572422e-01 1.50215770e-01 1.26407654e-02 1.94694237e+02] [-1.50204799e-01 9.88653232e-01 -1.81827922e-03 -2.68589658e+01] [-1.27704678e-02 -1.01202934e-04 9.99918449e-01 -5.48944092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064203822 meters 0.015900343202743184 Centerline is valid? [True, True] Translation: X:194.72, Y:-26.86, Z:-5.49 [[ 9.88643079e-01 1.49752215e-01 1.26149024e-02 1.94722331e+02] [-1.49741257e-01 9.88723553e-01 -1.81411192e-03 -2.68617765e+01] [-1.27443184e-02 -9.54621385e-05 9.99918783e-01 -5.49268774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.094203822 meters 0.016646756940818203 Centerline is valid? [True, True] Translation: X:194.75, Y:-26.86, Z:-5.50 [[ 9.88726454e-01 1.49213757e-01 1.24600914e-02 1.94750322e+02] [-1.49203033e-01 9.88804959e-01 -1.79111019e-03 -2.68646886e+01] [-1.25878584e-02 -8.81653984e-05 9.99920766e-01 -5.49570496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124203822 meters 0.014117720885132912 Centerline is valid? [True, True] Translation: X:194.78, Y:-26.87, Z:-5.49 [[ 9.88945249e-01 1.47746392e-01 1.25816437e-02 1.94778976e+02] [-1.47735352e-01 9.89025277e-01 -1.80753061e-03 -2.68694036e+01] [-1.27106198e-02 -7.12047581e-05 9.99919214e-01 -5.49218644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.154203822 meters 0.01438359715637677 Centerline is valid? [True, True] Translation: X:194.81, Y:-26.87, Z:-5.49 [[ 9.89087475e-01 1.46812507e-01 1.23310461e-02 1.94806635e+02] [-1.46801834e-01 9.89164336e-01 -1.77120566e-03 -2.68728023e+01] [-1.24574661e-02 -5.83428450e-05 9.99922401e-01 -5.49493809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184203822 meters 0.013567527309886964 Centerline is valid? [True, True] Translation: X:194.83, Y:-26.88, Z:-5.50 [[ 9.89313518e-01 1.45352023e-01 1.14696804e-02 1.94834569e+02] [-1.45342701e-01 9.89380002e-01 -1.64655910e-03 -2.68780013e+01] [-1.15872031e-02 -3.80711463e-05 9.99932865e-01 -5.49586370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.214203822 meters 0.014015519612128064 Centerline is valid? [True, True] Translation: X:194.86, Y:-26.88, Z:-5.50 [[ 9.89358041e-01 1.45076729e-01 1.11089694e-02 1.94861756e+02] [-1.45067970e-01 9.89420407e-01 -1.59447005e-03 -2.68813730e+01] [-1.12227615e-02 -3.40538718e-05 9.99937022e-01 -5.49853587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244203822 meters 0.014140721512995048 Centerline is valid? [True, True] Translation: X:194.89, Y:-26.88, Z:-5.50 [[ 9.89369675e-01 1.45002531e-01 1.10414004e-02 1.94889845e+02] [-1.44993881e-01 9.89431284e-01 -1.58415253e-03 -2.68845210e+01] [-1.11544131e-02 -3.36230203e-05 9.99937787e-01 -5.49971086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.274203822 meters 0.014202702259794643 Centerline is valid? [True, True] Translation: X:194.92, Y:-26.89, Z:-5.50 [[ 9.89312655e-01 1.45347738e-01 1.15976328e-02 1.94918422e+02] [-1.45338234e-01 9.89380631e-01 -1.66262051e-03 -2.68857272e+01] [-1.17161314e-02 -4.07279607e-05 9.99931363e-01 -5.49975621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304203822 meters 0.013931608714090086 Centerline is valid? [True, True] Translation: X:194.95, Y:-26.89, Z:-5.50 [[ 9.89296115e-01 1.45418685e-01 1.21079751e-02 1.94946952e+02] [-1.45408335e-01 9.89370206e-01 -1.73549890e-03 -2.68886589e+01] [-1.22316438e-02 -4.36781918e-05 9.99925190e-01 -5.49947092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.334203822 meters 0.013202585940230233 Centerline is valid? [True, True] Translation: X:194.98, Y:-26.89, Z:-5.50 [[ 9.89433446e-01 1.44485854e-01 1.20538065e-02 1.94975734e+02] [-1.44475534e-01 9.89506865e-01 -1.72718140e-03 -2.68936702e+01] [-1.21768776e-02 -3.25490911e-05 9.99925859e-01 -5.49808317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.364203822 meters 0.01347878128883135 Centerline is valid? [True, True] Translation: X:195.00, Y:-26.90, Z:-5.50 [[ 9.89545134e-01 1.43706945e-01 1.21960021e-02 1.95003182e+02] [-1.43696326e-01 9.89620288e-01 -1.74712332e-03 -2.68981426e+01] [-1.23204848e-02 -2.36633063e-05 9.99924100e-01 -5.50043695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.394203822 meters 0.012865210371473307 Centerline is valid? [True, True] Translation: X:195.03, Y:-26.90, Z:-5.50 [[ 9.89712705e-01 1.42540450e-01 1.22875041e-02 1.95031344e+02] [-1.42529593e-01 9.89788978e-01 -1.75925471e-03 -2.69034228e+01] [-1.24128010e-02 -1.01762159e-05 9.99922958e-01 -5.50007880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.424203822 meters 0.01324436006594102 Centerline is valid? [True, True] Translation: X:195.06, Y:-26.91, Z:-5.50 [[ 9.90062731e-01 1.40096082e-01 1.22014731e-02 1.95058430e+02] [-1.40085195e-01 9.90137913e-01 -1.74661507e-03 -2.69108218e+01] [-1.23258350e-02 2.00127512e-05 9.99924034e-01 -5.50159606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.454203822 meters 0.013103530512513234 Centerline is valid? [True, True] Translation: X:195.09, Y:-26.92, Z:-5.50 [[ 9.90273561e-01 1.38605189e-01 1.21192457e-02 1.95087045e+02] [-1.38594350e-01 9.90347717e-01 -1.73378391e-03 -2.69171676e+01] [-1.22425787e-02 3.72613945e-05 9.99925056e-01 -5.50103025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.484203822 meters 0.014325871574946034 Centerline is valid? [True, True] Translation: X:195.11, Y:-26.93, Z:-5.50 [[ 9.90699749e-01 1.35493959e-01 1.24657475e-02 1.95114362e+02] [-1.35482255e-01 9.90778170e-01 -1.78248055e-03 -2.69262908e+01] [-1.25923059e-02 7.70154436e-05 9.99920711e-01 -5.50176708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.514203822 meters 0.014579015901320054 Centerline is valid? [True, True] Translation: X:195.14, Y:-26.93, Z:-5.50 [[ 9.90860138e-01 1.34256348e-01 1.30927255e-02 1.95144626e+02] [-1.34243345e-01 9.90946630e-01 -1.87101447e-03 -2.69333856e+01] [-1.32253878e-02 9.63024013e-05 9.99912536e-01 -5.50180263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54420382200001 meters 0.015433357635877084 Centerline is valid? [True, True] Translation: X:195.17, Y:-26.94, Z:-5.50 [[ 9.91038399e-01 1.32904718e-01 1.33876123e-02 1.95174163e+02] [-1.32890999e-01 9.91128812e-01 -1.91315525e-03 -2.69409215e+01] [-1.35231157e-02 1.16917141e-04 9.99908552e-01 -5.50224522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57420382200002 meters 0.01798973283968883 Centerline is valid? [True, True] Translation: X:195.20, Y:-26.95, Z:-5.50 [[ 9.91300504e-01 1.30835602e-01 1.43302151e-02 1.95202996e+02] [-1.30819669e-01 9.91404065e-01 -2.04768616e-03 -2.69530193e+01] [-1.44749438e-02 1.55198318e-04 9.99895220e-01 -5.50357152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60420382200002 meters 0.01778165863842443 Centerline is valid? [True, True] Translation: X:195.23, Y:-26.96, Z:-5.50 [[ 9.91378226e-01 1.30237002e-01 1.44061416e-02 1.95233278e+02] [-1.30220831e-01 9.91482877e-01 -2.05888770e-03 -2.69589490e+01] [-1.45515861e-02 1.65156698e-04 9.99894106e-01 -5.50320730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63420382200002 meters 0.01763693038445444 Centerline is valid? [True, True] Translation: X:195.26, Y:-26.96, Z:-5.51 [[ 9.91410299e-01 1.30139916e-01 1.30085115e-02 1.95264347e+02] [-1.30126728e-01 9.91495628e-01 -1.85876511e-03 -2.69649728e+01] [-1.31397818e-02 1.50043841e-04 9.99913658e-01 -5.50517197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66420382200002 meters 0.017660042135893183 Centerline is valid? [True, True] Translation: X:195.29, Y:-26.97, Z:-5.51 [[ 9.91342892e-01 1.30729258e-01 1.22119653e-02 1.95294508e+02] [-1.30717674e-01 9.91418097e-01 -1.74540927e-03 -2.69700631e+01] [-1.23353394e-02 1.33979381e-04 9.99923908e-01 -5.50759337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69420382200002 meters 0.01709120340822924 Centerline is valid? [True, True] Translation: X:195.32, Y:-26.97, Z:-5.51 [[ 9.91198724e-01 1.31821037e-01 1.21780293e-02 1.95323267e+02] [-1.31809599e-01 9.91273524e-01 -1.74065270e-03 -2.69746098e+01] [-1.23012127e-02 1.20151576e-04 9.99924330e-01 -5.50932900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72420382200002 meters 0.015118993086452776 Centerline is valid? [True, True] Translation: X:195.35, Y:-26.98, Z:-5.51 [[ 9.90854278e-01 1.34365653e-01 1.23964472e-02 1.95353611e+02] [-1.34353994e-01 9.90931816e-01 -1.77233026e-03 -2.69788421e+01] [-1.25221742e-02 9.06088261e-05 9.99921590e-01 -5.50905169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75420382200002 meters 0.014909264749583446 Centerline is valid? [True, True] Translation: X:195.38, Y:-26.98, Z:-5.51 [[ 9.90581278e-01 1.36328290e-01 1.27800041e-02 1.95383276e+02] [-1.36316062e-01 9.90663713e-01 -1.82716772e-03 -2.69827064e+01] [-1.29097810e-02 6.78382996e-05 9.99916663e-01 -5.51182230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78420382200002 meters 0.013643464838112077 Centerline is valid? [True, True] Translation: X:195.41, Y:-26.98, Z:-5.51 [[ 9.90321373e-01 1.38204665e-01 1.27690867e-02 1.95414138e+02] [-1.38192613e-01 9.90403690e-01 -1.82560684e-03 -2.69846784e+01] [-1.28988580e-02 4.33440098e-05 9.99916805e-01 -5.51087889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814203822 meters 0.013502024593321607 Centerline is valid? [True, True] Translation: X:195.44, Y:-26.98, Z:-5.51 [[ 9.89746732e-01 1.42248198e-01 1.29173117e-02 1.95442595e+02] [-1.42236202e-01 9.89831021e-01 -1.84735727e-03 -2.69848315e+01] [-1.30487391e-02 -8.89354723e-06 9.99914862e-01 -5.51342308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844203822 meters 0.013665299684619688 Centerline is valid? [True, True] Translation: X:195.47, Y:-26.99, Z:-5.51 [[ 9.89479519e-01 1.44110531e-01 1.27450285e-02 1.95471110e+02] [-1.44099011e-01 9.89561597e-01 -1.82244771e-03 -2.69870767e+01] [-1.28746247e-02 -3.32713200e-05 9.99917118e-01 -5.51438908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.874203822 meters 0.015291758099976335 Centerline is valid? [True, True] Translation: X:195.50, Y:-26.99, Z:-5.52 [[ 9.88949878e-01 1.47703643e-01 1.27190125e-02 1.95500395e+02] [-1.47692475e-01 9.89031661e-01 -1.81810786e-03 -2.69866527e+01] [-1.28480472e-02 -8.04848891e-05 9.99917457e-01 -5.51589765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904203822 meters 0.019993737409286415 Centerline is valid? [True, True] Translation: X:195.53, Y:-26.99, Z:-5.52 [[ 9.88705006e-01 1.49385259e-01 1.21018687e-02 1.95529209e+02] [-1.49375280e-01 9.88779063e-01 -1.72938864e-03 -2.69888873e+01] [-1.22244196e-02 -9.78648294e-05 9.99925274e-01 -5.51647725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.934203822 meters 0.01844828497792546 Centerline is valid? [True, True] Translation: X:195.56, Y:-26.99, Z:-5.52 [[ 9.88219490e-01 1.52472921e-01 1.32003365e-02 1.95557300e+02] [-1.52461332e-01 9.88307637e-01 -1.88575506e-03 -2.69899212e+01] [-1.33335200e-02 -1.49000981e-04 9.99911094e-01 -5.51669664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964203822 meters 0.02035734638461702 Centerline is valid? [True, True] Translation: X:195.59, Y:-26.99, Z:-5.52 [[ 9.88021322e-01 1.53747606e-01 1.32491760e-02 1.95585019e+02] [-1.53736057e-01 9.88110138e-01 -1.89188361e-03 -2.69906865e+01] [-1.33825177e-02 -1.67654721e-04 9.99910436e-01 -5.51888791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.994203822 meters 0.024419829668382784 Centerline is valid? [True, True] Translation: X:195.61, Y:-26.99, Z:-5.52 [[ 9.87881717e-01 1.54722187e-01 1.22783807e-02 1.95613968e+02] [-1.54712354e-01 9.87958003e-01 -1.75242496e-03 -2.69924685e+01] [-1.24016635e-02 -1.68428609e-04 9.99923082e-01 -5.52098082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024203822 meters 0.023894888330658063 Centerline is valid? [True, True] Translation: X:195.64, Y:-26.99, Z:-5.52 [[ 9.87491974e-01 1.57172031e-01 1.25121758e-02 1.95643018e+02] [-1.57162024e-01 9.87571218e-01 -1.78516752e-03 -2.69911006e+01] [-1.26372431e-02 -2.03600283e-04 9.99920126e-01 -5.52177284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.054203822 meters 0.024406236801833812 Centerline is valid? [True, True] Translation: X:195.67, Y:-26.99, Z:-5.52 [[ 9.87331522e-01 1.58191943e-01 1.23196711e-02 1.95671500e+02] [-1.58182328e-01 9.87408357e-01 -1.75714854e-03 -2.69924941e+01] [-1.24425129e-02 -2.13866108e-04 9.99922566e-01 -5.52246008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.084203822 meters 0.02601412815709384 Centerline is valid? [True, True] Translation: X:195.70, Y:-26.99, Z:-5.53 [[ 9.87320987e-01 1.58338324e-01 1.12358709e-02 1.95699184e+02] [-1.58330338e-01 9.87384898e-01 -1.60234263e-03 -2.69926395e+01] [-1.13478415e-02 -1.96952739e-04 9.99935592e-01 -5.52719557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.114203822 meters 0.024776194741423636 Centerline is valid? [True, True] Translation: X:195.73, Y:-27.00, Z:-5.53 [[ 9.87512936e-01 1.57108463e-01 1.16246395e-02 1.95728078e+02] [-1.57099844e-01 9.87581336e-01 -1.65661763e-03 -2.69978563e+01] [-1.17405456e-02 -1.90297708e-04 9.99931059e-01 -5.52790327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.144203822 meters 0.023016496595618528 Centerline is valid? [True, True] Translation: X:195.76, Y:-27.00, Z:-5.53 [[ 9.87783844e-01 1.55333134e-01 1.24376272e-02 1.95756825e+02] [-1.55323133e-01 9.87862128e-01 -1.77197137e-03 -2.70033673e+01] [-1.25619067e-02 -1.81526517e-04 9.99921080e-01 -5.52763125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.174203822 meters 0.01970799102777772 Centerline is valid? [True, True] Translation: X:195.78, Y:-27.01, Z:-5.53 [[ 9.88108736e-01 1.53236082e-01 1.26423332e-02 1.95784896e+02] [-1.53225580e-01 9.88189596e-01 -1.80089342e-03 -2.70107828e+01] [-1.27689840e-02 -1.57650313e-04 9.99918461e-01 -5.52593749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.204203822 meters 0.017058867494794357 Centerline is valid? [True, True] Translation: X:195.81, Y:-27.02, Z:-5.53 [[ 9.88732226e-01 1.49168778e-01 1.25403763e-02 1.95812534e+02] [-1.49158125e-01 9.88811744e-01 -1.78576561e-03 -2.70173350e+01] [-1.26664519e-02 -1.04855017e-04 9.99919772e-01 -5.52789421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.234203822 meters 0.014617320637537533 Centerline is valid? [True, True] Translation: X:195.84, Y:-27.03, Z:-5.53 [[ 9.89308791e-01 1.45202693e-01 1.35754777e-02 1.95839799e+02] [-1.45189844e-01 9.89401928e-01 -1.93255945e-03 -2.70256369e+01] [-1.37122166e-02 -5.91234289e-05 9.99905981e-01 -5.52697242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.264203822 meters 0.013782247058596687 Centerline is valid? [True, True] Translation: X:195.87, Y:-27.03, Z:-5.53 [[ 9.89568217e-01 1.43409938e-01 1.37234605e-02 1.95868011e+02] [-1.43396649e-01 9.89663371e-01 -1.95261930e-03 -2.70318005e+01] [-1.38616312e-02 -3.56482462e-05 9.99903922e-01 -5.52685996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29420382200001 meters 0.013023684695772364 Centerline is valid? [True, True] Translation: X:195.90, Y:-27.04, Z:-5.53 [[ 9.89777228e-01 1.41942866e-01 1.39018349e-02 1.95896040e+02] [-1.41929093e-01 9.89874852e-01 -1.97734399e-03 -2.70373664e+01] [-1.40417466e-02 -1.59447602e-05 9.99901410e-01 -5.52525247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32420382200002 meters 0.012936830319248954 Centerline is valid? [True, True] Translation: X:195.92, Y:-27.04, Z:-5.53 [[ 9.90087779e-01 1.39659772e-01 1.48774216e-02 1.95924626e+02] [-1.39643755e-01 9.90199550e-01 -2.11509727e-03 -2.70428013e+01] [-1.50270102e-02 1.65929317e-05 9.99887088e-01 -5.52525719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35420382200002 meters 0.013302810779232508 Centerline is valid? [True, True] Translation: X:195.95, Y:-27.05, Z:-5.53 [[ 9.90235870e-01 1.38550517e-01 1.53842851e-02 1.95953660e+02] [-1.38533271e-01 9.90355367e-01 -2.18622503e-03 -2.70479379e+01] [-1.55388120e-02 3.36430981e-05 9.99879265e-01 -5.52712635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38420382200002 meters 0.013036914380215828 Centerline is valid? [True, True] Translation: X:195.98, Y:-27.05, Z:-5.53 [[ 9.90388160e-01 1.37450483e-01 1.54485307e-02 1.95984241e+02] [-1.37432965e-01 9.90508638e-01 -2.19501455e-03 -2.70525562e+01] [-1.56036089e-02 5.07790422e-05 9.99878255e-01 -5.52542179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41420382200002 meters 0.014189237170192083 Centerline is valid? [True, True] Translation: X:196.01, Y:-27.06, Z:-5.53 [[ 9.90683972e-01 1.35349459e-01 1.50263361e-02 1.96013268e+02] [-1.35332645e-01 9.90797919e-01 -2.13491737e-03 -2.70583430e+01] [-1.51770225e-02 8.14746023e-05 9.99884819e-01 -5.52783197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44420382200002 meters 0.014925372967428999 Centerline is valid? [True, True] Translation: X:196.04, Y:-27.06, Z:-5.53 [[ 9.90831875e-01 1.34297841e-01 1.47066720e-02 1.96042660e+02] [-1.34281613e-01 9.90941008e-01 -2.08989149e-03 -2.70637233e+01] [-1.48541123e-02 9.58954647e-05 9.99889667e-01 -5.52931676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47420382200002 meters 0.017094570292993102 Centerline is valid? [True, True] Translation: X:196.07, Y:-27.07, Z:-5.53 [[ 9.91048219e-01 1.32774024e-01 1.39457915e-02 1.96071246e+02] [-1.32759284e-01 9.91146329e-01 -1.98161483e-03 -2.70710009e+01] [-1.40854270e-02 1.12442562e-04 9.99900789e-01 -5.53307860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50420382200002 meters 0.015715943626285946 Centerline is valid? [True, True] Translation: X:196.10, Y:-27.07, Z:-5.53 [[ 9.91128244e-01 1.32230724e-01 1.34104368e-02 1.96101322e+02] [-1.32217048e-01 9.91218958e-01 -1.90522088e-03 -2.70737084e+01] [-1.35446079e-02 1.15229850e-04 9.99908261e-01 -5.53053415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53420382200002 meters 0.016710683520986272 Centerline is valid? [True, True] Translation: X:196.13, Y:-27.08, Z:-5.53 [[ 9.91169852e-01 1.31936871e-01 1.32282212e-02 1.96129799e+02] [-1.31923535e-01 9.91258114e-01 -1.87951936e-03 -2.70793435e+01] [-1.33605595e-02 1.17809218e-04 9.99910737e-01 -5.53342669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564203822 meters 0.016842087800056117 Centerline is valid? [True, True] Translation: X:196.16, Y:-27.08, Z:-5.53 [[ 9.91248419e-01 1.31396098e-01 1.27136353e-02 1.96159684e+02] [-1.31383740e-01 9.91329941e-01 -1.80606736e-03 -2.70831603e+01] [-1.28407175e-02 1.19896464e-04 9.99917547e-01 -5.53417007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.594203822 meters 0.02464356007672737 Centerline is valid? [True, True] Translation: X:196.19, Y:-27.09, Z:-5.54 [[ 9.91239379e-01 1.31518952e-01 1.21350411e-02 1.96187893e+02] [-1.31507695e-01 9.91313650e-01 -1.72446598e-03 -2.70864569e+01] [-1.22564318e-02 1.13507298e-04 9.99924881e-01 -5.53719636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624203822 meters 0.02695211343591201 Centerline is valid? [True, True] Translation: X:196.22, Y:-27.09, Z:-5.54 [[ 9.91148442e-01 1.32160852e-01 1.25807602e-02 1.96217853e+02] [-1.32148818e-01 9.91228277e-01 -1.78672463e-03 -2.70912867e+01] [-1.27065403e-02 1.08376748e-04 9.99919263e-01 -5.53672347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.654203822 meters 0.02695211343591201 Centerline is valid? [True, True] Translation: X:196.25, Y:-27.10, Z:-5.54 [[ 9.91148442e-01 1.32160852e-01 1.25807602e-02 1.96247547e+02] [-1.32148818e-01 9.91228277e-01 -1.78672463e-03 -2.70955040e+01] [-1.27065403e-02 1.08376748e-04 9.99919263e-01 -5.53757507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684203822 meters 0.016018442984588533 Centerline is valid? [True, True] Translation: X:196.28, Y:-27.10, Z:-5.54 [[ 9.91111316e-01 1.32405700e-01 1.29263354e-02 1.96277355e+02] [-1.32393017e-01 9.91195601e-01 -1.83580336e-03 -2.71008963e+01] [-1.30555976e-02 1.08128943e-04 9.99914766e-01 -5.53692560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.714203822 meters 0.016596876295219373 Centerline is valid? [True, True] Translation: X:196.31, Y:-27.11, Z:-5.54 [[ 9.91050014e-01 1.32886473e-01 1.26907612e-02 1.96306272e+02] [-1.32874284e-01 9.91131260e-01 -1.80253710e-03 -2.71062227e+01] [-1.28177430e-02 1.00128604e-04 9.99917844e-01 -5.53988378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744203822 meters 0.015406963883079433 Centerline is valid? [True, True] Translation: X:196.34, Y:-27.11, Z:-5.54 [[ 9.90881137e-01 1.34203008e-01 1.20052460e-02 1.96335593e+02] [-1.34192197e-01 9.90953857e-01 -1.70523930e-03 -2.71075323e+01] [-1.21254931e-02 7.86791245e-05 9.99926480e-01 -5.53976314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.774203822 meters 0.022648321704259195 Centerline is valid? [True, True] Translation: X:196.36, Y:-27.11, Z:-5.54 [[ 9.90819094e-01 1.34671371e-01 1.18804512e-02 1.96364776e+02] [-1.34660827e-01 9.90890315e-01 -1.68664968e-03 -2.71110392e+01] [-1.19993674e-02 7.13333226e-05 9.99928002e-01 -5.54363658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804203822 meters 0.015478584696089023 Centerline is valid? [True, True] Translation: X:196.39, Y:-27.12, Z:-5.54 [[ 9.90805429e-01 1.34802698e-01 1.15253873e-02 1.96394191e+02] [-1.34792776e-01 9.90872458e-01 -1.63694120e-03 -2.71162387e+01] [-1.16408529e-02 6.83512853e-05 9.99932241e-01 -5.54378155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.834203822 meters 0.015409082270735201 Centerline is valid? [True, True] Translation: X:196.42, Y:-27.12, Z:-5.55 [[ 9.90755000e-01 1.35211268e-01 1.10653723e-02 1.96423598e+02] [-1.35202151e-01 9.90816789e-01 -1.57136419e-03 -2.71205244e+01] [-1.11762228e-02 6.07748001e-05 9.99937542e-01 -5.54505304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.864203822 meters 0.015270241198707632 Centerline is valid? [True, True] Translation: X:196.45, Y:-27.12, Z:-5.55 [[ 9.90602798e-01 1.36339403e-01 1.08472946e-02 1.96451672e+02] [-1.36330710e-01 9.90662185e-01 -1.54035277e-03 -2.71239364e+01] [-1.09560153e-02 4.70583971e-05 9.99939980e-01 -5.54709712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.894203822 meters 0.014068096182319276 Centerline is valid? [True, True] Translation: X:196.48, Y:-27.13, Z:-5.55 [[ 9.90263521e-01 1.38774225e-01 1.09486424e-02 1.96480796e+02] [-1.38765519e-01 9.90324045e-01 -1.55456795e-03 -2.71260365e+01] [-1.10584378e-02 2.01378879e-05 9.99938853e-01 -5.54500326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.924203822 meters 0.014114637244636805 Centerline is valid? [True, True] Translation: X:196.51, Y:-27.13, Z:-5.55 [[ 9.90096182e-01 1.39901899e-01 1.17050451e-02 1.96509222e+02] [-1.39892038e-01 9.90165369e-01 -1.66108294e-03 -2.71296241e+01] [-1.18223189e-02 7.18926671e-06 9.99930114e-01 -5.54589692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.954203822 meters 0.013849148955737224 Centerline is valid? [True, True] Translation: X:196.54, Y:-27.13, Z:-5.54 [[ 9.89869328e-01 1.41400596e-01 1.28290272e-02 1.96537341e+02] [-1.41388884e-01 9.89952459e-01 -1.81999403e-03 -2.71329865e+01] [-1.29574753e-02 -1.23255596e-05 9.99916048e-01 -5.54452709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.984203822 meters 0.013353065727332776 Centerline is valid? [True, True] Translation: X:196.57, Y:-27.14, Z:-5.54 [[ 9.89854867e-01 1.41512357e-01 1.27119999e-02 1.96567154e+02] [-1.41500874e-01 9.89936489e-01 -1.80277543e-03 -2.71374873e+01] [-1.28391876e-02 -1.42730719e-05 9.99917574e-01 -5.54311281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.014203822 meters 0.021113795021005608 Centerline is valid? [True, True] Translation: X:196.60, Y:-27.14, Z:-5.54 [[ 9.89889786e-01 1.41238357e-01 1.30360052e-02 1.96596699e+02] [-1.41226262e-01 9.89975619e-01 -1.84838354e-03 -2.71418543e+01] [-1.31663900e-02 -1.13302944e-05 9.99913319e-01 -5.54477933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04420382200001 meters 0.01272323301077181 Centerline is valid? [True, True] Translation: X:196.63, Y:-27.15, Z:-5.54 [[ 9.90007528e-01 1.40246121e-01 1.47010288e-02 1.96625029e+02] [-1.40230639e-01 9.90116673e-01 -2.08383498e-03 -2.71499174e+01] [-1.48479835e-02 1.47765533e-06 9.99889763e-01 -5.54280111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07420382200002 meters 0.012725656005545696 Centerline is valid? [True, True] Translation: X:196.65, Y:-27.16, Z:-5.54 [[ 9.90074133e-01 1.39766465e-01 1.47833481e-02 1.96654666e+02] [-1.39750760e-01 9.90184496e-01 -2.09514985e-03 -2.71572721e+01] [-1.49310738e-02 8.36952873e-06 9.99888525e-01 -5.54344613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10420382200002 meters 0.013226870433982657 Centerline is valid? [True, True] Translation: X:196.68, Y:-27.16, Z:-5.55 [[ 9.90134620e-01 1.39412002e-01 1.40615821e-02 1.96683048e+02] [-1.39397760e-01 9.90234464e-01 -1.99272754e-03 -2.71645492e+01] [-1.42020734e-02 1.29154771e-05 9.99899145e-01 -5.54621895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13420382200002 meters 0.012981321182323117 Centerline is valid? [True, True] Translation: X:196.71, Y:-27.17, Z:-5.55 [[ 9.90077569e-01 1.39839538e-01 1.38315490e-02 1.96713622e+02] [-1.39825796e-01 9.90174178e-01 -1.96038651e-03 -2.71689285e+01] [-1.39697822e-02 6.92735715e-06 9.99902418e-01 -5.54567056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16420382200002 meters 0.013319203227847224 Centerline is valid? [True, True] Translation: X:196.74, Y:-27.17, Z:-5.55 [[ 9.89912448e-01 1.40965408e-01 1.42161268e-02 1.96742847e+02] [-1.40951011e-01 9.90014522e-01 -2.01471695e-03 -2.71724973e+01] [-1.43581773e-02 -9.38404152e-06 9.99896916e-01 -5.54784645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19420382200002 meters 0.013301587103424254 Centerline is valid? [True, True] Translation: X:196.77, Y:-27.18, Z:-5.55 [[ 9.89655318e-01 1.42787008e-01 1.39363292e-02 1.96772767e+02] [-1.42773347e-01 9.89753438e-01 -1.97541492e-03 -2.71756248e+01] [-1.40755934e-02 -3.47564992e-05 9.99900933e-01 -5.54746735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22420382200002 meters 0.015493634915322388 Centerline is valid? [True, True] Translation: X:196.80, Y:-27.17, Z:-5.55 [[ 9.88883071e-01 1.48063071e-01 1.36966977e-02 1.96803583e+02] [-1.48050376e-01 9.88977915e-01 -1.94180927e-03 -2.71725648e+01] [-1.38332417e-02 -1.07578938e-04 9.99904310e-01 -5.54771882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25420382200002 meters 0.021596811756825224 Centerline is valid? [True, True] Translation: X:196.83, Y:-27.16, Z:-5.55 [[ 9.87935606e-01 1.54239020e-01 1.39126989e-02 1.96833827e+02] [-1.54226536e-01 9.88033545e-01 -1.97224848e-03 -2.71633878e+01] [-1.40504109e-02 -1.97252855e-04 9.99901269e-01 -5.55078393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28420382200002 meters 0.02448992516825256 Centerline is valid? [True, True] Translation: X:196.86, Y:-27.16, Z:-5.55 [[ 9.87461781e-01 1.57301369e-01 1.32480018e-02 1.96863696e+02] [-1.57290333e-01 9.87550620e-01 -1.87737473e-03 -2.71625604e+01] [-1.33783860e-02 -2.29946816e-04 9.99910479e-01 -5.55240366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314203822 meters 0.03241657394591505 Centerline is valid? [True, True] Translation: X:196.89, Y:-27.16, Z:-5.55 [[ 9.86991114e-01 1.60315575e-01 1.21432084e-02 1.96893056e+02] [-1.60306530e-01 9.87065780e-01 -1.72096179e-03 -2.71637238e+01] [-1.22620425e-02 -2.48061600e-04 9.99924788e-01 -5.55404266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344203822 meters 0.03754071978936623 Centerline is valid? [True, True] Translation: X:196.92, Y:-27.16, Z:-5.56 [[ 9.86656031e-01 1.62395290e-01 1.17322818e-02 1.96921202e+02] [-1.62386996e-01 9.86725747e-01 -1.66244080e-03 -2.71624329e+01] [-1.18465171e-02 -2.64912759e-04 9.99929792e-01 -5.55677136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.374203822 meters 0.029652895147671398 Centerline is valid? [True, True] Translation: X:196.95, Y:-27.16, Z:-5.56 [[ 9.86416034e-01 1.63868190e-01 1.14291289e-02 1.96950152e+02] [-1.63860429e-01 9.86482205e-01 -1.61860745e-03 -2.71622329e+01] [-1.15398705e-02 -2.76161621e-04 9.99933375e-01 -5.55679126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404203822 meters 0.031378080216825706 Centerline is valid? [True, True] Translation: X:196.98, Y:-27.16, Z:-5.56 [[ 9.86398566e-01 1.63941311e-01 1.18792385e-02 1.96978492e+02] [-1.63932937e-01 9.86470052e-01 -1.68190513e-03 -2.71631746e+01] [-1.19942468e-02 -2.88369647e-04 9.99928025e-01 -5.55777499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.434203822 meters 0.030534457247559498 Centerline is valid? [True, True] Translation: X:197.01, Y:-27.17, Z:-5.56 [[ 9.86455632e-01 1.63499564e-01 1.31597406e-02 1.97007352e+02] [-1.63489264e-01 9.86543356e-01 -1.86200510e-03 -2.71651084e+01] [-1.32870917e-02 -3.14690892e-04 9.99911673e-01 -5.55609897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464203822 meters 0.03032637446976179 Centerline is valid? [True, True] Translation: X:197.04, Y:-27.17, Z:-5.56 [[ 9.86544227e-01 1.62964293e-01 1.31577685e-02 1.97036628e+02] [-1.62953950e-01 9.86631919e-01 -1.86161942e-03 -2.71674861e+01] [-1.32852519e-02 -3.07540461e-04 9.99911700e-01 -5.55711922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.494203822 meters 0.028906127910161075 Centerline is valid? [True, True] Translation: X:197.07, Y:-27.17, Z:-5.56 [[ 9.86599188e-01 1.62624288e-01 1.32432501e-02 1.97065025e+02] [-1.62613801e-01 9.86688019e-01 -1.87208308e-03 -2.71713411e+01] [-1.33714024e-02 -3.06539583e-04 9.99910552e-01 -5.55703141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524203822 meters 0.029933843309396226 Centerline is valid? [True, True] Translation: X:197.09, Y:-27.17, Z:-5.56 [[ 9.86641548e-01 1.62310668e-01 1.39176992e-02 1.97093071e+02] [-1.62299063e-01 9.86739655e-01 -1.96683980e-03 -2.71694802e+01] [-1.40523848e-02 -3.18263667e-04 9.99901210e-01 -5.55785811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.554203822 meters 0.030366358833207964 Centerline is valid? [True, True] Translation: X:197.12, Y:-27.17, Z:-5.56 [[ 9.86666048e-01 1.62175207e-01 1.37590351e-02 1.97119990e+02] [-1.62163859e-01 9.86761929e-01 -1.94390635e-03 -2.71696232e+01] [-1.38921454e-02 -3.13231828e-04 9.99903450e-01 -5.55916104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.584203822 meters 0.029134878939416135 Centerline is valid? [True, True] Translation: X:197.15, Y:-27.17, Z:-5.56 [[ 9.86801423e-01 1.61359278e-01 1.36431702e-02 1.97148775e+02] [-1.61348064e-01 9.86895685e-01 -1.92591587e-03 -2.71704620e+01] [-1.37751502e-02 -3.00802574e-04 9.99905073e-01 -5.56031036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.614203822 meters 0.0278221699221623 Centerline is valid? [True, True] Translation: X:197.18, Y:-27.17, Z:-5.56 [[ 9.86877703e-01 1.60865871e-01 1.39488636e-02 1.97177405e+02] [-1.60854109e-01 9.86976231e-01 -1.96838619e-03 -2.71742735e+01] [-1.40838430e-02 -3.01175594e-04 9.99900772e-01 -5.56004638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.644203822 meters 0.027843920339885534 Centerline is valid? [True, True] Translation: X:197.21, Y:-27.17, Z:-5.56 [[ 9.87037602e-01 1.59829732e-01 1.45337233e-02 1.97206104e+02] [-1.59816863e-01 9.87144552e-01 -2.05015177e-03 -2.71734491e+01] [-1.46745610e-02 -2.99157180e-04 9.99892278e-01 -5.56100498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.674203822 meters 0.025097577321508045 Centerline is valid? [True, True] Translation: X:197.23, Y:-27.18, Z:-5.56 [[ 9.87197050e-01 1.58792894e-01 1.50599430e-02 1.97234704e+02] [-1.58778967e-01 9.87311871e-01 -2.12360936e-03 -2.71777003e+01] [-1.52060746e-02 -2.94781308e-04 9.99884338e-01 -5.55903909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.704203822 meters 0.024399630027531254 Centerline is valid? [True, True] Translation: X:197.26, Y:-27.18, Z:-5.56 [[ 9.87376912e-01 1.57608917e-01 1.56927723e-02 1.97263049e+02] [-1.57593659e-01 9.87501567e-01 -2.21200497e-03 -2.71790673e+01] [-1.58452690e-02 -2.88998781e-04 9.99874414e-01 -5.55948330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.734203822 meters 0.023943269620123303 Centerline is valid? [True, True] Translation: X:197.29, Y:-27.18, Z:-5.56 [[ 9.87605718e-01 1.56184998e-01 1.55303534e-02 1.97290666e+02] [-1.56169887e-01 9.87727785e-01 -2.18850622e-03 -2.71809981e+01] [-1.56815734e-02 -2.63992280e-04 9.99877002e-01 -5.56130479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.764203822 meters 0.020973885690701674 Centerline is valid? [True, True] Translation: X:197.32, Y:-27.18, Z:-5.56 [[ 9.87939468e-01 1.54178328e-01 1.43056023e-02 1.97319129e+02] [-1.54165309e-01 9.88043014e-01 -2.01503415e-03 -2.71847731e+01] [-1.44452250e-02 -2.14695828e-04 9.99895639e-01 -5.56302118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79420382200001 meters 0.02081319833780215 Centerline is valid? [True, True] Translation: X:197.35, Y:-27.18, Z:-5.57 [[ 9.88226374e-01 1.52430716e-01 1.31723452e-02 1.97347335e+02] [-1.52419527e-01 9.88314144e-01 -1.85504260e-03 -2.71845594e+01] [-1.33011805e-02 -1.74520605e-04 9.99911520e-01 -5.56753460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82420382200002 meters 0.021059105101344625 Centerline is valid? [True, True] Translation: X:197.38, Y:-27.19, Z:-5.57 [[ 9.88368476e-01 1.51542618e-01 1.27511172e-02 1.97375439e+02] [-1.51532065e-01 9.88450712e-01 -1.79530518e-03 -2.71861366e+01] [-1.28759161e-02 -1.57780072e-04 9.99917090e-01 -5.57040845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85420382200002 meters 0.018353481119504467 Centerline is valid? [True, True] Translation: X:197.40, Y:-27.19, Z:-5.57 [[ 9.88517405e-01 1.50588299e-01 1.25101372e-02 1.97404351e+02] [-1.50578084e-01 9.88596552e-01 -1.75985311e-03 -2.71908351e+01] [-1.26324918e-02 -1.44107067e-04 9.99920197e-01 -5.56803799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88420382200002 meters 0.01912289754197391 Centerline is valid? [True, True] Translation: X:197.43, Y:-27.19, Z:-5.57 [[ 9.88621761e-01 1.49867486e-01 1.29132212e-02 1.97432066e+02] [-1.49856543e-01 9.88706082e-01 -1.81639900e-03 -2.71897199e+01] [-1.30395995e-02 -1.39399110e-04 9.99914971e-01 -5.57053404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91420382200002 meters 0.017134146074842257 Centerline is valid? [True, True] Translation: X:197.46, Y:-27.19, Z:-5.57 [[ 9.88791044e-01 1.48757086e-01 1.27906272e-02 1.97461376e+02] [-1.48746278e-01 9.88873760e-01 -1.79751621e-03 -2.71904494e+01] [-1.29157089e-02 -1.25190263e-04 9.99916581e-01 -5.57005896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94420382200002 meters 0.016220249103747426 Centerline is valid? [True, True] Translation: X:197.49, Y:-27.20, Z:-5.57 [[ 9.89150108e-01 1.46382753e-01 1.24158384e-02 1.97489203e+02] [-1.46372390e-01 9.89228023e-01 -1.74425201e-03 -2.71952271e+01] [-1.25374237e-02 -9.20088783e-05 9.99921399e-01 -5.57310067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97420382200002 meters 0.016052584093074508 Centerline is valid? [True, True] Translation: X:197.52, Y:-27.20, Z:-5.58 [[ 9.89384945e-01 1.44745785e-01 1.28875128e-02 1.97516377e+02] [-1.44734485e-01 9.89468874e-01 -1.81018382e-03 -2.71984304e+01] [-1.30138092e-02 -7.42989062e-05 9.99915314e-01 -5.57519944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00420382200002 meters 0.014278611397665564 Centerline is valid? [True, True] Translation: X:197.54, Y:-27.20, Z:-5.57 [[ 9.89624514e-01 1.43034744e-01 1.35787531e-02 1.97544813e+02] [-1.43022058e-01 9.89717666e-01 -1.90579650e-03 -2.72029148e+01] [-1.37117269e-02 -5.60382756e-05 9.99905988e-01 -5.57267079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03420382200002 meters 0.014302169526236627 Centerline is valid? [True, True] Translation: X:197.57, Y:-27.21, Z:-5.58 [[ 9.89852254e-01 1.41388692e-01 1.42039747e-02 1.97572133e+02] [-1.41374650e-01 9.89954159e-01 -1.99293671e-03 -2.72064240e+01] [-1.43430626e-02 -3.53690618e-05 9.99897132e-01 -5.57504484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064203822 meters 0.013827349807020337 Centerline is valid? [True, True] Translation: X:197.60, Y:-27.21, Z:-5.58 [[ 9.90278707e-01 1.38350345e-01 1.43966819e-02 1.97599918e+02] [-1.38335615e-01 9.90383351e-01 -2.01885398e-03 -2.72125278e+01] [-1.45375432e-02 7.65426281e-06 9.99894324e-01 -5.57596661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.094203822 meters 0.014881444957610127 Centerline is valid? [True, True] Translation: X:197.63, Y:-27.22, Z:-5.58 [[ 9.90623575e-01 1.36004329e-01 1.29520425e-02 1.97626619e+02] [-1.35992207e-01 9.90708242e-01 -1.81614103e-03 -2.72184579e+01] [-1.30786983e-02 3.77352656e-05 9.99914469e-01 -5.58095049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124203822 meters 0.014616456533683734 Centerline is valid? [True, True] Translation: X:197.66, Y:-27.22, Z:-5.58 [[ 9.90743318e-01 1.35215108e-01 1.20230282e-02 1.97655140e+02] [-1.35204618e-01 9.90816266e-01 -1.68483183e-03 -2.72232551e+01] [-1.21404266e-02 4.36669443e-05 9.99926301e-01 -5.58087834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.154203822 meters 0.014955142823394687 Centerline is valid? [True, True] Translation: X:197.68, Y:-27.23, Z:-5.58 [[ 9.90859269e-01 1.34411471e-01 1.14658455e-02 1.97683220e+02] [-1.34401882e-01 9.90925605e-01 -1.60625612e-03 -2.72280610e+01] [-1.15776992e-02 5.05425404e-05 9.99932975e-01 -5.58246871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184203822 meters 0.01562728861528932 Centerline is valid? [True, True] Translation: X:197.71, Y:-27.23, Z:-5.58 [[ 9.90957265e-01 1.33596172e-01 1.24804775e-02 1.97710569e+02] [-1.33584754e-01 9.91035851e-01 -1.74783690e-03 -2.72318749e+01] [-1.26021050e-02 6.48301563e-05 9.99920588e-01 -5.58414703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.214203822 meters 0.015233507999261368 Centerline is valid? [True, True] Translation: X:197.74, Y:-27.24, Z:-5.58 [[ 9.91030451e-01 1.33010826e-01 1.29137376e-02 1.97739155e+02] [-1.32998566e-01 9.91114582e-01 -1.80744389e-03 -2.72351749e+01] [-1.30394033e-02 7.37233549e-05 9.99914981e-01 -5.58230137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244203822 meters 0.01591128760104755 Centerline is valid? [True, True] Translation: X:197.77, Y:-27.24, Z:-5.58 [[ 9.91150078e-01 1.32062813e-01 1.34512354e-02 1.97765975e+02] [-1.32049431e-01 9.91241346e-01 -1.88212786e-03 -2.72405097e+01] [-1.35819798e-02 8.92431953e-05 9.99907757e-01 -5.58386317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.274203822 meters 0.017063905459845537 Centerline is valid? [True, True] Translation: X:197.79, Y:-27.25, Z:-5.58 [[ 9.91407380e-01 1.30089954e-01 1.37116921e-02 1.97794277e+02] [-1.30075875e-01 9.91502189e-01 -1.91750078e-03 -2.72495362e+01] [-1.38446203e-02 1.17464083e-04 9.99904152e-01 -5.58459081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304203822 meters 0.01768894534672017 Centerline is valid? [True, True] Translation: X:197.82, Y:-27.26, Z:-5.59 [[ 9.91518064e-01 1.29231043e-01 1.38299095e-02 1.97822160e+02] [-1.29216646e-01 9.91614502e-01 -1.93335849e-03 -2.72561482e+01] [-1.39637887e-02 1.29905351e-04 9.99902493e-01 -5.58548118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.334203822 meters 0.018461486331346182 Centerline is valid? [True, True] Translation: X:197.85, Y:-27.27, Z:-5.59 [[ 9.91707329e-01 1.27729964e-01 1.41996198e-02 1.97850245e+02] [-1.27714643e-01 9.91808970e-01 -1.98434140e-03 -2.72651273e+01] [-1.43367701e-02 1.54386548e-04 9.99897211e-01 -5.58597097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.364203822 meters 0.019325657783953197 Centerline is valid? [True, True] Translation: X:197.88, Y:-27.27, Z:-5.59 [[ 9.91758504e-01 1.27341117e-01 1.41176805e-02 1.97877118e+02] [-1.27325939e-01 9.91858969e-01 -1.97246030e-03 -2.72709168e+01] [-1.42539234e-02 1.58657342e-04 9.99898395e-01 -5.58799970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.394203822 meters 0.018191750497233324 Centerline is valid? [True, True] Translation: X:197.91, Y:-27.27, Z:-5.59 [[ 9.91794717e-01 1.27108828e-01 1.36595946e-02 1.97905818e+02] [-1.27094612e-01 9.91888765e-01 -1.90740656e-03 -2.72737974e+01] [-1.37912466e-02 1.55694883e-04 9.99904884e-01 -5.58720216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.424203822 meters 0.01865692740196246 Centerline is valid? [True, True] Translation: X:197.93, Y:-27.28, Z:-5.59 [[ 9.91907269e-01 1.26308548e-01 1.28887793e-02 1.97934391e+02] [-1.26295835e-01 9.91990991e-01 -1.79883987e-03 -2.72821939e+01] [-1.30127618e-02 1.56483194e-04 9.99915318e-01 -5.58959650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.454203822 meters 0.019117149921751654 Centerline is valid? [True, True] Translation: X:197.96, Y:-27.29, Z:-5.59 [[ 9.91974258e-01 1.25804955e-01 1.26564512e-02 1.97962266e+02] [-1.25792654e-01 9.92054982e-01 -1.76649546e-03 -2.72894196e+01] [-1.27781294e-02 1.60229429e-04 9.99918344e-01 -5.59144512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.484203822 meters 0.019578434147928658 Centerline is valid? [True, True] Translation: X:197.99, Y:-27.30, Z:-5.59 [[ 9.92029301e-01 1.25344967e-01 1.29037084e-02 1.97988598e+02] [-1.25332147e-01 9.92113205e-01 -1.80060213e-03 -2.72996595e+01] [-1.30276359e-02 1.69000586e-04 9.99915122e-01 -5.59205192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.514203822 meters 0.019642832418539476 Centerline is valid? [True, True] Translation: X:198.02, Y:-27.31, Z:-5.59 [[ 9.91874916e-01 1.26475475e-01 1.37151828e-02 1.98016600e+02] [-1.26461123e-01 9.91969721e-01 -1.91213268e-03 -2.73062163e+01] [-1.38468840e-02 1.62159007e-04 9.99904114e-01 -5.59348836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54420382200001 meters 0.017714681794195834 Centerline is valid? [True, True] Translation: X:198.05, Y:-27.31, Z:-5.59 [[ 9.91684684e-01 1.27946506e-01 1.38267702e-02 1.98045857e+02] [-1.27932062e-01 9.91781060e-01 -1.92778087e-03 -2.73086059e+01] [-1.39597816e-02 1.42863542e-04 9.99902547e-01 -5.59204596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57420382200002 meters 0.015250012482067622 Centerline is valid? [True, True] Translation: X:198.07, Y:-27.31, Z:-5.59 [[ 9.91044519e-01 1.32751859e-01 1.44120143e-02 1.98074397e+02] [-1.32736685e-01 9.91149302e-01 -2.00860607e-03 -2.73081300e+01] [-1.45511041e-02 7.76150355e-05 9.99894124e-01 -5.59246026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60420382200002 meters 0.015250012482067622 Centerline is valid? [True, True] Translation: X:198.10, Y:-27.31, Z:-5.59 [[ 9.91050703e-01 1.32705673e-01 1.44121117e-02 1.98102458e+02] [-1.32690505e-01 9.91155486e-01 -2.00790640e-03 -2.73119472e+01] [-1.45511042e-02 7.75866635e-05 9.99894124e-01 -5.59326440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63420382200002 meters 0.013828095679796005 Centerline is valid? [True, True] Translation: X:198.13, Y:-27.31, Z:-5.59 [[ 9.90657912e-01 1.35572891e-01 1.47272425e-02 1.98131489e+02] [-1.35557379e-01 9.90767374e-01 -2.05110519e-03 -2.73128012e+01] [-1.48693457e-02 3.55571804e-05 9.99889445e-01 -5.59242743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66420382200002 meters 0.013985703399424051 Centerline is valid? [True, True] Translation: X:198.16, Y:-27.31, Z:-5.59 [[ 9.89908678e-01 1.40936701e-01 1.47531358e-02 1.98160620e+02] [-1.40921740e-01 9.90018608e-01 -2.05399305e-03 -2.73131963e+01] [-1.48953620e-02 -4.57720367e-05 9.99889057e-01 -5.59360268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69420382200002 meters 0.014866199895113622 Centerline is valid? [True, True] Translation: X:198.19, Y:-27.32, Z:-5.59 [[ 9.89622600e-01 1.42914275e-01 1.49204340e-02 1.98188213e+02] [-1.42899207e-01 9.89735068e-01 -2.07668331e-03 -2.73159571e+01] [-1.50640645e-02 -7.69854589e-05 9.99886528e-01 -5.59499690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72420382200002 meters 0.015648459058698265 Centerline is valid? [True, True] Translation: X:198.22, Y:-27.32, Z:-5.60 [[ 9.89368163e-01 1.44642666e-01 1.51373079e-02 1.98217241e+02] [-1.44627376e-01 9.89483950e-01 -2.10573693e-03 -2.73189188e+01] [-1.52827026e-02 -1.05920047e-04 9.99883207e-01 -5.59546618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75420382200002 meters 0.017268012304904073 Centerline is valid? [True, True] Translation: X:198.25, Y:-27.32, Z:-5.59 [[ 9.88899753e-01 1.47696442e-01 1.62184817e-02 1.98246539e+02] [-1.47679315e-01 9.89032726e-01 -2.25524406e-03 -2.73189266e+01] [-1.63737007e-02 -1.64923967e-04 9.99865928e-01 -5.59391823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78420382200002 meters 0.01931544937210317 Centerline is valid? [True, True] Translation: X:198.27, Y:-27.32, Z:-5.60 [[ 9.88680211e-01 1.49120083e-01 1.65722823e-02 1.98274908e+02] [-1.49102412e-01 9.88819075e-01 -2.30372193e-03 -2.73192323e+01] [-1.67305200e-02 -1.93322968e-04 9.99860016e-01 -5.59584462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814203822 meters 0.022131886724828454 Centerline is valid? [True, True] Translation: X:198.30, Y:-27.32, Z:-5.60 [[ 9.88224788e-01 1.52241104e-01 1.53106111e-02 1.98304529e+02] [-1.52226416e-01 9.88343358e-01 -2.12702104e-03 -2.73193086e+01] [-1.54559608e-02 -2.28704528e-04 9.99880523e-01 -5.59772608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844203822 meters 0.02367411273187501 Centerline is valid? [True, True] Translation: X:198.33, Y:-27.32, Z:-5.60 [[ 9.88036895e-01 1.53423155e-01 1.56342651e-02 1.98332037e+02] [-1.53407984e-01 9.88160550e-01 -2.17223908e-03 -2.73205238e+01] [-1.57824358e-02 -2.52168732e-04 9.99875418e-01 -5.59904586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.874203822 meters 0.02304264672444886 Centerline is valid? [True, True] Translation: X:198.36, Y:-27.33, Z:-5.60 [[ 9.87889493e-01 1.54367145e-01 1.56567838e-02 1.98360937e+02] [-1.54352072e-01 9.88013518e-01 -2.17385703e-03 -2.73250987e+01] [-1.58046862e-02 -2.69126515e-04 9.99875062e-01 -5.59852403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904203822 meters 0.02558834417432891 Centerline is valid? [True, True] Translation: X:198.39, Y:-27.32, Z:-5.60 [[ 9.87777495e-01 1.55113224e-01 1.53462949e-02 1.98388764e+02] [-1.55098838e-01 9.87896660e-01 -2.13037934e-03 -2.73236141e+01] [-1.54910035e-02 -2.75851753e-04 9.99879969e-01 -5.60114919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.934203822 meters 0.024191620162534108 Centerline is valid? [True, True] Translation: X:198.42, Y:-27.33, Z:-5.60 [[ 9.87778375e-01 1.55136863e-01 1.50477612e-02 1.98416993e+02] [-1.55123059e-01 9.87892949e-01 -2.08738634e-03 -2.73276022e+01] [-1.51894078e-02 -2.72379662e-04 9.99884597e-01 -5.60148671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964203822 meters 0.02570247586856359 Centerline is valid? [True, True] Translation: X:198.45, Y:-27.33, Z:-5.61 [[ 9.87812218e-01 1.55035401e-01 1.38219345e-02 1.98445639e+02] [-1.55023750e-01 9.87908884e-01 -1.91694432e-03 -2.73255554e+01] [-1.39520061e-02 -2.49147104e-04 9.99902635e-01 -5.60555218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.994203822 meters 0.025184117412362074 Centerline is valid? [True, True] Translation: X:198.47, Y:-27.33, Z:-5.61 [[ 9.87893593e-01 1.54591072e-01 1.29556550e-02 1.98474727e+02] [-1.54580809e-01 9.87978516e-01 -1.79590862e-03 -2.73285341e+01] [-1.30775402e-02 -2.28529006e-04 9.99914459e-01 -5.60762676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024203822 meters 0.024838562918984255 Centerline is valid? [True, True] Translation: X:198.50, Y:-27.33, Z:-5.61 [[ 9.88033431e-01 1.53724574e-01 1.25973965e-02 1.98502308e+02] [-1.53714806e-01 9.88113713e-01 -1.74585488e-03 -2.73316197e+01] [-1.27160410e-02 -2.11443358e-04 9.99919126e-01 -5.60974340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.054203822 meters 0.022486889170374197 Centerline is valid? [True, True] Translation: X:198.53, Y:-27.34, Z:-5.61 [[ 9.88504213e-01 1.50726896e-01 1.18669384e-02 1.98529921e+02] [-1.50718021e-01 9.88575428e-01 -1.64384499e-03 -2.73404868e+01] [-1.19791354e-02 -1.63613769e-04 9.99928234e-01 -5.61143076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.084203822 meters 0.019780934934103198 Centerline is valid? [True, True] Translation: X:198.56, Y:-27.35, Z:-5.61 [[ 9.88858769e-01 1.48354979e-01 1.22120958e-02 1.98557239e+02] [-1.48345405e-01 9.88934164e-01 -1.69119041e-03 -2.73453014e+01] [-1.23278553e-02 -1.39259825e-04 9.99923999e-01 -5.61226140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.114203822 meters 0.017448721027463414 Centerline is valid? [True, True] Translation: X:198.59, Y:-27.35, Z:-5.61 [[ 9.89202197e-01 1.46031293e-01 1.24046312e-02 1.98585988e+02] [-1.46021246e-01 9.89279965e-01 -1.71666124e-03 -2.73519617e+01] [-1.25223394e-02 -1.13214640e-04 9.99921586e-01 -5.61133414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.144203822 meters 0.015370251449064114 Centerline is valid? [True, True] Translation: X:198.61, Y:-27.36, Z:-5.61 [[ 9.89843672e-01 1.41528791e-01 1.33830274e-02 1.98613629e+02] [-1.41516691e-01 9.89934138e-01 -1.85165466e-03 -2.73593321e+01] [-1.35103781e-02 -6.10731080e-05 9.99908729e-01 -5.61283985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.174203822 meters 0.014582631499503609 Centerline is valid? [True, True] Translation: X:198.64, Y:-27.37, Z:-5.61 [[ 9.90368705e-01 1.37873065e-01 1.26824769e-02 1.98641305e+02] [-1.37861906e-01 9.90449907e-01 -1.75414890e-03 -2.73679367e+01] [-1.28032080e-02 -1.11762673e-05 9.99918036e-01 -5.61458810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.204203822 meters 0.024708584819117384 Centerline is valid? [True, True] Translation: X:198.67, Y:-27.37, Z:-5.62 [[ 9.90492330e-01 1.37052263e-01 1.19005018e-02 1.98669844e+02] [-1.37042385e-01 9.90563818e-01 -1.64550809e-03 -2.73718298e+01] [-1.20137271e-02 -1.00999491e-06 9.99927833e-01 -5.61881992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.234203822 meters 0.014142745816700214 Centerline is valid? [True, True] Translation: X:198.70, Y:-27.38, Z:-5.62 [[ 9.90617862e-01 1.36159043e-01 1.17032526e-02 1.98698181e+02] [-1.36149432e-01 9.90686991e-01 -1.61774312e-03 -2.73752385e+01] [-1.18145304e-02 9.17403027e-06 9.99930206e-01 -5.61533827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.264203822 meters 0.01513822687573093 Centerline is valid? [True, True] Translation: X:198.73, Y:-27.38, Z:-5.62 [[ 9.90661698e-01 1.35824902e-01 1.18741629e-02 1.98725496e+02] [-1.35814990e-01 9.90732858e-01 -1.64095277e-03 -2.73791190e+01] [-1.19870056e-02 1.29397367e-05 9.99928153e-01 -5.61988856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29420382200001 meters 0.015056289941702267 Centerline is valid? [True, True] Translation: X:198.75, Y:-27.38, Z:-5.62 [[ 9.90665460e-01 1.35843146e-01 1.13396033e-02 1.98753930e+02] [-1.35834114e-01 9.90730357e-01 -1.56650591e-03 -2.73802430e+01] [-1.14472883e-02 1.15783380e-05 9.99934478e-01 -5.62010684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32420382200002 meters 0.014574659589367857 Centerline is valid? [True, True] Translation: X:198.78, Y:-27.38, Z:-5.62 [[ 9.90644751e-01 1.36019427e-01 1.10314211e-02 1.98783067e+02] [-1.36010901e-01 9.90706170e-01 -1.52298402e-03 -2.73793954e+01] [-1.11360524e-02 8.34260027e-06 9.99937992e-01 -5.61918939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35420382200002 meters 0.015027589659853447 Centerline is valid? [True, True] Translation: X:198.81, Y:-27.38, Z:-5.62 [[ 9.90707807e-01 1.35518612e-01 1.15215895e-02 1.98810850e+02] [-1.35509283e-01 9.90774801e-01 -1.59022475e-03 -2.73840417e+01] [-1.16308056e-02 1.41657388e-05 9.99932360e-01 -5.62213324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38420382200002 meters 0.014330054647038057 Centerline is valid? [True, True] Translation: X:198.84, Y:-27.39, Z:-5.62 [[ 9.90792079e-01 1.34902652e-01 1.15034788e-02 1.98839554e+02] [-1.34893320e-01 9.90858857e-01 -1.58685341e-03 -2.73897401e+01] [-1.16123946e-02 2.04993380e-05 9.99932574e-01 -5.62024300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41420382200002 meters 0.014771737010249255 Centerline is valid? [True, True] Translation: X:198.87, Y:-27.39, Z:-5.62 [[ 9.90916760e-01 1.33980930e-01 1.15362828e-02 1.98866457e+02] [-1.33971487e-01 9.90983910e-01 -1.59100043e-03 -2.73948963e+01] [-1.16454344e-02 3.10160293e-05 9.99932189e-01 -5.62213063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44420382200002 meters 0.015189583300242933 Centerline is valid? [True, True] Translation: X:198.89, Y:-27.40, Z:-5.62 [[ 9.91094517e-01 1.32703358e-01 1.10216538e-02 1.98894800e+02] [-1.32694669e-01 9.91155798e-01 -1.51917895e-03 -2.73982210e+01] [-1.11257762e-02 4.31352205e-05 9.99938106e-01 -5.62314832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47420382200002 meters 0.01585647136959151 Centerline is valid? [True, True] Translation: X:198.92, Y:-27.40, Z:-5.62 [[ 9.91307748e-01 1.31045579e-01 1.16620842e-02 1.98922472e+02] [-1.31035742e-01 9.91376342e-01 -1.60700524e-03 -2.74043450e+01] [-1.17721053e-02 6.48868997e-05 9.99930704e-01 -5.62322950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50420382200002 meters 0.01722976355106016 Centerline is valid? [True, True] Translation: X:198.95, Y:-27.41, Z:-5.63 [[ 9.91466761e-01 1.29798283e-01 1.20858300e-02 1.98949463e+02] [-1.29787634e-01 9.91540417e-01 -1.66459222e-03 -2.74109969e+01] [-1.21996502e-02 8.17965711e-05 9.99925578e-01 -5.62597848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53420382200002 meters 0.01823054183655098 Centerline is valid? [True, True] Translation: X:198.98, Y:-27.42, Z:-5.63 [[ 9.91658637e-01 1.28344226e-01 1.18704602e-02 1.98977185e+02] [-1.28333858e-01 9.91729676e-01 -1.63421546e-03 -2.74169986e+01] [-1.19820298e-02 9.72019254e-05 9.99928208e-01 -5.62700141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564203822 meters 0.02312131418832141 Centerline is valid? [True, True] Translation: X:199.01, Y:-27.42, Z:-5.63 [[ 9.91978282e-01 1.25863502e-01 1.17246579e-02 1.99005334e+02] [-1.25853223e-01 9.92047561e-01 -1.61338295e-03 -2.74233610e+01] [-1.18344843e-02 1.24854870e-04 9.99929962e-01 -5.62626179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.594203822 meters 0.019727838979911285 Centerline is valid? [True, True] Translation: X:199.03, Y:-27.43, Z:-5.63 [[ 9.92143306e-01 1.24469813e-01 1.26066223e-02 1.99032658e+02] [-1.24457824e-01 9.92223383e-01 -1.73420997e-03 -2.74309515e+01] [-1.27244422e-02 1.51592047e-04 9.99919030e-01 -5.62503533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624203822 meters 0.02163174514992513 Centerline is valid? [True, True] Translation: X:199.06, Y:-27.44, Z:-5.63 [[ 9.92451378e-01 1.21977316e-01 1.27199392e-02 1.99060785e+02] [-1.21964923e-01 9.92532871e-01 -1.74844868e-03 -2.74413161e+01] [-1.28382288e-02 1.83863902e-04 9.99917570e-01 -5.62531519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.654203822 meters 0.022577063038606182 Centerline is valid? [True, True] Translation: X:199.09, Y:-27.45, Z:-5.63 [[ 9.92602168e-01 1.20822544e-01 1.19519481e-02 1.99089997e+02] [-1.20811521e-01 9.92674105e-01 -1.64264056e-03 -2.74483972e+01] [-1.20628574e-02 1.86555555e-04 9.99927224e-01 -5.62693263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684203822 meters 0.023790883611629298 Centerline is valid? [True, True] Translation: X:199.12, Y:-27.46, Z:-5.63 [[ 9.92727859e-01 1.19831884e-01 1.14768251e-02 1.99118199e+02] [-1.19821655e-01 9.92794180e-01 -1.57728759e-03 -2.74555394e+01] [-1.15831345e-02 1.90645146e-04 9.99932895e-01 -5.62893749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.714203822 meters 0.02475156134330583 Centerline is valid? [True, True] Translation: X:199.15, Y:-27.47, Z:-5.63 [[ 9.92851847e-01 1.18800552e-01 1.14733593e-02 1.99146569e+02] [-1.18790267e-01 9.92918117e-01 -1.57620688e-03 -2.74655534e+01] [-1.15793606e-02 2.02016489e-04 9.99932937e-01 -5.62964803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744203822 meters 0.02472665295372682 Centerline is valid? [True, True] Translation: X:199.17, Y:-27.47, Z:-5.63 [[ 9.92823632e-01 1.19012571e-01 1.17151010e-02 1.99174326e+02] [-1.19001864e-01 9.92892727e-01 -1.60931612e-03 -2.74720420e+01] [-1.18233675e-02 2.03648222e-04 9.99930081e-01 -5.63052614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.774203822 meters 0.022766783233454643 Centerline is valid? [True, True] Translation: X:199.20, Y:-27.48, Z:-5.63 [[ 9.92553495e-01 1.21224233e-01 1.19266533e-02 1.99203092e+02] [-1.21213303e-01 9.92625132e-01 -1.63774611e-03 -2.74779824e+01] [-1.20372303e-02 1.79881592e-04 9.99927534e-01 -5.63030019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.804203822 meters 0.02073922671162292 Centerline is valid? [True, True] Translation: X:199.23, Y:-27.48, Z:-5.63 [[ 9.92313780e-01 1.23223572e-01 1.13716099e-02 1.99232174e+02] [-1.23213765e-01 9.92378924e-01 -1.56169812e-03 -2.74802457e+01] [-1.14773840e-02 1.48555687e-04 9.99934122e-01 -5.63125813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.834203822 meters 0.018240464952896072 Centerline is valid? [True, True] Translation: X:199.26, Y:-27.48, Z:-5.63 [[ 9.92019484e-01 1.25626448e-01 1.07396332e-02 1.99260922e+02] [-1.25617845e-01 9.92077609e-01 -1.47449378e-03 -2.74816591e+01] [-1.08397850e-02 1.13636979e-04 9.99941241e-01 -5.63116799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.864203822 meters 0.015343379080326989 Centerline is valid? [True, True] Translation: X:199.29, Y:-27.48, Z:-5.63 [[ 9.91311935e-01 1.31107847e-01 1.05536627e-02 1.99290084e+02] [-1.31099856e-01 9.91368110e-01 -1.44846452e-03 -2.74811071e+01] [-1.06524697e-02 5.22965135e-05 9.99943259e-01 -5.63183209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.894203822 meters 0.014973676124005474 Centerline is valid? [True, True] Translation: X:199.32, Y:-27.48, Z:-5.63 [[ 9.90935702e-01 1.33898736e-01 1.08426297e-02 1.99318207e+02] [-1.33890472e-01 9.90995019e-01 -1.48776181e-03 -2.74818168e+01] [-1.09442015e-02 2.25514803e-05 9.99940110e-01 -5.63428408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.924203822 meters 0.015467567661008829 Centerline is valid? [True, True] Translation: X:199.35, Y:-27.48, Z:-5.63 [[ 9.90151593e-01 1.39608608e-01 1.04527568e-02 1.99347822e+02] [-1.39601254e-01 9.90206764e-01 -1.43346440e-03 -2.74791991e+01] [-1.05505145e-02 -3.98709097e-05 9.99944341e-01 -5.63487366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.954203822 meters 0.01615415930065387 Centerline is valid? [True, True] Translation: X:199.38, Y:-27.48, Z:-5.63 [[ 9.89800237e-01 1.42105386e-01 1.00771686e-02 1.99376363e+02] [-1.42098685e-01 9.89851532e-01 -1.38154808e-03 -2.74818276e+01] [-1.01712262e-02 -6.44957953e-05 9.99948270e-01 -5.63485356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.984203822 meters 0.01737145939176026 Centerline is valid? [True, True] Translation: X:199.40, Y:-27.48, Z:-5.63 [[ 9.89469952e-01 1.44361331e-01 1.04413027e-02 1.99404785e+02] [-1.44354269e-01 9.89525036e-01 -1.43089686e-03 -2.74841184e+01] [-1.05384967e-02 -9.14171797e-05 9.99944464e-01 -5.63489411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.014203822 meters 0.02215821601070649 Centerline is valid? [True, True] Translation: X:199.43, Y:-27.48, Z:-5.64 [[ 9.88733138e-01 1.49262220e-01 1.12947409e-02 1.99433692e+02] [-1.49254280e-01 9.88797636e-01 -1.54737940e-03 -2.74805342e+01] [-1.13991784e-02 -1.55843130e-04 9.99935015e-01 -5.63616184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04420382200001 meters 0.023279725153149293 Centerline is valid? [True, True] Translation: X:199.46, Y:-27.48, Z:-5.64 [[ 9.88407302e-01 1.51425168e-01 1.10192028e-02 1.99461963e+02] [-1.51417753e-01 9.88468708e-01 -1.50898274e-03 -2.74824079e+01] [-1.11206352e-02 -1.77013379e-04 9.99938148e-01 -5.63570551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07420382200002 meters 0.026016845247932303 Centerline is valid? [True, True] Translation: X:199.49, Y:-27.48, Z:-5.64 [[ 9.88114571e-01 1.53331005e-01 1.09177954e-02 1.99490291e+02] [-1.53323849e-01 9.88174865e-01 -1.49443399e-03 -2.74819841e+01] [-1.10178341e-02 -1.97286405e-04 9.99939282e-01 -5.63806649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10420382200002 meters 0.028122597062775267 Centerline is valid? [True, True] Translation: X:199.52, Y:-27.48, Z:-5.64 [[ 9.87827934e-01 1.55142457e-01 1.12601742e-02 1.99518531e+02] [-1.55134966e-01 9.87892083e-01 -1.54093398e-03 -2.74819893e+01] [-1.13629013e-02 -2.24669123e-04 9.99935415e-01 -5.63925542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13420382200002 meters 0.028144350565190133 Centerline is valid? [True, True] Translation: X:199.55, Y:-27.49, Z:-5.64 [[ 9.87887219e-01 1.54735041e-01 1.16580393e-02 1.99546170e+02] [-1.54727002e-01 9.87955978e-01 -1.59391301e-03 -2.74862274e+01] [-1.17642639e-02 -2.29207178e-04 9.99930772e-01 -5.63998816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16420382200002 meters 0.02312591192586036 Centerline is valid? [True, True] Translation: X:199.57, Y:-27.50, Z:-5.64 [[ 9.88383142e-01 1.51479154e-01 1.23624540e-02 1.99573446e+02] [-1.51469871e-01 9.88460432e-01 -1.68923335e-03 -2.74987035e+01] [-1.24756803e-02 -2.02929550e-04 9.99922155e-01 -5.63695604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19420382200002 meters 0.021485721230843434 Centerline is valid? [True, True] Translation: X:199.60, Y:-27.51, Z:-5.64 [[ 9.88710275e-01 1.49284984e-01 1.28835574e-02 1.99600876e+02] [-1.49274722e-01 9.88794195e-01 -1.75993043e-03 -2.75054086e+01] [-1.30019180e-02 -1.83128160e-04 9.99915455e-01 -5.63750550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22420382200002 meters 0.018764812104842047 Centerline is valid? [True, True] Translation: X:199.63, Y:-27.51, Z:-5.64 [[ 9.89016182e-01 1.47264517e-01 1.26551665e-02 1.99628848e+02] [-1.47254462e-01 9.89097133e-01 -1.72782318e-03 -2.75136717e+01] [-1.27716360e-02 -1.54684651e-04 9.99918427e-01 -5.63681432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25420382200002 meters 0.017971163760006705 Centerline is valid? [True, True] Translation: X:199.66, Y:-27.52, Z:-5.64 [[ 9.89536873e-01 1.43798053e-01 1.17854906e-02 1.99655775e+02] [-1.43789090e-01 9.89607048e-01 -1.60878533e-03 -2.75208574e+01] [-1.18943448e-02 -1.02672571e-04 9.99929255e-01 -5.64223994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28420382200002 meters 0.028012422236275127 Centerline is valid? [True, True] Translation: X:199.68, Y:-27.53, Z:-5.64 [[ 9.89786734e-01 1.42144942e-01 1.08183315e-02 1.99683942e+02] [-1.42137299e-01 9.89845851e-01 -1.47600315e-03 -2.75293835e+01] [-1.09182869e-02 -7.67600871e-05 9.99940391e-01 -5.64449086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314203822 meters 0.015436970316779377 Centerline is valid? [True, True] Translation: X:199.71, Y:-27.54, Z:-5.65 [[ 9.90351315e-01 1.38160476e-01 1.07682689e-02 1.99710630e+02] [-1.38152672e-01 9.90409855e-01 -1.46885148e-03 -2.75413673e+01] [-1.08679369e-02 -3.29861348e-05 9.99940942e-01 -5.64651914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344203822 meters 0.014550400306283136 Centerline is valid? [True, True] Translation: X:199.74, Y:-27.55, Z:-5.65 [[ 9.90619962e-01 1.36137629e-01 1.17744305e-02 1.99738464e+02] [-1.36128169e-01 9.90689934e-01 -1.60494207e-03 -2.75491930e+01] [-1.18833028e-02 -1.29440134e-05 9.99929391e-01 -5.64558233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.374203822 meters 0.014341239525380895 Centerline is valid? [True, True] Translation: X:199.77, Y:-27.56, Z:-5.65 [[ 9.90902484e-01 1.34045014e-01 1.20083767e-02 1.99766410e+02] [-1.34035028e-01 9.90975244e-01 -1.63623419e-03 -2.75569054e+01] [-1.21193330e-02 1.18054227e-05 9.99926558e-01 -5.64579190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404203822 meters 0.014885864721961347 Centerline is valid? [True, True] Translation: X:199.80, Y:-27.57, Z:-5.65 [[ 9.91303849e-01 1.31055863e-01 1.18759985e-02 1.99795566e+02] [-1.31045893e-01 9.91374984e-01 -1.61727350e-03 -2.75661428e+01] [-1.19855210e-02 4.69086235e-05 9.99928170e-01 -5.64559570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.434203822 meters 0.015165690508442447 Centerline is valid? [True, True] Translation: X:199.82, Y:-27.57, Z:-5.65 [[ 9.91412094e-01 1.30251968e-01 1.16826524e-02 1.99823897e+02] [-1.30242262e-01 9.91480924e-01 -1.59106604e-03 -2.75709538e+01] [-1.17903665e-02 5.58270414e-05 9.99930490e-01 -5.64706476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464203822 meters 0.015165690508442447 Centerline is valid? [True, True] Translation: X:199.85, Y:-27.57, Z:-5.65 [[ 9.91418185e-01 1.30205590e-01 1.16827274e-02 1.99851972e+02] [-1.30195887e-01 9.91487015e-01 -1.59051485e-03 -2.75746830e+01] [-1.17903665e-02 5.58222838e-05 9.99930490e-01 -5.64786893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.494203822 meters 0.019007705308240728 Centerline is valid? [True, True] Translation: X:199.88, Y:-27.58, Z:-5.65 [[ 9.91430680e-01 1.30163194e-01 1.10792851e-02 1.99881563e+02] [-1.30154475e-01 9.91492582e-01 -1.50751567e-03 -2.75783117e+01] [-1.11812520e-02 5.25787527e-05 9.99937486e-01 -5.64893303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524203822 meters 0.01504589738394639 Centerline is valid? [True, True] Translation: X:199.91, Y:-27.58, Z:-5.65 [[ 9.91270765e-01 1.31439485e-01 1.02923610e-02 1.99910469e+02] [-1.31432028e-01 9.91324196e-01 -1.40045366e-03 -2.75813323e+01] [-1.03871413e-02 3.54828940e-05 9.99946052e-01 -5.65180156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.554203822 meters 0.014636619747900769 Centerline is valid? [True, True] Translation: X:199.94, Y:-27.58, Z:-5.65 [[ 9.91195070e-01 1.32060397e-01 9.61174633e-03 1.99939447e+02] [-1.32053924e-01 9.91241671e-01 -1.30779679e-03 -2.75845346e+01] [-9.70027166e-03 2.70129149e-05 9.99952951e-01 -5.65202885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.584203822 meters 0.015113559002979945 Centerline is valid? [True, True] Translation: X:199.97, Y:-27.59, Z:-5.66 [[ 9.91129541e-01 1.32520002e-01 1.00340023e-02 1.99966844e+02] [-1.32512975e-01 9.91180331e-01 -1.36490861e-03 -2.75908048e+01] [-1.01263834e-02 2.31657528e-05 9.99948727e-01 -5.65545166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.614203822 meters 0.01597508689007179 Centerline is valid? [True, True] Translation: X:199.99, Y:-27.60, Z:-5.66 [[ 9.91195698e-01 1.32013971e-01 1.01685899e-02 1.99994070e+02] [-1.32006734e-01 9.91247855e-01 -1.38258292e-03 -2.75970594e+01] [-1.02621132e-02 2.80878915e-05 9.99947343e-01 -5.65845232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.644203822 meters 0.015512037004089117 Centerline is valid? [True, True] Translation: X:200.02, Y:-27.60, Z:-5.66 [[ 9.91301120e-01 1.31251031e-01 9.75988678e-03 2.00023534e+02] [-1.31244340e-01 9.91349164e-01 -1.32571648e-03 -2.76030122e+01] [-9.84945726e-03 3.32543316e-05 9.99951492e-01 -5.65748550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.674203822 meters 0.015904990450109586 Centerline is valid? [True, True] Translation: X:200.05, Y:-27.61, Z:-5.66 [[ 9.91638328e-01 1.28704390e-01 9.41306035e-03 2.00052161e+02] [-1.28698053e-01 9.91683002e-01 -1.27842498e-03 -2.76128634e+01] [-9.49931086e-03 5.62926671e-05 9.99954879e-01 -5.65700702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.704203822 meters 0.016322713530074234 Centerline is valid? [True, True] Translation: X:200.08, Y:-27.62, Z:-5.66 [[ 9.91809188e-01 1.27376699e-01 9.47159888e-03 2.00080966e+02] [-1.27370225e-01 9.91854411e-01 -1.28613708e-03 -2.76204255e+01] [-9.55827102e-03 6.92028906e-05 9.99954316e-01 -5.65755924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.734203822 meters 0.018213620477424367 Centerline is valid? [True, True] Translation: X:200.11, Y:-27.63, Z:-5.66 [[ 9.92118728e-01 1.24883361e-01 1.02261943e-02 2.00109404e+02] [-1.24875687e-01 9.92171425e-01 -1.38806497e-03 -2.76332392e+01] [-1.03194840e-02 1.00122227e-04 9.99946748e-01 -5.65889349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.764203822 meters 0.017975125918964538 Centerline is valid? [True, True] Translation: X:200.14, Y:-27.64, Z:-5.66 [[ 9.92208689e-01 1.24194222e-01 9.88493879e-03 2.00140093e+02] [-1.24187025e-01 9.92257922e-01 -1.34094842e-03 -2.76414868e+01] [-9.97494688e-03 1.02919535e-04 9.99950244e-01 -5.65804247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79420382200001 meters 0.018651522590591996 Centerline is valid? [True, True] Translation: X:200.17, Y:-27.65, Z:-5.66 [[ 9.92227122e-01 1.24056162e-01 9.76761676e-03 2.00169686e+02] [-1.24049123e-01 9.92275193e-01 -1.32549992e-03 -2.76501986e+01] [-9.85660023e-03 1.03532680e-04 9.99951417e-01 -5.65992530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82420382200002 meters 0.018084427727936586 Centerline is valid? [True, True] Translation: X:200.20, Y:-27.66, Z:-5.66 [[ 9.92005848e-01 1.25870809e-01 8.99645980e-03 2.00199563e+02] [-1.25864912e-01 9.92046639e-01 -1.22093978e-03 -2.76555695e+01] [-9.07858839e-03 7.88407791e-05 9.99958786e-01 -5.66249487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85420382200002 meters 0.01667231004238926 Centerline is valid? [True, True] Translation: X:200.23, Y:-27.66, Z:-5.66 [[ 9.91803500e-01 1.27468462e-01 8.80954872e-03 2.00230457e+02] [-1.27462867e-01 9.91842622e-01 -1.19591152e-03 -2.76574445e+01] [-8.89012691e-03 6.32188907e-05 9.99960480e-01 -5.66224640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88420382200002 meters 0.014701430976377685 Centerline is valid? [True, True] Translation: X:200.26, Y:-27.66, Z:-5.66 [[ 9.91272027e-01 1.31533704e-01 8.86872013e-03 2.00259828e+02] [-1.31528192e-01 9.91311699e-01 -1.20443571e-03 -2.76585208e+01] [-8.95008991e-03 2.74366993e-05 9.99959947e-01 -5.66238900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91420382200002 meters 0.015128203912629229 Centerline is valid? [True, True] Translation: X:200.29, Y:-27.66, Z:-5.67 [[ 9.91004611e-01 1.33501969e-01 9.33194784e-03 2.00287972e+02] [-1.33495955e-01 9.91048548e-01 -1.26730514e-03 -2.76616564e+01] [-9.41760109e-03 1.01279566e-05 9.99955653e-01 -5.66573405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94420382200002 meters 0.014297627137806487 Centerline is valid? [True, True] Translation: X:200.32, Y:-27.66, Z:-5.66 [[ 9.90739494e-01 1.35423747e-01 9.78082239e-03 2.00318313e+02] [-1.35417244e-01 9.90787772e-01 -1.32714143e-03 -2.76644547e+01] [-9.87044568e-03 -9.64058209e-06 9.99951286e-01 -5.66349486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97420382200002 meters 0.028800504611695612 Centerline is valid? [True, True] Translation: X:200.35, Y:-27.67, Z:-5.67 [[ 9.90280426e-01 1.38695989e-01 1.03971444e-02 2.00348078e+02] [-1.38688824e-01 9.90335004e-01 -1.41050951e-03 -2.76657365e+01] [-1.04922880e-02 -4.51677725e-05 9.99944953e-01 -5.66589341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00420382200002 meters 0.015573557295727394 Centerline is valid? [True, True] Translation: X:200.38, Y:-27.67, Z:-5.66 [[ 9.90112196e-01 1.39804781e-01 1.15092673e-02 2.00377282e+02] [-1.39796068e-01 9.90179084e-01 -1.56204585e-03 -2.76683203e+01] [-1.16146173e-02 -6.23496800e-05 9.99932546e-01 -5.66424667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03420382200002 meters 0.016394754726376706 Centerline is valid? [True, True] Translation: X:200.41, Y:-27.67, Z:-5.66 [[ 9.89856184e-01 1.41563360e-01 1.20229279e-02 2.00406420e+02] [-1.41553982e-01 9.89929193e-01 -1.63178283e-03 -2.76715137e+01] [-1.21328480e-02 -8.66629979e-05 9.99926391e-01 -5.66381479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064203822 meters 0.01710370426026971 Centerline is valid? [True, True] Translation: X:200.44, Y:-27.68, Z:-5.67 [[ 9.89803801e-01 1.41917230e-01 1.21628752e-02 2.00435239e+02] [-1.41907660e-01 9.89878524e-01 -1.65066579e-03 -2.76754236e+01] [-1.22740269e-02 -9.21698816e-05 9.99924667e-01 -5.66555260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.094203822 meters 0.016996314097709592 Centerline is valid? [True, True] Translation: X:200.46, Y:-27.68, Z:-5.67 [[ 9.89774164e-01 1.42167746e-01 1.16377295e-02 2.00463880e+02] [-1.42159007e-01 9.89842575e-01 -1.57902008e-03 -2.76813877e+01] [-1.17440059e-02 -9.15347848e-05 9.99931033e-01 -5.66612756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124203822 meters 0.016089096300343792 Centerline is valid? [True, True] Translation: X:200.49, Y:-27.69, Z:-5.67 [[ 9.89847464e-01 1.41671133e-01 1.14581344e-02 2.00493528e+02] [-1.41662639e-01 9.89913775e-01 -1.55365878e-03 -2.76933646e+01] [-1.15626737e-02 -8.53043573e-05 9.99933146e-01 -5.66602647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.154203822 meters 0.015735365482255553 Centerline is valid? [True, True] Translation: X:200.52, Y:-27.70, Z:-5.67 [[ 9.89941045e-01 1.41017648e-01 1.14346291e-02 2.00523219e+02] [-1.41009146e-01 9.90007079e-01 -1.55047159e-03 -2.77005544e+01] [-1.15390076e-02 -7.75118135e-05 9.99933420e-01 -5.66678067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184203822 meters 0.015167469390028172 Centerline is valid? [True, True] Translation: X:200.55, Y:-27.71, Z:-5.67 [[ 9.90137651e-01 1.39592706e-01 1.18873349e-02 2.00552528e+02] [-1.39583412e-01 9.90209004e-01 -1.61205678e-03 -2.77064314e+01] [-1.19959775e-02 -6.31166558e-05 9.99928044e-01 -5.66801759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.214203822 meters 0.014619860970804479 Centerline is valid? [True, True] Translation: X:200.58, Y:-27.71, Z:-5.67 [[ 9.90228309e-01 1.38974739e-01 1.15722724e-02 2.00583373e+02] [-1.38965898e-01 9.90295925e-01 -1.56857847e-03 -2.77133327e+01] [-1.16779670e-02 -5.49004111e-05 9.99931809e-01 -5.66806980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244203822 meters 0.014111539518147474 Centerline is valid? [True, True] Translation: X:200.61, Y:-27.73, Z:-5.67 [[ 9.90375882e-01 1.37946294e-01 1.12442175e-02 2.00613826e+02] [-1.37937907e-01 9.90439709e-01 -1.52178433e-03 -2.77272457e+01] [-1.13466440e-02 -4.38653259e-05 9.99935624e-01 -5.66878797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.274203822 meters 0.023510405222757873 Centerline is valid? [True, True] Translation: X:200.64, Y:-27.74, Z:-5.67 [[ 9.90424850e-01 1.37578626e-01 1.14340942e-02 2.00644206e+02] [-1.37569889e-01 9.90490848e-01 -1.55091442e-03 -2.77355245e+01] [-1.15387384e-02 -3.69228883e-05 9.99933426e-01 -5.67447177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.304203822 meters 0.013935775216145273 Centerline is valid? [True, True] Translation: X:200.68, Y:-27.74, Z:-5.67 [[ 9.90468650e-01 1.37256769e-01 1.15079728e-02 2.00675178e+02] [-1.37247898e-01 9.90535501e-01 -1.56083653e-03 -2.77439561e+01] [-1.16132909e-02 -3.34854230e-05 9.99932563e-01 -5.67065547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.334203822 meters 0.014707505468125357 Centerline is valid? [True, True] Translation: X:200.71, Y:-27.75, Z:-5.67 [[ 9.90481833e-01 1.37102617e-01 1.21906294e-02 2.00705133e+02] [-1.37092619e-01 9.90556849e-01 -1.65608124e-03 -2.77519897e+01] [-1.23025645e-02 -3.09269235e-05 9.99924320e-01 -5.67381363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.364203822 meters 0.01426657008220804 Centerline is valid? [True, True] Translation: X:200.74, Y:-27.76, Z:-5.67 [[ 9.90425644e-01 1.37535567e-01 1.18748629e-02 2.00736370e+02] [-1.37526090e-01 9.90496828e-01 -1.61490129e-03 -2.77584694e+01] [-1.19841204e-02 -3.36638098e-05 9.99928187e-01 -5.67279435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.394203822 meters 0.014484626318785556 Centerline is valid? [True, True] Translation: X:200.77, Y:-27.77, Z:-5.67 [[ 9.90255358e-01 1.38814121e-01 1.11787824e-02 2.00767875e+02] [-1.38805786e-01 9.90318453e-01 -1.52177537e-03 -2.77650533e+01] [-1.12817984e-02 -4.47334618e-05 9.99936357e-01 -5.67350993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.424203822 meters 0.019259826852210542 Centerline is valid? [True, True] Translation: X:200.80, Y:-27.77, Z:-5.68 [[ 9.90126903e-01 1.39771660e-01 1.06112277e-02 2.00799457e+02] [-1.39764189e-01 9.90183761e-01 -1.44607262e-03 -2.77704021e+01] [-1.07091853e-02 -5.12742204e-05 9.99942654e-01 -5.67713889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.454203822 meters 0.0159755559455327 Centerline is valid? [True, True] Translation: X:200.83, Y:-27.78, Z:-5.68 [[ 9.89965574e-01 1.40909678e-01 1.06124675e-02 2.00830782e+02] [-1.40902252e-01 9.90022454e-01 -1.44789534e-03 -2.77760237e+01] [-1.07106036e-02 -6.19540428e-05 9.99942638e-01 -5.67873007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.484203822 meters 0.016076127273348912 Centerline is valid? [True, True] Translation: X:200.86, Y:-27.78, Z:-5.68 [[ 9.89831963e-01 1.41896032e-01 9.90960845e-03 2.00862103e+02] [-1.41889589e-01 9.89881565e-01 -1.35381650e-03 -2.77833248e+01] [-1.00014399e-02 -6.60194266e-05 9.99949982e-01 -5.67876868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.514203822 meters 0.02272247049319389 Centerline is valid? [True, True] Translation: X:200.89, Y:-27.79, Z:-5.68 [[ 9.89577706e-01 1.43717585e-01 9.01216564e-03 2.00893819e+02] [-1.43712321e-01 9.89618740e-01 -1.23231880e-03 -2.77904521e+01] [-9.09571389e-03 -7.56840302e-05 9.99958630e-01 -5.68266776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54420382200001 meters 0.017561050952841918 Centerline is valid? [True, True] Translation: X:200.93, Y:-27.80, Z:-5.68 [[ 9.89445993e-01 1.44610006e-01 9.19630994e-03 2.00925770e+02] [-1.44604549e-01 9.89488726e-01 -1.25917712e-03 -2.77955262e+01] [-9.28173462e-03 -8.39404871e-05 9.99956920e-01 -5.68122070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57420382200002 meters 0.01875934686032969 Centerline is valid? [True, True] Translation: X:200.96, Y:-27.80, Z:-5.68 [[ 9.89148733e-01 1.46654742e-01 8.78474490e-03 2.00957605e+02] [-1.46649831e-01 9.89187736e-01 -1.20409717e-03 -2.78012812e+01] [-8.86634848e-03 -9.72501595e-05 9.99960688e-01 -5.68209697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60420382200002 meters 0.01986346859963484 Centerline is valid? [True, True] Translation: X:200.99, Y:-27.81, Z:-5.68 [[ 9.88969388e-01 1.47800260e-01 9.72790316e-03 2.00988966e+02] [-1.47794270e-01 9.89017224e-01 -1.33581418e-03 -2.78054077e+01] [-9.81849746e-03 -1.16649005e-04 9.99951791e-01 -5.68283633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63420382200002 meters 0.02047440249610747 Centerline is valid? [True, True] Translation: X:201.02, Y:-27.81, Z:-5.68 [[ 9.88737758e-01 1.49212171e-01 1.15487213e-02 2.01020651e+02] [-1.49203795e-01 9.88805190e-01 -1.58839030e-03 -2.78098739e+01] [-1.16564427e-02 -1.52611574e-04 9.99932050e-01 -5.68066196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66420382200002 meters 0.023177182339786394 Centerline is valid? [True, True] Translation: X:201.05, Y:-27.81, Z:-5.68 [[ 9.88123023e-01 1.53058692e-01 1.36355716e-02 2.01052373e+02] [-1.53047322e-01 9.88217073e-01 -1.87963920e-03 -2.78128004e+01] [-1.37625998e-02 -2.29572959e-04 9.99905265e-01 -5.67663530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69420382200002 meters 0.02602191449626032 Centerline is valid? [True, True] Translation: X:201.08, Y:-27.81, Z:-5.68 [[ 9.87752774e-01 1.55426794e-01 1.36736524e-02 2.01083554e+02] [-1.55415583e-01 9.87847378e-01 -1.88521686e-03 -2.78136626e+01] [-1.38004949e-02 -2.62970478e-04 9.99904734e-01 -5.67761140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72420382200002 meters 0.028345929199726453 Centerline is valid? [True, True] Translation: X:201.12, Y:-27.81, Z:-5.67 [[ 9.86985905e-01 1.60149350e-01 1.45261628e-02 2.01115262e+02] [-1.60137145e-01 9.87092735e-01 -2.00701513e-03 -2.78138815e+01] [-1.46600919e-02 -3.45282592e-04 9.99892475e-01 -5.67490546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75420382200002 meters 0.02954009434245962 Centerline is valid? [True, True] Translation: X:201.15, Y:-27.82, Z:-5.67 [[ 9.86591892e-01 1.62531753e-01 1.48279333e-02 2.01147497e+02] [-1.62519329e-01 9.86703237e-01 -2.04712620e-03 -2.78166840e+01] [-1.49634928e-02 -3.90147661e-04 9.99887965e-01 -5.67488819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78420382200002 meters 0.03751055374350011 Centerline is valid? [True, True] Translation: X:201.18, Y:-27.81, Z:-5.68 [[ 9.85992693e-01 1.66252435e-01 1.33617844e-02 2.01179101e+02] [-1.66242631e-01 9.86083145e-01 -1.84889148e-03 -2.78086687e+01] [-1.34832131e-02 -3.98304695e-04 9.99909018e-01 -5.68076786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814203822 meters 0.037893748713410266 Centerline is valid? [True, True] Translation: X:201.21, Y:-27.81, Z:-5.68 [[ 9.85782993e-01 1.67554635e-01 1.25432925e-02 2.01209503e+02] [-1.67546097e-01 9.85862715e-01 -1.73596088e-03 -2.78108271e+01] [-1.26568327e-02 -3.90298984e-04 9.99919823e-01 -5.68229513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844203822 meters 0.03785513312314729 Centerline is valid? [True, True] Translation: X:201.24, Y:-27.81, Z:-5.68 [[ 9.85643133e-01 1.68401631e-01 1.21863021e-02 2.01239282e+02] [-1.68393634e-01 9.85718387e-01 -1.68674539e-03 -2.78143518e+01] [-1.22963127e-02 -3.89566685e-04 9.99924322e-01 -5.68333349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.874203822 meters 0.04304246318226106 Centerline is valid? [True, True] Translation: X:201.27, Y:-27.81, Z:-5.69 [[ 9.85560378e-01 1.68891974e-01 1.20930971e-02 2.01268064e+02] [-1.68884142e-01 9.85634489e-01 -1.67340572e-03 -2.78114540e+01] [-1.22019983e-02 -3.93089939e-04 9.99925476e-01 -5.68717527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904203822 meters 0.0405750803617312 Centerline is valid? [True, True] Translation: X:201.30, Y:-27.82, Z:-5.69 [[ 9.85548796e-01 1.69015606e-01 1.12825137e-02 2.01297730e+02] [-1.69008789e-01 9.85613306e-01 -1.56180121e-03 -2.78155693e+01] [-1.13841644e-02 -3.67612677e-04 9.99935131e-01 -5.68669787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.934203822 meters 0.03802980528913861 Centerline is valid? [True, True] Translation: X:201.33, Y:-27.82, Z:-5.69 [[ 9.85652812e-01 1.68415452e-01 1.11700450e-02 2.01326446e+02] [-1.68408731e-01 9.85716038e-01 -1.54639810e-03 -2.78167776e+01] [-1.12709299e-02 -3.56921471e-04 9.99936417e-01 -5.68609893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964203822 meters 0.038289796844533465 Centerline is valid? [True, True] Translation: X:201.35, Y:-27.82, Z:-5.69 [[ 9.85768688e-01 1.67678243e-01 1.20042310e-02 2.01354281e+02] [-1.67670431e-01 9.85841705e-01 -1.66139659e-03 -2.78172382e+01] [-1.21128516e-02 -3.75001844e-04 9.99926566e-01 -5.68644991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.994203822 meters 0.03785785524537531 Centerline is valid? [True, True] Translation: X:201.38, Y:-27.82, Z:-5.69 [[ 9.85917941e-01 1.66785305e-01 1.21850180e-02 2.01383068e+02] [-1.66777200e-01 9.85993167e-01 -1.68546552e-03 -2.78187234e+01] [-1.22954554e-02 -3.70452490e-04 9.99924339e-01 -5.68636453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024203822 meters 0.036472466425164884 Centerline is valid? [True, True] Translation: X:201.41, Y:-27.82, Z:-5.69 [[ 9.86112831e-01 1.65609906e-01 1.24435908e-02 2.01411725e+02] [-1.65601367e-01 9.86191273e-01 -1.72061868e-03 -2.78213940e+01] [-1.25567121e-02 -3.63951485e-04 9.99921095e-01 -5.68645679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.054203822 meters 0.031080510600361353 Centerline is valid? [True, True] Translation: X:201.44, Y:-27.83, Z:-5.69 [[ 9.86611292e-01 1.62656901e-01 1.18697838e-02 2.01441292e+02] [-1.62648931e-01 9.86682641e-01 -1.64020967e-03 -2.78283434e+01] [-1.19785010e-02 -3.12358268e-04 9.99928206e-01 -5.68587608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.084203822 meters 0.03105675558798412 Centerline is valid? [True, True] Translation: X:201.47, Y:-27.83, Z:-5.69 [[ 9.86886497e-01 1.60972366e-01 1.19557541e-02 2.01469753e+02] [-1.60964157e-01 9.86958870e-01 -1.65200033e-03 -2.78301388e+01] [-1.20657639e-02 -2.94111066e-04 9.99927163e-01 -5.68813319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.114203822 meters 0.02785878545275464 Centerline is valid? [True, True] Translation: X:201.50, Y:-27.83, Z:-5.69 [[ 9.87406416e-01 1.57767343e-01 1.17487972e-02 2.01499385e+02] [-1.57759190e-01 9.87476280e-01 -1.62335442e-03 -2.78326752e+01] [-1.18577709e-02 -2.50570162e-04 9.99929663e-01 -5.68913282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.144203822 meters 0.025916126519750553 Centerline is valid? [True, True] Translation: X:201.53, Y:-27.84, Z:-5.69 [[ 9.87645056e-01 1.56273851e-01 1.16501983e-02 2.01529299e+02] [-1.56265736e-01 9.87713739e-01 -1.60926101e-03 -2.78363467e+01] [-1.17585464e-02 -2.31148141e-04 9.99930839e-01 -5.68892228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.174203822 meters 0.023983397144686124 Centerline is valid? [True, True] Translation: X:201.56, Y:-27.84, Z:-5.69 [[ 9.87893589e-01 1.54692828e-01 1.16784160e-02 2.01558406e+02] [-1.54684563e-01 9.87962592e-01 -1.61322193e-03 -2.78397780e+01] [-1.17873920e-02 -2.12779074e-04 9.99930504e-01 -5.68927729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.204203822 meters 0.023187055417447266 Centerline is valid? [True, True] Translation: X:201.59, Y:-27.84, Z:-5.69 [[ 9.88307534e-01 1.52070398e-01 1.10821116e-02 2.01587493e+02] [-1.52062790e-01 9.88369650e-01 -1.53082211e-03 -2.78386659e+01] [-1.11860155e-02 -1.72253780e-04 9.99937420e-01 -5.69303820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.234203822 meters 0.022846603290509936 Centerline is valid? [True, True] Translation: X:201.62, Y:-27.84, Z:-5.69 [[ 9.88504136e-01 1.50825737e-01 1.05437177e-02 2.01616727e+02] [-1.50818786e-01 9.88560354e-01 -1.45589477e-03 -2.78427817e+01] [-1.06426877e-02 -1.51032703e-04 9.99943354e-01 -5.69349195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.264203822 meters 0.02090526031259866 Centerline is valid? [True, True] Translation: X:201.65, Y:-27.84, Z:-5.70 [[ 9.88918271e-01 1.48070433e-01 1.07610018e-02 2.01645564e+02] [-1.48063034e-01 9.88976810e-01 -1.48549348e-03 -2.78432151e+01] [-1.08623389e-02 -1.24274925e-04 9.99940995e-01 -5.69602354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29420382200001 meters 0.01893829643555038 Centerline is valid? [True, True] Translation: X:201.68, Y:-27.85, Z:-5.70 [[ 9.89081893e-01 1.46979085e-01 1.06844820e-02 2.01675384e+02] [-1.46971727e-01 9.89139594e-01 -1.47486373e-03 -2.78471609e+01] [-1.07852183e-02 -1.11555758e-04 9.99941832e-01 -5.69502238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32420382200002 meters 0.017755107330553806 Centerline is valid? [True, True] Translation: X:201.71, Y:-27.85, Z:-5.69 [[ 9.89213934e-01 1.46134737e-01 1.00215655e-02 2.01705147e+02] [-1.46128222e-01 9.89264691e-01 -1.38317478e-03 -2.78499921e+01] [-1.01161108e-02 -9.61777862e-05 9.99948826e-01 -5.69450078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35420382200002 meters 0.018169347659971427 Centerline is valid? [True, True] Translation: X:201.73, Y:-27.85, Z:-5.70 [[ 9.89297367e-01 1.45596454e-01 9.61211119e-03 2.01733536e+02] [-1.45590430e-01 9.89344058e-01 -1.32723880e-03 -2.78499793e+01] [-9.70292636e-03 -8.63975432e-05 9.99952922e-01 -5.69683252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38420382200002 meters 0.01816636354471986 Centerline is valid? [True, True] Translation: X:201.76, Y:-27.85, Z:-5.70 [[ 9.89402030e-01 1.44904935e-01 9.28351377e-03 2.01762136e+02] [-1.44899292e-01 9.89445579e-01 -1.28117349e-03 -2.78481083e+01] [-9.37118002e-03 -7.75789144e-05 9.99956087e-01 -5.69850473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41420382200002 meters 0.01816636354471986 Centerline is valid? [True, True] Translation: X:201.79, Y:-27.85, Z:-5.70 [[ 9.89408817e-01 1.44858576e-01 9.28362157e-03 2.01790207e+02] [-1.44852938e-01 9.89452367e-01 -1.28039146e-03 -2.78518846e+01] [-9.37117702e-03 -7.79292576e-05 9.99956087e-01 -5.69930895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44420382200002 meters 0.01796691947908064 Centerline is valid? [True, True] Translation: X:201.82, Y:-27.85, Z:-5.70 [[ 9.89459659e-01 1.44527888e-01 9.01514894e-03 2.01818960e+02] [-1.44522561e-01 9.89500725e-01 -1.24297701e-03 -2.78531112e+01] [-9.10014126e-03 -7.30168025e-05 9.99958590e-01 -5.70012712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47420382200002 meters 0.018035286325195514 Centerline is valid? [True, True] Translation: X:201.85, Y:-27.85, Z:-5.70 [[ 9.89546031e-01 1.43955806e-01 8.68204121e-03 2.01847508e+02] [-1.43950844e-01 9.89584115e-01 -1.19701033e-03 -2.78510647e+01] [-8.76392666e-03 -6.52903439e-05 9.99961594e-01 -5.70197528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50420382200002 meters 0.017678921290717825 Centerline is valid? [True, True] Translation: X:201.88, Y:-27.85, Z:-5.70 [[ 9.89616964e-01 1.43465731e-01 8.70911051e-03 2.01876170e+02] [-1.43460727e-01 9.89655284e-01 -1.19983920e-03 -2.78521848e+01] [-8.79115304e-03 -6.20340966e-05 9.99961355e-01 -5.70266975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53420382200002 meters 0.016348564087654997 Centerline is valid? [True, True] Translation: X:201.91, Y:-27.85, Z:-5.70 [[ 9.89740916e-01 1.42653608e-01 7.92895522e-03 2.01905352e+02] [-1.42649436e-01 9.89772674e-01 -1.09215656e-03 -2.78546629e+01] [-8.00366328e-03 -5.01089542e-05 9.99967969e-01 -5.70124269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564203822 meters 0.015897497260207442 Centerline is valid? [True, True] Translation: X:201.93, Y:-27.86, Z:-5.70 [[ 9.90214081e-01 1.39301183e-01 8.44118901e-03 2.01933272e+02] [-1.39296335e-01 9.90250059e-01 -1.16244177e-03 -2.78571875e+01] [-8.52081743e-03 -2.47604837e-05 9.99963697e-01 -5.70462999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.594203822 meters 0.015627311160736682 Centerline is valid? [True, True] Translation: X:201.96, Y:-27.86, Z:-5.71 [[ 9.90565698e-01 1.36793912e-01 8.18675309e-03 2.01960108e+02] [-1.36789271e-01 9.90599528e-01 -1.12687464e-03 -2.78627999e+01] [-8.26394334e-03 -3.61661832e-06 9.99965853e-01 -5.70601806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624203822 meters 0.015329295058780725 Centerline is valid? [True, True] Translation: X:201.99, Y:-27.87, Z:-5.70 [[ 9.91145989e-01 1.32550392e-01 7.74739551e-03 2.01989334e+02] [-1.32546114e-01 9.91176267e-01 -1.06532098e-03 -2.78707099e+01] [-7.82024327e-03 2.90014425e-05 9.99969421e-01 -5.70342852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.654203822 meters 0.021832521937701743 Centerline is valid? [True, True] Translation: X:202.02, Y:-27.88, Z:-5.71 [[ 9.91308473e-01 1.31316407e-01 7.96949737e-03 2.02017013e+02] [-1.31311836e-01 9.91340506e-01 -1.09638743e-03 -2.78754403e+01] [-8.04445922e-03 4.03688201e-05 9.99967642e-01 -5.70783380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684203822 meters 0.01689979473877907 Centerline is valid? [True, True] Translation: X:202.04, Y:-27.88, Z:-5.71 [[ 9.91452967e-01 1.30217112e-01 8.03226527e-03 2.02044589e+02] [-1.30212437e-01 9.91485502e-01 -1.10445878e-03 -2.78768526e+01] [-8.10769400e-03 4.91180938e-05 9.99967131e-01 -5.70606250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.714203822 meters 0.015711868605357768 Centerline is valid? [True, True] Translation: X:202.07, Y:-27.88, Z:-5.70 [[ 9.91422717e-01 1.30456790e-01 7.87543480e-03 2.02073931e+02] [-1.30452309e-01 9.91453995e-01 -1.08227266e-03 -2.78769295e+01] [-7.94932111e-03 4.56210457e-05 9.99968403e-01 -5.70396586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744203822 meters 0.015883268545642683 Centerline is valid? [True, True] Translation: X:202.10, Y:-27.88, Z:-5.71 [[ 9.91334184e-01 1.31133701e-01 7.77736835e-03 2.02101741e+02] [-1.31129352e-01 9.91364691e-01 -1.06867145e-03 -2.78783775e+01] [-7.85034722e-03 3.95692659e-05 9.99969185e-01 -5.70621294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.774203822 meters 0.015475229824907809 Centerline is valid? [True, True] Translation: X:202.13, Y:-27.88, Z:-5.71 [[ 9.91211823e-01 1.32062741e-01 7.65202050e-03 2.02131047e+02] [-1.32058565e-01 9.91241359e-01 -1.05073445e-03 -2.78797864e+01] [-7.72376207e-03 3.09855666e-05 9.99970171e-01 -5.70684415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.804203822 meters 0.01709756539931632 Centerline is valid? [True, True] Translation: X:202.16, Y:-27.88, Z:-5.71 [[ 9.91146752e-01 1.32530351e-01 7.98881560e-03 2.02158551e+02] [-1.32525815e-01 9.91178947e-01 -1.09684692e-03 -2.78828498e+01] [-8.06371134e-03 2.84119658e-05 9.99967487e-01 -5.71338908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.834203822 meters 0.015323527321764488 Centerline is valid? [True, True] Translation: X:202.19, Y:-27.88, Z:-5.71 [[ 9.91187253e-01 1.32227932e-01 7.97517098e-03 2.02187252e+02] [-1.32223408e-01 9.91219337e-01 -1.09412661e-03 -2.78836073e+01] [-8.04981778e-03 2.99800635e-05 9.99967599e-01 -5.70816172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.864203822 meters 0.016008251075936186 Centerline is valid? [True, True] Translation: X:202.22, Y:-27.89, Z:-5.71 [[ 9.91284807e-01 1.31465377e-01 8.44306100e-03 2.02215060e+02] [-1.31460282e-01 9.91320762e-01 -1.15805073e-03 -2.78880991e+01] [-8.52202524e-03 3.80309175e-05 9.99963686e-01 -5.71050338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.894203822 meters 0.015593480235736812 Centerline is valid? [True, True] Translation: X:202.24, Y:-27.89, Z:-5.71 [[ 9.91396774e-01 1.30605789e-01 8.63503790e-03 2.02244026e+02] [-1.30600434e-01 9.91434378e-01 -1.18358059e-03 -2.78921681e+01] [-8.71565591e-03 4.56582813e-05 9.99962017e-01 -5.70849671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.924203822 meters 0.016745788936959445 Centerline is valid? [True, True] Translation: X:202.27, Y:-27.90, Z:-5.71 [[ 9.91646076e-01 1.28666403e-01 9.11130411e-03 2.02270899e+02] [-1.28660362e-01 9.91687931e-01 -1.24856206e-03 -2.78980586e+01] [-9.19621831e-03 6.58679893e-05 9.99957712e-01 -5.70969426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.954203822 meters 0.017958952414019035 Centerline is valid? [True, True] Translation: X:202.30, Y:-27.90, Z:-5.71 [[ 9.91738993e-01 1.27910627e-01 9.62503400e-03 2.02298367e+02] [-1.27903857e-01 9.91785695e-01 -1.31825301e-03 -2.79034391e+01] [-9.71458961e-03 7.62839390e-05 9.99952809e-01 -5.71176587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.984203822 meters 0.016269784226432445 Centerline is valid? [True, True] Translation: X:202.33, Y:-27.91, Z:-5.71 [[ 9.91748857e-01 1.27797541e-01 1.00991345e-02 2.02327426e+02] [-1.27790090e-01 9.91800273e-01 -1.38230094e-03 -2.79060399e+01] [-1.01929790e-02 8.03260729e-05 9.99948047e-01 -5.70797635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.014203822 meters 0.01566694865345571 Centerline is valid? [True, True] Translation: X:202.36, Y:-27.91, Z:-5.71 [[ 9.91497220e-01 1.29616753e-01 1.15221794e-02 2.02355783e+02] [-1.29607189e-01 9.91564165e-01 -1.57610297e-03 -2.79106769e+01] [-1.16292695e-02 6.93444350e-05 9.99932375e-01 -5.70897885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04420382200001 meters 0.014337816977825591 Centerline is valid? [True, True] Translation: X:202.39, Y:-27.91, Z:-5.71 [[ 9.91246335e-01 1.31477776e-01 1.20124102e-02 2.02385200e+02] [-1.31467526e-01 9.91319117e-01 -1.64246018e-03 -2.79125507e+01] [-1.21240788e-02 4.88407943e-05 9.99926499e-01 -5.70740634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07420382200002 meters 0.013508194717352623 Centerline is valid? [True, True] Translation: X:202.41, Y:-27.91, Z:-5.71 [[ 9.90437928e-01 1.37419468e-01 1.21901434e-02 2.02414702e+02] [-1.37409363e-01 9.90512942e-01 -1.66666293e-03 -2.79071915e+01] [-1.23035268e-02 -2.43136623e-05 9.99924308e-01 -5.70658594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10420382200002 meters 0.01493769228274939 Centerline is valid? [True, True] Translation: X:202.44, Y:-27.90, Z:-5.71 [[ 9.89935758e-01 1.41007819e-01 1.19996231e-02 2.02444239e+02] [-1.40998293e-01 9.90008480e-01 -1.64038923e-03 -2.79042231e+01] [-1.21110363e-02 -6.80464282e-05 9.99926656e-01 -5.70818874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13420382200002 meters 0.01779416163608716 Centerline is valid? [True, True] Translation: X:202.47, Y:-27.90, Z:-5.71 [[ 9.89370770e-01 1.44924523e-01 1.19315411e-02 2.02472800e+02] [-1.44915395e-01 9.89442706e-01 -1.63069787e-03 -2.78999054e+01] [-1.20419044e-02 -1.15699177e-04 9.99927487e-01 -5.71022145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16420382200002 meters 0.025599856018583243 Centerline is valid? [True, True] Translation: X:202.50, Y:-27.89, Z:-5.71 [[ 9.88170131e-01 1.52853514e-01 1.24738169e-02 2.02503698e+02] [-1.52844180e-01 9.88248832e-01 -1.70382990e-03 -2.78863590e+01] [-1.25876714e-02 -2.22876506e-04 9.99920747e-01 -5.71144934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19420382200002 meters 0.02820223025150105 Centerline is valid? [True, True] Translation: X:202.53, Y:-27.88, Z:-5.71 [[ 9.87656181e-01 1.56174965e-01 1.20270049e-02 2.02533249e+02] [-1.56166544e-01 9.87729373e-01 -1.64196801e-03 -2.78846797e+01] [-1.21358603e-02 -2.56515944e-04 9.99926325e-01 -5.71172393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22420382200002 meters 0.032101768513659555 Centerline is valid? [True, True] Translation: X:202.56, Y:-27.88, Z:-5.71 [[ 9.87178621e-01 1.59178409e-01 1.18576615e-02 2.02562534e+02] [-1.59170442e-01 9.87249791e-01 -1.61866963e-03 -2.78818397e+01] [-1.19641311e-02 -2.89473170e-04 9.99928385e-01 -5.71341420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25420382200002 meters 0.03910024798358167 Centerline is valid? [True, True] Translation: X:202.59, Y:-27.87, Z:-5.72 [[ 9.86385142e-01 1.64016460e-01 1.19562675e-02 2.02593087e+02] [-1.64008728e-01 9.86457539e-01 -1.63106874e-03 -2.78714476e+01] [-1.20618723e-02 -3.52070256e-04 9.99927191e-01 -5.71508684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28420382200002 meters 0.03938470116196035 Centerline is valid? [True, True] Translation: X:202.62, Y:-27.87, Z:-5.71 [[ 9.86087410e-01 1.65784102e-01 1.21347594e-02 2.02621674e+02] [-1.65776261e-01 9.86161999e-01 -1.65617146e-03 -2.78714541e+01] [-1.22414054e-02 -3.78525213e-04 9.99925000e-01 -5.71484900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314203822 meters 0.0401079292749715 Centerline is valid? [True, True] Translation: X:202.65, Y:-27.87, Z:-5.72 [[ 9.85807825e-01 1.67515341e-01 1.10246306e-02 2.02652483e+02] [-1.67508998e-01 9.85869402e-01 -1.50278461e-03 -2.78671647e+01] [-1.11205854e-02 -3.65267995e-04 9.99938098e-01 -5.71649124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344203822 meters 0.042252860855373546 Centerline is valid? [True, True] Translation: X:202.68, Y:-27.86, Z:-5.72 [[ 9.85837577e-01 1.67332766e-01 1.11362794e-02 2.02681076e+02] [-1.67326278e-01 9.85900406e-01 -1.51834148e-03 -2.78637365e+01] [-1.12333307e-02 -3.66554103e-04 9.99936837e-01 -5.71917546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.374203822 meters 0.0396235267909539 Centerline is valid? [True, True] Translation: X:202.71, Y:-27.87, Z:-5.72 [[ 9.85982186e-01 1.66455485e-01 1.14761002e-02 2.02709978e+02] [-1.66448547e-01 9.86048901e-01 -1.56372279e-03 -2.78665052e+01] [-1.15762862e-02 -3.68377392e-04 9.99932925e-01 -5.71830688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404203822 meters 0.038244171340622406 Centerline is valid? [True, True] Translation: X:202.74, Y:-27.87, Z:-5.72 [[ 9.86256714e-01 1.64806568e-01 1.16828945e-02 2.02739036e+02] [-1.64799248e-01 9.86325844e-01 -1.59309576e-03 -2.78682111e+01] [-1.17856934e-02 -3.54130834e-04 9.99930484e-01 -5.71973666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.434203822 meters 0.03321270077258063 Centerline is valid? [True, True] Translation: X:202.77, Y:-27.87, Z:-5.72 [[ 9.87085535e-01 1.59765893e-01 1.17049679e-02 2.02767847e+02] [-1.59758238e-01 9.87154887e-01 -1.59209096e-03 -2.78725865e+01] [-1.18089781e-02 -2.98435087e-04 9.99930227e-01 -5.72156036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464203822 meters 0.031674273862433176 Centerline is valid? [True, True] Translation: X:202.80, Y:-27.88, Z:-5.72 [[ 9.87618967e-01 1.56408284e-01 1.20509396e-02 2.02796213e+02] [-1.56399923e-01 9.87692451e-01 -1.63902785e-03 -2.78752816e+01] [-1.21589796e-02 -2.66031036e-04 9.99926041e-01 -5.72395108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.494203822 meters 0.021347352553869523 Centerline is valid? [True, True] Translation: X:202.82, Y:-27.89, Z:-5.72 [[ 9.88691326e-01 1.49475003e-01 1.21113782e-02 2.02824699e+02] [-1.49466047e-01 9.88765488e-01 -1.64643595e-03 -2.78873937e+01] [-1.22214138e-02 -1.82422874e-04 9.99925299e-01 -5.72149412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524203822 meters 0.020349942445058472 Centerline is valid? [True, True] Translation: X:202.85, Y:-27.89, Z:-5.73 [[ 9.89271116e-01 1.45585587e-01 1.21447758e-02 2.02851904e+02] [-1.45576275e-01 9.89345652e-01 -1.65201381e-03 -2.78905954e+01] [-1.22558905e-02 -1.33701681e-04 9.99924885e-01 -5.72585853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.554203822 meters 0.017304556915593565 Centerline is valid? [True, True] Translation: X:202.88, Y:-27.90, Z:-5.73 [[ 9.89784659e-01 1.42055944e-01 1.21011117e-02 2.02879924e+02] [-1.42046456e-01 9.89858626e-01 -1.64437585e-03 -2.78973077e+01] [-1.22119832e-02 -9.13420459e-05 9.99925427e-01 -5.72610587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.584203822 meters 0.013749978158469107 Centerline is valid? [True, True] Translation: X:202.91, Y:-27.91, Z:-5.73 [[ 9.90751898e-01 1.35088153e-01 1.27226845e-02 2.02907663e+02] [-1.35077098e-01 9.90833584e-01 -1.72820200e-03 -2.79070490e+01] [-1.28395227e-02 -6.32388307e-06 9.99917570e-01 -5.72532211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.614203822 meters 0.013468185563336961 Centerline is valid? [True, True] Translation: X:202.94, Y:-27.91, Z:-5.72 [[ 9.91166532e-01 1.31980918e-01 1.30362080e-02 2.02935385e+02] [-1.31969046e-01 9.91252257e-01 -1.77053681e-03 -2.79128974e+01] [-1.31558477e-02 3.45208995e-05 9.99913457e-01 -5.72415794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.644203822 meters 0.014443997996419492 Centerline is valid? [True, True] Translation: X:202.96, Y:-27.92, Z:-5.73 [[ 9.91496063e-01 1.29489514e-01 1.29623319e-02 2.02962360e+02] [-1.29477578e-01 9.91580789e-01 -1.75937599e-03 -2.79181301e+01] [-1.30810200e-02 6.60830371e-05 9.99914438e-01 -5.72560045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.674203822 meters 0.016376219956013644 Centerline is valid? [True, True] Translation: X:202.99, Y:-27.92, Z:-5.73 [[ 9.91982597e-01 1.25713009e-01 1.29137817e-02 2.02990352e+02] [-1.25700854e-01 9.92066644e-01 -1.75183158e-03 -2.79235331e+01] [-1.30315601e-02 1.14513048e-04 9.99915079e-01 -5.72648994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.704203822 meters 0.017003800889422965 Centerline is valid? [True, True] Translation: X:203.02, Y:-27.93, Z:-5.73 [[ 9.92129182e-01 1.24522868e-01 1.31811145e-02 2.03018623e+02] [-1.24510109e-01 9.92216729e-01 -1.78743721e-03 -2.79267625e+01] [-1.33010991e-02 1.32186616e-04 9.99911528e-01 -5.72654779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.734203822 meters 0.017355382237925758 Centerline is valid? [True, True] Translation: X:203.05, Y:-27.93, Z:-5.73 [[ 9.92188984e-01 1.23964355e-01 1.39233456e-02 2.03047069e+02] [-1.23950072e-01 9.92286661e-01 -1.88750323e-03 -2.79270207e+01] [-1.40499332e-02 1.46960231e-04 9.99901284e-01 -5.72549882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.764203822 meters 0.016279776243325963 Centerline is valid? [True, True] Translation: X:203.08, Y:-27.93, Z:-5.72 [[ 9.92132609e-01 1.24392538e-01 1.41202619e-02 2.03075827e+02] [-1.24377906e-01 9.92233076e-01 -1.91318098e-03 -2.79275151e+01] [-1.42485764e-02 1.41880636e-04 9.99898474e-01 -5.72475399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79420382200001 meters 0.015672005377614193 Centerline is valid? [True, True] Translation: X:203.11, Y:-27.93, Z:-5.73 [[ 9.92027810e-01 1.25163499e-01 1.46602296e-02 2.03105172e+02] [-1.25147824e-01 9.92136120e-01 -1.98540623e-03 -2.79292807e+01] [-1.47934437e-02 1.34882361e-04 9.99890562e-01 -5.72553258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82420382200002 meters 0.014203078357170652 Centerline is valid? [True, True] Translation: X:203.13, Y:-27.93, Z:-5.73 [[ 9.91685895e-01 1.27707514e-01 1.58074604e-02 2.03133845e+02] [-1.27689619e-01 9.91811867e-01 -2.14041260e-03 -2.79272677e+01] [-1.59513736e-02 1.04168401e-04 9.99872763e-01 -5.72589012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85420382200002 meters 0.012945418893826064 Centerline is valid? [True, True] Translation: X:203.16, Y:-27.93, Z:-5.73 [[ 9.91458265e-01 1.29464269e-01 1.57959198e-02 2.03163192e+02] [-1.29446640e-01 9.91584085e-01 -2.13774831e-03 -2.79267221e+01] [-1.59397447e-02 7.47594915e-05 9.99872951e-01 -5.72553643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88420382200002 meters 0.012120032018156805 Centerline is valid? [True, True] Translation: X:203.19, Y:-27.92, Z:-5.73 [[ 9.90923301e-01 1.33407528e-01 1.65361064e-02 2.03191500e+02] [-1.33388769e-01 9.91061265e-01 -2.23718232e-03 -2.79231538e+01] [-1.66867515e-02 1.11452117e-05 9.99860766e-01 -5.72663184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91420382200002 meters 0.01212339118960135 Centerline is valid? [True, True] Translation: X:203.22, Y:-27.92, Z:-5.73 [[ 9.90611152e-01 1.35654509e-01 1.69528691e-02 2.03221180e+02] [-1.35635142e-01 9.90756203e-01 -2.29231720e-03 -2.79216503e+01] [-1.71071233e-02 -2.86098230e-05 9.99853662e-01 -5.72648261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94420382200002 meters 0.012808664975342162 Centerline is valid? [True, True] Translation: X:203.25, Y:-27.92, Z:-5.73 [[ 9.90358063e-01 1.37594079e-01 1.60865153e-02 2.03250567e+02] [-1.37576908e-01 9.90488701e-01 -2.17448818e-03 -2.79203596e+01] [-1.62327083e-02 -5.96111291e-05 9.99868239e-01 -5.72821311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97420382200002 meters 0.015721720124516187 Centerline is valid? [True, True] Translation: X:203.28, Y:-27.92, Z:-5.74 [[ 9.89853039e-01 1.41477358e-01 1.32332459e-02 2.03280033e+02] [-1.41466093e-01 9.89941487e-01 -1.78821200e-03 -2.79154056e+01] [-1.33531306e-02 -1.01988525e-04 9.99910838e-01 -5.73504598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00420382200002 meters 0.01712597006579136 Centerline is valid? [True, True] Translation: X:203.31, Y:-27.92, Z:-5.74 [[ 9.89585259e-01 1.43362979e-01 1.29642494e-02 2.03309152e+02] [-1.43352311e-01 9.89670168e-01 -1.75326713e-03 -2.79151053e+01] [-1.30816845e-02 -1.23447805e-04 9.99914423e-01 -5.73618168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03420382200002 meters 0.021413977452091434 Centerline is valid? [True, True] Translation: X:203.34, Y:-27.91, Z:-5.74 [[ 9.89014025e-01 1.47184399e-01 1.37116779e-02 2.03337830e+02] [-1.47172886e-01 9.89109052e-01 -1.85050655e-03 -2.79083556e+01] [-1.38347104e-02 -1.87810264e-04 9.99904278e-01 -5.73845305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06420382200002 meters 0.022257409079669645 Centerline is valid? [True, True] Translation: X:203.37, Y:-27.91, Z:-5.74 [[ 9.88777473e-01 1.48797983e-01 1.33517694e-02 2.03366860e+02] [-1.48787202e-01 9.88867594e-01 -1.80276031e-03 -2.79093800e+01] [-1.34713792e-02 -2.04043628e-04 9.99909236e-01 -5.73868251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.094203822 meters 0.02770265963815153 Centerline is valid? [True, True] Translation: X:203.40, Y:-27.90, Z:-5.74 [[ 9.88331442e-01 1.51686176e-01 1.38659556e-02 2.03395756e+02] [-1.51674889e-01 9.88428671e-01 -1.86810195e-03 -2.79007668e+01] [-1.39888733e-02 -2.56813377e-04 9.99902118e-01 -5.74058349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124203822 meters 0.025416250070849696 Centerline is valid? [True, True] Translation: X:203.42, Y:-27.90, Z:-5.74 [[ 9.88117769e-01 1.52992925e-01 1.47119102e-02 2.03424431e+02] [-1.52980356e-01 9.88227241e-01 -1.98261267e-03 -2.79033091e+01] [-1.48420361e-02 -2.91578450e-04 9.99889808e-01 -5.73672839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.154203822 meters 0.028224972734219558 Centerline is valid? [True, True] Translation: X:203.45, Y:-27.90, Z:-5.74 [[ 9.87920360e-01 1.54209340e-01 1.52591543e-02 2.03452356e+02] [-1.54196027e-01 9.88038144e-01 -2.05226201e-03 -2.79001429e+01] [-1.53931044e-02 -3.25429550e-04 9.99881466e-01 -5.73791102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184203822 meters 0.029808575709415745 Centerline is valid? [True, True] Translation: X:203.48, Y:-27.90, Z:-5.74 [[ 9.87659059e-01 1.55809530e-01 1.59051751e-02 2.03481027e+02] [-1.55795290e-01 9.87787050e-01 -2.13807026e-03 -2.78991214e+01] [-1.60440577e-02 -3.66266904e-04 9.99871219e-01 -5.73898149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.214203822 meters 0.030250531796361325 Centerline is valid? [True, True] Translation: X:203.51, Y:-27.90, Z:-5.74 [[ 9.87676106e-01 1.55723402e-01 1.56886033e-02 2.03509351e+02] [-1.55709538e-01 9.87800634e-01 -2.10884297e-03 -2.79010624e+01] [-1.58256085e-02 -3.60011350e-04 9.99874702e-01 -5.74098588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244203822 meters 0.02817472613310321 Centerline is valid? [True, True] Translation: X:203.54, Y:-27.90, Z:-5.74 [[ 9.87857271e-01 1.54683356e-01 1.45283126e-02 2.03537740e+02] [-1.54671388e-01 9.87964046e-01 -1.95058602e-03 -2.79027001e+01] [-1.46551736e-02 -3.20213687e-04 9.99892556e-01 -5.74323079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.274203822 meters 0.03038370131655723 Centerline is valid? [True, True] Translation: X:203.57, Y:-27.90, Z:-5.75 [[ 9.87963776e-01 1.54059120e-01 1.39055907e-02 2.03565042e+02] [-1.54048152e-01 9.88061585e-01 -1.86291625e-03 -2.79000811e+01] [-1.40265792e-02 -3.01636761e-04 9.99901577e-01 -5.74722566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.304203822 meters 0.03038370131655723 Centerline is valid? [True, True] Translation: X:203.59, Y:-27.90, Z:-5.75 [[ 9.87991838e-01 1.53879052e-01 1.39055588e-02 2.03592274e+02] [-1.53868062e-01 9.88089646e-01 -1.86315623e-03 -2.79035157e+01] [-1.40266394e-02 -2.98838239e-04 9.99901577e-01 -5.74800543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.334203822 meters 0.02793922713013116 Centerline is valid? [True, True] Translation: X:203.62, Y:-27.91, Z:-5.75 [[ 9.88144042e-01 1.52907109e-01 1.38118873e-02 2.03621105e+02] [-1.52896211e-01 9.88240524e-01 -1.84782431e-03 -2.79068933e+01] [-1.39320122e-02 -2.85868648e-04 9.99902904e-01 -5.74794536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.364203822 meters 0.025419196096765177 Centerline is valid? [True, True] Translation: X:203.65, Y:-27.91, Z:-5.75 [[ 9.88308469e-01 1.51838557e-01 1.38355480e-02 2.03649240e+02] [-1.51827548e-01 9.88405270e-01 -1.84874146e-03 -2.79111651e+01] [-1.39558388e-02 -2.73490490e-04 9.99902575e-01 -5.74773741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.394203822 meters 0.024230224248720553 Centerline is valid? [True, True] Translation: X:203.68, Y:-27.91, Z:-5.75 [[ 9.88619078e-01 1.49733192e-01 1.45701538e-02 2.03676959e+02] [-1.49720818e-01 9.88726405e-01 -1.94259011e-03 -2.79147618e+01] [-1.46967660e-02 -2.60973703e-04 9.99891963e-01 -5.74898291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.424203822 meters 0.02229220717377544 Centerline is valid? [True, True] Translation: X:203.71, Y:-27.92, Z:-5.75 [[ 9.88834065e-01 1.48254946e-01 1.50885153e-02 2.03705505e+02] [-1.48241497e-01 9.88949144e-01 -2.01213699e-03 -2.79207986e+01] [-1.52200836e-02 -2.47074504e-04 9.99884137e-01 -5.74853381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.454203822 meters 0.020401533628151766 Centerline is valid? [True, True] Translation: X:203.73, Y:-27.93, Z:-5.75 [[ 9.89216912e-01 1.45584364e-01 1.59716495e-02 2.03733473e+02] [-1.45569018e-01 9.89345816e-01 -2.12541391e-03 -2.79251610e+01] [-1.61109116e-02 -2.22481951e-04 9.99870186e-01 -5.74858412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.484203822 meters 0.018083690182470365 Centerline is valid? [True, True] Translation: X:203.76, Y:-27.93, Z:-5.75 [[ 9.89388273e-01 1.44415748e-01 1.59667297e-02 2.03761821e+02] [-1.44400272e-01 9.89517079e-01 -2.12400552e-03 -2.79302955e+01] [-1.61060916e-02 -2.04133962e-04 9.99870268e-01 -5.74804396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.514203822 meters 0.01769833766643262 Centerline is valid? [True, True] Translation: X:203.79, Y:-27.93, Z:-5.75 [[ 9.89556217e-01 1.43283122e-01 1.57619942e-02 2.03789651e+02] [-1.43267906e-01 9.89681723e-01 -2.09615434e-03 -2.79326053e+01] [-1.58997011e-02 -1.83925348e-04 9.99873575e-01 -5.74963246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54420382200001 meters 0.016003618202628894 Centerline is valid? [True, True] Translation: X:203.82, Y:-27.94, Z:-5.75 [[ 9.89785023e-01 1.41504623e-01 1.73795796e-02 2.03818041e+02] [-1.41485875e-01 9.89937580e-01 -2.30987899e-03 -2.79356194e+01] [-1.75315576e-02 -1.72681394e-04 9.99846296e-01 -5.74824275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57420382200002 meters 0.016003504661724725 Centerline is valid? [True, True] Translation: X:203.85, Y:-27.94, Z:-5.75 [[ 9.89912611e-01 1.40621508e-01 1.72804622e-02 2.03845845e+02] [-1.40602850e-01 9.90063416e-01 -2.29600303e-03 -2.79399177e+01] [-1.74316208e-02 -1.56839876e-04 9.99848045e-01 -5.75031603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60420382200002 meters 0.014712855889562912 Centerline is valid? [True, True] Translation: X:203.87, Y:-27.95, Z:-5.75 [[ 9.90024319e-01 1.39869087e-01 1.69849068e-02 2.03874346e+02] [-1.39850970e-01 9.90169995e-01 -2.25561611e-03 -2.79456746e+01] [-1.71334361e-02 -1.42240902e-04 9.99853202e-01 -5.74990188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63420382200002 meters 0.015234533898453629 Centerline is valid? [True, True] Translation: X:203.90, Y:-27.95, Z:-5.75 [[ 9.90081893e-01 1.39480658e-01 1.68223217e-02 2.03901187e+02] [-1.39462828e-01 9.90224787e-01 -2.23416998e-03 -2.79451892e+01] [-1.69695034e-02 -1.34077317e-04 9.99855999e-01 -5.75253457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66420382200002 meters 0.014724817191444447 Centerline is valid? [True, True] Translation: X:203.93, Y:-27.95, Z:-5.75 [[ 9.90065525e-01 1.39579721e-01 1.69634023e-02 2.03929314e+02] [-1.39561656e-01 9.90210827e-01 -2.24991827e-03 -2.79477493e+01] [-1.71113876e-02 -1.39874010e-04 9.99853580e-01 -5.75260180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69420382200002 meters 0.015528551995602704 Centerline is valid? [True, True] Translation: X:203.96, Y:-27.95, Z:-5.75 [[ 9.89952388e-01 1.40358851e-01 1.71366026e-02 2.03957737e+02] [-1.40340557e-01 9.90100686e-01 -2.27148467e-03 -2.79484704e+01] [-1.72857850e-02 -1.56298676e-04 9.99850577e-01 -5.75331034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72420382200002 meters 0.017302746305610985 Centerline is valid? [True, True] Translation: X:203.99, Y:-27.95, Z:-5.75 [[ 9.89797527e-01 1.41376875e-01 1.77040857e-02 2.03986174e+02] [-1.41357532e-01 9.89955831e-01 -2.34557911e-03 -2.79477336e+01] [-1.78578735e-02 -1.80957447e-04 9.99840519e-01 -5.75484487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75420382200002 meters 0.017807553399776636 Centerline is valid? [True, True] Translation: X:204.02, Y:-27.95, Z:-5.75 [[ 9.89492452e-01 1.43473442e-01 1.78901768e-02 2.04015137e+02] [-1.43454032e-01 9.89654143e-01 -2.37028349e-03 -2.79457187e+01] [-1.80451603e-02 -2.21040370e-04 9.99837148e-01 -5.75416293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78420382200002 meters 0.0203182206172 Centerline is valid? [True, True] Translation: X:204.04, Y:-27.94, Z:-5.76 [[ 9.89406979e-01 1.44150581e-01 1.71592253e-02 2.04043314e+02] [-1.44132889e-01 9.89555738e-01 -2.26981862e-03 -2.79440688e+01] [-1.73072055e-02 -2.27434330e-04 9.99850193e-01 -5.75807317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81420382200002 meters 0.020407513350990298 Centerline is valid? [True, True] Translation: X:204.07, Y:-27.95, Z:-5.76 [[ 9.89391644e-01 1.44378306e-01 1.60959672e-02 2.04071920e+02] [-1.44362776e-01 9.89522540e-01 -2.12873604e-03 -2.79454933e+01] [-1.62346656e-02 -2.17504850e-04 9.99868185e-01 -5.76021945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844203822 meters 0.019377249389605538 Centerline is valid? [True, True] Translation: X:204.10, Y:-27.95, Z:-5.76 [[ 9.89426270e-01 1.44164600e-01 1.58815608e-02 2.04099578e+02] [-1.44149488e-01 9.89553699e-01 -2.09822357e-03 -2.79478035e+01] [-1.60181468e-02 -2.13281331e-04 9.99871679e-01 -5.76024565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.874203822 meters 0.01784322955061637 Centerline is valid? [True, True] Translation: X:204.13, Y:-27.95, Z:-5.76 [[ 9.89681583e-01 1.42360223e-01 1.62459520e-02 2.04128549e+02] [-1.42344225e-01 9.89814897e-01 -2.14278563e-03 -2.79496397e+01] [-1.63855327e-02 -1.91841973e-04 9.99865730e-01 -5.76067227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904203822 meters 0.023897755344256935 Centerline is valid? [True, True] Translation: X:204.16, Y:-27.96, Z:-5.76 [[ 9.89915501e-01 1.40641049e-01 1.69527367e-02 2.04157331e+02] [-1.40623431e-01 9.90060637e-01 -2.23283155e-03 -2.79552073e+01] [-1.70982651e-02 -1.73637443e-04 9.99853799e-01 -5.76352633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.934203822 meters 0.013066934641898493 Centerline is valid? [True, True] Translation: X:204.19, Y:-27.96, Z:-5.76 [[ 9.90556845e-01 1.36130412e-01 1.62986782e-02 2.04185301e+02] [-1.36113579e-01 9.90690921e-01 -2.14288639e-03 -2.79639707e+01] [-1.64386646e-02 -9.58206460e-05 9.99864871e-01 -5.76179923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964203822 meters 0.012107812718146385 Centerline is valid? [True, True] Translation: X:204.21, Y:-27.97, Z:-5.76 [[ 9.90924655e-01 1.33359480e-01 1.68397290e-02 2.04212785e+02] [-1.33341123e-01 9.91067731e-01 -2.21326976e-03 -2.79700842e+01] [-1.69844725e-02 -5.22447976e-05 9.99855752e-01 -5.76279613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.994203822 meters 0.011341086153262087 Centerline is valid? [True, True] Translation: X:204.24, Y:-27.98, Z:-5.76 [[ 9.91271293e-01 1.30648792e-01 1.76668466e-02 2.04239857e+02] [-1.30628178e-01 9.91428713e-01 -2.32077792e-03 -2.79765385e+01] [-1.78186258e-02 -7.26746334e-06 9.99841236e-01 -5.76234622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024203822 meters 0.01142375647324086 Centerline is valid? [True, True] Translation: X:204.27, Y:-27.98, Z:-5.76 [[ 9.91659402e-01 1.27613242e-01 1.80690701e-02 2.04267029e+02] [-1.27591192e-01 9.91824006e-01 -2.37261954e-03 -2.79832844e+01] [-1.82241151e-02 4.73762813e-05 9.99833926e-01 -5.76193561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.054203822 meters 0.013308017651658694 Centerline is valid? [True, True] Translation: X:204.30, Y:-27.99, Z:-5.76 [[ 9.92328060e-01 1.22271523e-01 1.82947162e-02 2.04295075e+02] [-1.22248040e-01 9.92496677e-01 -2.40065651e-03 -2.79934676e+01] [-1.84509769e-02 1.45745611e-04 9.99829756e-01 -5.76211106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.084203822 meters 0.015538145027652533 Centerline is valid? [True, True] Translation: X:204.32, Y:-28.00, Z:-5.76 [[ 9.92574485e-01 1.20244056e-01 1.83646233e-02 2.04322314e+02] [-1.20220062e-01 9.92744344e-01 -2.40902044e-03 -2.80020498e+01] [-1.85210463e-02 1.83336074e-04 9.99828454e-01 -5.76495408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.114203822 meters 0.016699137033497048 Centerline is valid? [True, True] Translation: X:204.35, Y:-28.01, Z:-5.76 [[ 9.92916128e-01 1.17285331e-01 1.90188000e-02 2.04349963e+02] [-1.17259078e-01 9.93098228e-01 -2.49358628e-03 -2.80098034e+01] [-1.91799977e-02 2.45795083e-04 9.99816017e-01 -5.76396930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.144203822 meters 0.018406124651525517 Centerline is valid? [True, True] Translation: X:204.38, Y:-28.02, Z:-5.76 [[ 9.93009934e-01 1.16461767e-01 1.91814328e-02 2.04377497e+02] [-1.16434932e-01 9.93195141e-01 -2.51371169e-03 -2.80152221e+01] [-1.93436571e-02 2.62751848e-04 9.99812859e-01 -5.76493858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.174203822 meters 0.017406426024182874 Centerline is valid? [True, True] Translation: X:204.41, Y:-28.02, Z:-5.76 [[ 9.93036059e-01 1.16154775e-01 1.96838493e-02 2.04405869e+02] [-1.16126479e-01 9.93231087e-01 -2.57841363e-03 -2.80161193e+01] [-1.98501061e-02 2.74641603e-04 9.99802930e-01 -5.76341162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.204203822 meters 0.01754904898666934 Centerline is valid? [True, True] Translation: X:204.43, Y:-28.02, Z:-5.76 [[ 9.93024582e-01 1.16254725e-01 1.96727805e-02 2.04432312e+02] [-1.16226501e-01 9.93219394e-01 -2.57587379e-03 -2.80208254e+01] [-1.98388446e-02 2.71407546e-04 9.99803154e-01 -5.76423474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.234203822 meters 0.017876388408750537 Centerline is valid? [True, True] Translation: X:204.46, Y:-28.03, Z:-5.77 [[ 9.92960784e-01 1.16788169e-01 1.97333583e-02 2.04459641e+02] [-1.16759931e-01 9.93156814e-01 -2.58107124e-03 -2.80266569e+01] [-1.98997579e-02 2.58836959e-04 9.99801947e-01 -5.76641120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.264203822 meters 0.01555040037148677 Centerline is valid? [True, True] Translation: X:204.49, Y:-28.03, Z:-5.77 [[ 9.92714566e-01 1.18895771e-01 1.95342273e-02 2.04488157e+02] [-1.18868533e-01 9.92906718e-01 -2.55376517e-03 -2.80283806e+01] [-1.96992974e-02 2.13154944e-04 9.99805927e-01 -5.76761591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29420382200001 meters 0.014449015010148471 Centerline is valid? [True, True] Translation: X:204.52, Y:-28.03, Z:-5.77 [[ 9.92563565e-01 1.20066403e-01 2.00406929e-02 2.04516620e+02] [-1.20037992e-01 9.92765844e-01 -2.61897781e-03 -2.80307152e+01] [-2.02101667e-02 1.93857414e-04 9.99795735e-01 -5.76817968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32420382200002 meters 0.012862593770651043 Centerline is valid? [True, True] Translation: X:204.54, Y:-28.03, Z:-5.77 [[ 9.92242515e-01 1.22752220e-01 1.96642841e-02 2.04544546e+02] [-1.22725410e-01 9.92437340e-01 -2.56896172e-03 -2.80314227e+01] [-1.98309156e-02 1.35725700e-04 9.99803339e-01 -5.76970484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35420382200002 meters 0.012169100835017835 Centerline is valid? [True, True] Translation: X:204.57, Y:-28.03, Z:-5.77 [[ 9.92090468e-01 1.23995915e-01 1.95324428e-02 2.04573387e+02] [-1.23969730e-01 9.92282722e-01 -2.55045924e-03 -2.80327443e+01] [-1.96979520e-02 1.08854643e-04 9.99805971e-01 -5.77017672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38420382200002 meters 0.011665707853424164 Centerline is valid? [True, True] Translation: X:204.60, Y:-28.03, Z:-5.77 [[ 9.91955742e-01 1.25092097e-01 1.93848779e-02 2.04600636e+02] [-1.25066520e-01 9.92145130e-01 -2.53094558e-03 -2.80337664e+01] [-1.95492135e-02 8.61867823e-05 9.99808892e-01 -5.77135361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41420382200002 meters 0.011152731533025782 Centerline is valid? [True, True] Translation: X:204.63, Y:-28.04, Z:-5.77 [[ 9.91744573e-01 1.26857071e-01 1.87079166e-02 2.04628677e+02] [-1.26833614e-01 9.91921006e-01 -2.43985082e-03 -2.80352401e+01] [-1.88662877e-02 4.69161391e-05 9.99822015e-01 -5.77336990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44420382200002 meters 0.011204675944867995 Centerline is valid? [True, True] Translation: X:204.66, Y:-28.04, Z:-5.78 [[ 9.91719474e-01 1.27106499e-01 1.83418138e-02 2.04657289e+02] [-1.27084022e-01 9.91889075e-01 -2.39061055e-03 -2.80398646e+01] [-1.84969068e-02 3.98635820e-05 9.99828917e-01 -5.77516811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47420382200002 meters 0.01086955461326574 Centerline is valid? [True, True] Translation: X:204.69, Y:-28.04, Z:-5.77 [[ 9.91702850e-01 1.27196719e-01 1.86131989e-02 2.04685529e+02] [-1.27173604e-01 9.91877509e-01 -2.42510219e-03 -2.80445300e+01] [-1.87704784e-02 3.78731719e-05 9.99823818e-01 -5.77466213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50420382200002 meters 0.01069834744702707 Centerline is valid? [True, True] Translation: X:204.71, Y:-28.05, Z:-5.77 [[ 9.91669470e-01 1.27184268e-01 2.03917906e-02 2.04713083e+02] [-1.27156545e-01 9.91879106e-01 -2.65568297e-03 -2.80519823e+01] [-2.05639521e-02 4.06100834e-05 9.99788539e-01 -5.77485654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53420382200002 meters 0.010822726829362484 Centerline is valid? [True, True] Translation: X:204.74, Y:-28.06, Z:-5.78 [[ 9.91722391e-01 1.26756898e-01 2.04789525e-02 2.04739641e+02] [-1.26728863e-01 9.91933811e-01 -2.66627301e-03 -2.80575980e+01] [-2.06517339e-02 4.89282860e-05 9.99786729e-01 -5.77531626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56420382200002 meters 0.010875491924196802 Centerline is valid? [True, True] Translation: X:204.77, Y:-28.06, Z:-5.78 [[ 9.91810727e-01 1.26080725e-01 2.03748224e-02 2.04768446e+02] [-1.26052872e-01 9.92019983e-01 -2.65077318e-03 -2.80632505e+01] [-2.05464424e-02 6.07604029e-05 9.99788898e-01 -5.77587056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.594203822 meters 0.011154099916571247 Centerline is valid? [True, True] Translation: X:204.80, Y:-28.07, Z:-5.78 [[ 9.91985481e-01 1.24568389e-01 2.11547203e-02 2.04795334e+02] [-1.24538037e-01 9.92211020e-01 -2.75135279e-03 -2.80717917e+01] [-2.13326782e-02 9.47346752e-05 9.99772428e-01 -5.77529097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624203822 meters 0.011618605712461559 Centerline is valid? [True, True] Translation: X:204.82, Y:-28.08, Z:-5.78 [[ 9.92065075e-01 1.23937304e-01 2.11289358e-02 2.04822275e+02] [-1.23906918e-01 9.92290045e-01 -2.74636940e-03 -2.80790245e+01] [-2.13064103e-02 1.06555854e-04 9.99772987e-01 -5.77653837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.654203822 meters 0.012348277159143118 Centerline is valid? [True, True] Translation: X:204.85, Y:-28.09, Z:-5.78 [[ 9.92209866e-01 1.22992119e-01 1.98121051e-02 2.04848251e+02] [-1.22965234e-01 9.92407640e-01 -2.57420221e-03 -2.80901680e+01] [-1.99782911e-02 1.17948687e-04 9.99800407e-01 -5.78000191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684203822 meters 0.012368519849777158 Centerline is valid? [True, True] Translation: X:204.88, Y:-28.10, Z:-5.78 [[ 9.92191747e-01 1.23149622e-01 1.97410093e-02 2.04875381e+02] [-1.23122988e-01 9.92388109e-01 -2.56356737e-03 -2.80951278e+01] [-1.99064453e-02 1.12978326e-04 9.99801841e-01 -5.78088586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.714203822 meters 0.011933847956133396 Centerline is valid? [True, True] Translation: X:204.90, Y:-28.10, Z:-5.78 [[ 9.92065509e-01 1.24150258e-01 1.98176508e-02 2.04902916e+02] [-1.24123647e-01 9.92263425e-01 -2.57200803e-03 -2.80985114e+01] [-1.99836455e-02 9.17613712e-05 9.99800303e-01 -5.78186580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744203822 meters 0.010808348889413441 Centerline is valid? [True, True] Translation: X:204.93, Y:-28.10, Z:-5.78 [[ 9.91560215e-01 1.28146341e-01 1.96686416e-02 2.04931452e+02] [-1.28120939e-01 9.91755270e-01 -2.55141735e-03 -2.80988228e+01] [-1.98334338e-02 9.91909340e-06 9.99803298e-01 -5.78306686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.774203822 meters 0.011032566993149587 Centerline is valid? [True, True] Translation: X:204.96, Y:-28.10, Z:-5.78 [[ 9.91218789e-01 1.30820542e-01 1.92691133e-02 2.04959857e+02] [-1.30796681e-01 9.91406064e-01 -2.49885499e-03 -2.80999208e+01] [-1.94304173e-02 -4.34240494e-05 9.99811211e-01 -5.78375877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.804203822 meters 0.01440504313387283 Centerline is valid? [True, True] Translation: X:204.99, Y:-28.10, Z:-5.79 [[ 9.90424594e-01 1.36761305e-01 1.88538681e-02 2.04987989e+02] [-1.36739551e-01 9.90604018e-01 -2.44428514e-03 -2.80956263e+01] [-1.90110011e-02 -1.57189335e-04 9.99819262e-01 -5.78534214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.834203822 meters 0.01701608631429476 Centerline is valid? [True, True] Translation: X:205.02, Y:-28.09, Z:-5.79 [[ 9.90038560e-01 1.39519639e-01 1.89187824e-02 2.05016488e+02] [-1.39498282e-01 9.90219281e-01 -2.45039654e-03 -2.80949649e+01] [-1.90756216e-02 -2.13150586e-04 9.99818021e-01 -5.78709504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.864203822 meters 0.022009115077549657 Centerline is valid? [True, True] Translation: X:205.05, Y:-28.09, Z:-5.79 [[ 9.89311067e-01 1.44619658e-01 1.86753218e-02 2.05046651e+02] [-1.44599782e-01 9.89487271e-01 -2.41743112e-03 -2.80915822e+01] [-1.88286013e-02 -3.08856103e-04 9.99822678e-01 -5.78895756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.894203822 meters 0.02460353232964667 Centerline is valid? [True, True] Translation: X:205.07, Y:-28.09, Z:-5.79 [[ 9.89018600e-01 1.46615612e-01 1.86029792e-02 2.05074448e+02] [-1.46596242e-01 9.89193481e-01 -2.40807880e-03 -2.80902322e+01] [-1.87550077e-02 -3.45492112e-04 9.99824050e-01 -5.78972000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.924203822 meters 0.024389369047324055 Centerline is valid? [True, True] Translation: X:205.10, Y:-28.09, Z:-5.79 [[ 9.88813710e-01 1.48033351e-01 1.82640028e-02 2.05103466e+02] [-1.48014927e-01 9.88982302e-01 -2.36394952e-03 -2.80926834e+01] [-1.84127189e-02 -3.65839343e-04 9.99830405e-01 -5.78979218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.954203822 meters 0.02600332430490297 Centerline is valid? [True, True] Translation: X:205.13, Y:-28.09, Z:-5.79 [[ 9.88622050e-01 1.49346215e-01 1.79485590e-02 2.05132682e+02] [-1.49328693e-01 9.88784890e-01 -2.32010725e-03 -2.80930533e+01] [-1.80937632e-02 -3.86525661e-04 9.99836220e-01 -5.79211109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.984203822 meters 0.027848172782188475 Centerline is valid? [True, True] Translation: X:205.16, Y:-28.09, Z:-5.80 [[ 9.88681779e-01 1.48979146e-01 1.77074801e-02 2.05160061e+02] [-1.48962102e-01 9.88840266e-01 -2.28505831e-03 -2.80938564e+01] [-1.78502953e-02 -3.78547935e-04 9.99840599e-01 -5.79507745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.014203822 meters 0.025389214807346107 Centerline is valid? [True, True] Translation: X:205.19, Y:-28.10, Z:-5.80 [[ 9.88829619e-01 1.48022101e-01 1.74769057e-02 2.05188408e+02] [-1.48005358e-01 9.88983989e-01 -2.25475201e-03 -2.81005717e+01] [-1.76181330e-02 -3.57110108e-04 9.99844725e-01 -5.79570358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04420382200001 meters 0.02386078464706053 Centerline is valid? [True, True] Translation: X:205.22, Y:-28.10, Z:-5.80 [[ 9.89168012e-01 1.45673113e-01 1.80551699e-02 2.05215797e+02] [-1.45654932e-01 9.89332722e-01 -2.32499367e-03 -2.81044772e+01] [-1.82012595e-02 -3.30015175e-04 9.99834289e-01 -5.79701508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07420382200002 meters 0.021920644616696683 Centerline is valid? [True, True] Translation: X:205.24, Y:-28.11, Z:-5.80 [[ 9.89401397e-01 1.44129344e-01 1.76523967e-02 2.05244156e+02] [-1.44111740e-01 9.89558813e-01 -2.27196577e-03 -2.81090829e+01] [-1.77955416e-02 -2.96031495e-04 9.99841603e-01 -5.79817289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10420382200002 meters 0.01856001486566853 Centerline is valid? [True, True] Translation: X:205.27, Y:-28.12, Z:-5.80 [[ 9.89928301e-01 1.40360304e-01 1.84646853e-02 2.05271877e+02] [-1.40340404e-01 9.90100463e-01 -2.37555681e-03 -2.81162501e+01] [-1.86153274e-02 -2.39710487e-04 9.99826691e-01 -5.79838524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13420382200002 meters 0.016210326366202833 Centerline is valid? [True, True] Translation: X:205.30, Y:-28.12, Z:-5.80 [[ 9.90282329e-01 1.37863616e-01 1.82902291e-02 2.05299829e+02] [-1.37843681e-01 9.90451204e-01 -2.35224609e-03 -2.81237510e+01] [-1.84398686e-02 -1.91804763e-04 9.99829953e-01 -5.79872596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16420382200002 meters 0.015319901513500352 Centerline is valid? [True, True] Translation: X:205.33, Y:-28.13, Z:-5.80 [[ 9.90649087e-01 1.35168537e-01 1.85432678e-02 2.05327165e+02] [-1.35147589e-01 9.90822611e-01 -2.38399622e-03 -2.81301963e+01] [-1.86953303e-02 -1.44374244e-04 9.99825217e-01 -5.80178528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19420382200002 meters 0.011526074500182242 Centerline is valid? [True, True] Translation: X:205.35, Y:-28.14, Z:-5.80 [[ 9.91378612e-01 1.29809441e-01 1.78313493e-02 2.05354761e+02] [-1.29789224e-01 9.91538959e-01 -2.29134735e-03 -2.81442604e+01] [-1.79779160e-02 -4.27242302e-05 9.99838383e-01 -5.80181091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22420382200002 meters 0.011526074500182242 Centerline is valid? [True, True] Translation: X:205.38, Y:-28.15, Z:-5.80 [[ 9.91387600e-01 1.29740770e-01 1.78314247e-02 2.05382027e+02] [-1.29720552e-01 9.91547947e-01 -2.29076010e-03 -2.81476285e+01] [-1.79779176e-02 -4.20710986e-05 9.99838383e-01 -5.80259120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25420382200002 meters 0.011328910295575574 Centerline is valid? [True, True] Translation: X:205.41, Y:-28.15, Z:-5.80 [[ 9.91700711e-01 1.27385554e-01 1.73960120e-02 2.05408162e+02] [-1.27365960e-01 9.91853276e-01 -2.23419372e-03 -2.81548263e+01] [-1.75388955e-02 -8.27170929e-09 9.99846182e-01 -5.80412410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28420382200002 meters 0.011487483097443348 Centerline is valid? [True, True] Translation: X:205.44, Y:-28.16, Z:-5.80 [[ 9.92103021e-01 1.24044689e-01 1.85609832e-02 2.05435397e+02] [-1.24021856e-01 9.92276631e-01 -2.38072917e-03 -2.81633926e+01] [-1.87129467e-02 5.99610206e-05 9.99824896e-01 -5.80312862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31420382200002 meters 0.011834182670455022 Centerline is valid? [True, True] Translation: X:205.46, Y:-28.17, Z:-5.80 [[ 9.92205257e-01 1.23180120e-01 1.88517056e-02 2.05463107e+02] [-1.23156429e-01 9.92384327e-01 -2.41699480e-03 -2.81684282e+01] [-1.90058629e-02 7.64462081e-05 9.99819369e-01 -5.80319410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344203822 meters 0.011948239231713814 Centerline is valid? [True, True] Translation: X:205.49, Y:-28.17, Z:-5.80 [[ 9.92263687e-01 1.22679416e-01 1.90403949e-02 2.05490702e+02] [-1.22655182e-01 9.92446348e-01 -2.43985589e-03 -2.81732741e+01] [-1.91958905e-02 8.55773075e-05 9.99815738e-01 -5.80382268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.374203822 meters 0.012153207107027891 Centerline is valid? [True, True] Translation: X:205.52, Y:-28.18, Z:-5.80 [[ 9.92314522e-01 1.22245008e-01 1.91845457e-02 2.05518359e+02] [-1.22220350e-01 9.92499949e-01 -2.45698807e-03 -2.81786293e+01] [-1.93410152e-02 9.33630464e-05 9.99812941e-01 -5.80441091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404203822 meters 0.011781661453871094 Centerline is valid? [True, True] Translation: X:205.55, Y:-28.18, Z:-5.80 [[ 9.92291894e-01 1.22046612e-01 2.14807210e-02 2.05545678e+02] [-1.22015689e-01 9.92524364e-01 -2.74927732e-03 -2.81836989e+01] [-2.16556789e-02 1.07100630e-04 9.99765483e-01 -5.80157872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.434203822 meters 0.011723514539121526 Centerline is valid? [True, True] Translation: X:205.57, Y:-28.19, Z:-5.80 [[ 9.92279561e-01 1.22035720e-01 2.21033034e-02 2.05574306e+02] [-1.22003006e-01 9.92525703e-01 -2.82758376e-03 -2.81880190e+01] [-2.22831630e-02 1.09084117e-04 9.99751694e-01 -5.80140431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464203822 meters 0.012244720817632069 Centerline is valid? [True, True] Translation: X:205.60, Y:-28.19, Z:-5.80 [[ 9.92385874e-01 1.21256921e-01 2.16110280e-02 2.05601982e+02] [-1.21225485e-01 9.92621148e-01 -2.76365782e-03 -2.81948382e+01] [-2.17866761e-02 1.22807634e-04 9.99762635e-01 -5.80308694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.494203822 meters 0.012582981783782867 Centerline is valid? [True, True] Translation: X:205.63, Y:-28.20, Z:-5.80 [[ 9.92435705e-01 1.20807371e-01 2.18391906e-02 2.05628643e+02] [-1.20775176e-01 9.92675960e-01 -2.79205086e-03 -2.81997236e+01] [-2.20165398e-02 1.33298868e-04 9.99757598e-01 -5.80398265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.524203822 meters 0.01280759085145443 Centerline is valid? [True, True] Translation: X:205.66, Y:-28.21, Z:-5.81 [[ 9.92478288e-01 1.20520552e-01 2.14859095e-02 2.05656569e+02] [-1.20489364e-01 9.92710823e-01 -2.74501651e-03 -2.82051489e+01] [-2.16601258e-02 1.35545718e-04 9.99765383e-01 -5.80564043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.554203822 meters 0.013696042997384174 Centerline is valid? [True, True] Translation: X:205.68, Y:-28.21, Z:-5.81 [[ 9.92583531e-01 1.19948042e-01 1.97585675e-02 2.05683694e+02] [-1.19921568e-01 9.92780161e-01 -2.52364432e-03 -2.82138937e+01] [-1.99186200e-02 1.35449408e-04 9.99801595e-01 -5.81020264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.584203822 meters 0.014020442669226668 Centerline is valid? [True, True] Translation: X:205.71, Y:-28.22, Z:-5.81 [[ 9.92612272e-01 1.19835339e-01 1.89833695e-02 2.05710676e+02] [-1.19810900e-01 9.92793772e-01 -2.42363407e-03 -2.82200067e+01] [-1.91370080e-02 1.31314333e-04 9.99816862e-01 -5.81304246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.614203822 meters 0.015341122013761154 Centerline is valid? [True, True] Translation: X:205.74, Y:-28.23, Z:-5.82 [[ 9.92748156e-01 1.19030502e-01 1.68177995e-02 2.05737049e+02] [-1.19011218e-01 9.92890590e-01 -2.14639677e-03 -2.82299733e+01] [-1.69537215e-02 1.29324638e-04 9.99856267e-01 -5.81809293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.644203822 meters 0.01588542605866746 Centerline is valid? [True, True] Translation: X:205.77, Y:-28.24, Z:-5.82 [[ 9.92809877e-01 1.18595576e-01 1.62369041e-02 2.05765698e+02] [-1.18577562e-01 9.92942633e-01 -2.07116282e-03 -2.82365269e+01] [-1.63679451e-02 1.30938405e-04 9.99866028e-01 -5.81971101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.674203822 meters 0.015975648495657083 Centerline is valid? [True, True] Translation: X:205.79, Y:-28.24, Z:-5.82 [[ 9.92842417e-01 1.18270889e-01 1.66112081e-02 2.05792043e+02] [-1.18251990e-01 9.92981358e-01 -2.11884759e-03 -2.82418686e+01] [-1.67452180e-02 1.39373352e-04 9.99859779e-01 -5.81986718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.704203822 meters 0.015483761612293779 Centerline is valid? [True, True] Translation: X:205.82, Y:-28.25, Z:-5.82 [[ 9.92776719e-01 1.18722176e-01 1.73040997e-02 2.05819551e+02] [-1.18701766e-01 9.92927503e-01 -2.20545394e-03 -2.82493620e+01] [-1.74435528e-02 1.35496129e-04 9.99847840e-01 -5.81921827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.734203822 meters 0.014360817761484625 Centerline is valid? [True, True] Translation: X:205.85, Y:-28.25, Z:-5.82 [[ 9.92623876e-01 1.19971999e-01 1.74516737e-02 2.05848030e+02] [-1.19951447e-01 9.92777269e-01 -2.22349671e-03 -2.82527013e+01] [-1.75923823e-02 1.13742413e-04 9.99845236e-01 -5.81945194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.764203822 meters 0.01159905378330005 Centerline is valid? [True, True] Translation: X:205.88, Y:-28.25, Z:-5.82 [[ 9.92021183e-01 1.24762684e-01 1.81175168e-02 2.05876820e+02] [-1.24741347e-01 9.92186611e-01 -2.30749359e-03 -2.82506291e+01] [-1.82638466e-02 2.90790756e-05 9.99833202e-01 -5.81865128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79420382200001 meters 0.010893202869285298 Centerline is valid? [True, True] Translation: X:205.91, Y:-28.25, Z:-5.82 [[ 9.91628272e-01 1.27810174e-01 1.83828843e-02 2.05905655e+02] [-1.27788744e-01 9.91798648e-01 -2.34053123e-03 -2.82509015e+01] [-1.85312635e-02 -2.81887642e-05 9.99828281e-01 -5.81524263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82420382200002 meters 0.013447276139471973 Centerline is valid? [True, True] Translation: X:205.93, Y:-28.25, Z:-5.82 [[ 9.91151382e-01 1.31407228e-01 1.87370870e-02 2.05933890e+02] [-1.31385623e-01 9.91328468e-01 -2.38481612e-03 -2.82488354e+01] [-1.88879898e-02 -9.80700553e-05 9.99821601e-01 -5.81877757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85420382200002 meters 0.017808381760692188 Centerline is valid? [True, True] Translation: X:205.96, Y:-28.24, Z:-5.82 [[ 9.90152257e-01 1.38833098e-01 1.79966323e-02 2.05964452e+02] [-1.38814419e-01 9.90315766e-01 -2.28907642e-03 -2.82429317e+01] [-1.81401482e-02 -2.31657874e-04 9.99835427e-01 -5.81657699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88420382200002 meters 0.021279641161149037 Centerline is valid? [True, True] Translation: X:205.99, Y:-28.24, Z:-5.82 [[ 9.89649025e-01 1.42356364e-01 1.81514203e-02 2.05992700e+02] [-1.42337949e-01 9.89815426e-01 -2.30902796e-03 -2.82398676e+01] [-1.82952606e-02 -2.98508669e-04 9.99832583e-01 -5.81772706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91420382200002 meters 0.025536581414487485 Centerline is valid? [True, True] Translation: X:206.02, Y:-28.24, Z:-5.82 [[ 9.89206957e-01 1.45386857e-01 1.82279641e-02 2.06020874e+02] [-1.45368822e-01 9.89374820e-01 -2.31763686e-03 -2.82364487e+01] [-1.83712427e-02 -3.57155162e-04 9.99831171e-01 -5.81913340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94420382200002 meters 0.02934187685574187 Centerline is valid? [True, True] Translation: X:206.05, Y:-28.23, Z:-5.82 [[ 9.88554598e-01 1.49809263e-01 1.78042621e-02 2.06051022e+02] [-1.49792795e-01 9.88714822e-01 -2.26249868e-03 -2.82322078e+01] [-1.79422811e-02 -4.30346710e-04 9.99838932e-01 -5.82044428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97420382200002 meters 0.03903312277482352 Centerline is valid? [True, True] Translation: X:206.08, Y:-28.22, Z:-5.83 [[ 9.88388299e-01 1.50943179e-01 1.74564385e-02 2.06080055e+02] [-1.50927531e-01 9.88542342e-01 -2.21794147e-03 -2.82221414e+01] [-1.75912117e-02 -4.42469765e-04 9.99845165e-01 -5.82657896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00420382200002 meters 0.03222754156487828 Centerline is valid? [True, True] Translation: X:206.11, Y:-28.23, Z:-5.83 [[ 9.88339701e-01 1.51369527e-01 1.64894127e-02 2.06107484e+02] [-1.51355619e-01 9.88477155e-01 -2.09543993e-03 -2.82324271e+01] [-1.66165935e-02 -4.24758784e-04 9.99861845e-01 -5.82579364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03420382200002 meters 0.03984086904859811 Centerline is valid? [True, True] Translation: X:206.14, Y:-28.22, Z:-5.83 [[ 9.88439041e-01 1.50767341e-01 1.60458981e-02 2.06136149e+02] [-1.50754149e-01 9.88569190e-01 -2.03554206e-03 -2.82246223e+01] [-1.61693738e-02 -4.06976467e-04 9.99869184e-01 -5.83199644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06420382200002 meters 0.030911531466637616 Centerline is valid? [True, True] Translation: X:206.16, Y:-28.24, Z:-5.83 [[ 9.88634502e-01 1.49439286e-01 1.64232185e-02 2.06163788e+02] [-1.49425293e-01 9.88770825e-01 -2.08275708e-03 -2.82366163e+01] [-1.65500451e-02 -3.94958739e-04 9.99862961e-01 -5.82783330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.094203822 meters 0.03146396758055668 Centerline is valid? [True, True] Translation: X:206.19, Y:-28.24, Z:-5.83 [[ 9.89360577e-01 1.44487567e-01 1.69997535e-02 2.06193303e+02] [-1.44471922e-01 9.89506562e-01 -2.15128544e-03 -2.82368075e+01] [-1.71322016e-02 -3.27590067e-04 9.99853179e-01 -5.83213025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124203822 meters 0.021993032341213775 Centerline is valid? [True, True] Translation: X:206.22, Y:-28.25, Z:-5.83 [[ 9.89888731e-01 1.40807282e-01 1.71350162e-02 2.06220932e+02] [-1.40790832e-01 9.90036989e-01 -2.16858987e-03 -2.82514564e+01] [-1.72696531e-02 -2.65790505e-04 9.99850833e-01 -5.82849168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.154203822 meters 0.013245324024874964 Centerline is valid? [True, True] Translation: X:206.25, Y:-28.28, Z:-5.83 [[ 9.91079017e-01 1.31655757e-01 2.07157887e-02 2.06250063e+02] [-1.31932039e-01 9.91178896e-01 1.25830437e-02 -2.82769032e+01] [-1.88764225e-02 -1.52038669e-02 9.99706218e-01 -5.83151123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184203822 meters 0.011444845679077444 Centerline is valid? [True, True] Translation: X:206.28, Y:-28.27, Z:-5.83 [[ 9.91623714e-01 1.28210450e-01 1.56361982e-02 2.06277017e+02] [-1.27940281e-01 9.91632602e-01 -1.72065944e-02 -2.82669559e+01] [-1.77114291e-02 1.50619674e-02 9.99729685e-01 -5.82594893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.214203822 meters 0.010907347300408647 Centerline is valid? [True, True] Translation: X:206.30, Y:-28.28, Z:-5.83 [[ 9.92126787e-01 1.23929073e-01 1.80561366e-02 2.06304006e+02] [-1.23908077e-01 9.92291078e-01 -2.28126215e-03 -2.82849306e+01] [-1.81996580e-02 2.60001171e-05 9.99834372e-01 -5.82797729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244203822 meters 0.013243654063145647 Centerline is valid? [True, True] Translation: X:206.33, Y:-28.30, Z:-5.83 [[ 9.92806891e-01 1.18379620e-01 1.79093198e-02 2.06330790e+02] [-1.18358074e-01 9.92968403e-01 -2.26196788e-03 -2.82964723e+01] [-1.80511596e-02 1.25984700e-04 9.99837057e-01 -5.82935876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.274203822 meters 0.014381052808208696 Centerline is valid? [True, True] Translation: X:206.36, Y:-28.30, Z:-5.83 [[ 9.93010845e-01 1.16821356e-01 1.67997886e-02 2.06359236e+02] [-1.16802192e-01 9.93152934e-01 -2.12078098e-03 -2.83018601e+01] [-1.69325119e-02 1.43706376e-04 9.99856624e-01 -5.83146684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.304203822 meters 0.015918795506171018 Centerline is valid? [True, True] Translation: X:206.39, Y:-28.30, Z:-5.84 [[ 9.93098195e-01 1.16324602e-01 1.49853877e-02 2.06386685e+02] [-1.16309304e-01 9.93211241e-01 -1.89131737e-03 -2.83045672e+01] [-1.51036623e-02 1.35323854e-04 9.99885924e-01 -5.83672835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.334203822 meters 0.014234967126095491 Centerline is valid? [True, True] Translation: X:206.42, Y:-28.30, Z:-5.84 [[ 9.92982712e-01 1.17334053e-01 1.47666379e-02 2.06415644e+02] [-1.17319325e-01 9.93092496e-01 -1.86271125e-03 -2.83031694e+01] [-1.48831968e-02 1.17228072e-04 9.99889232e-01 -5.83567045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.364203822 meters 0.013527582855702967 Centerline is valid? [True, True] Translation: X:206.44, Y:-28.30, Z:-5.84 [[ 9.92801000e-01 1.18866174e-01 1.47311704e-02 2.06444107e+02] [-1.18851693e-01 9.92910280e-01 -1.85768234e-03 -2.83030906e+01] [-1.48475462e-02 9.34843364e-05 9.99889765e-01 -5.83641532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.394203822 meters 0.011647803947122804 Centerline is valid? [True, True] Translation: X:206.47, Y:-28.30, Z:-5.84 [[ 9.92331072e-01 1.22557740e-01 1.60824261e-02 2.06473298e+02] [-1.22540986e-01 9.92461384e-01 -2.02680862e-03 -2.82998182e+01] [-1.62095879e-02 4.05088133e-05 9.99868615e-01 -5.83511588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.424203822 meters 0.011527901745640915 Centerline is valid? [True, True] Translation: X:206.50, Y:-28.30, Z:-5.84 [[ 9.92075864e-01 1.24547430e-01 1.65353341e-02 2.06501316e+02] [-1.24530008e-01 9.92213655e-01 -2.08319128e-03 -2.83001602e+01] [-1.66660404e-02 7.53850047e-06 9.99861112e-01 -5.83631345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.454203822 meters 0.012470165815667055 Centerline is valid? [True, True] Translation: X:206.53, Y:-28.30, Z:-5.84 [[ 9.91508373e-01 1.29037665e-01 1.61377572e-02 2.06531225e+02] [-1.29021682e-01 9.91639691e-01 -2.03203430e-03 -2.82961412e+01] [-1.62650495e-02 -6.73415559e-05 9.99867713e-01 -5.83684685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.484203822 meters 0.013797137457065192 Centerline is valid? [True, True] Translation: X:206.56, Y:-28.29, Z:-5.84 [[ 9.91202080e-01 1.31362271e-01 1.61984530e-02 2.06560457e+02] [-1.31346490e-01 9.91334425e-01 -2.03889721e-03 -2.82945738e+01] [-1.63259182e-02 -1.06650791e-04 9.99866718e-01 -5.83754120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.514203822 meters 0.017011427674188336 Centerline is valid? [True, True] Translation: X:206.59, Y:-28.29, Z:-5.84 [[ 9.90646878e-01 1.35368000e-01 1.71542238e-02 2.06589228e+02] [-1.35350910e-01 9.90795373e-01 -2.15875722e-03 -2.82858124e+01] [-1.72885522e-02 -1.83273702e-04 9.99850525e-01 -5.83685764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54420382200001 meters 0.018189977551405976 Centerline is valid? [True, True] Translation: X:206.62, Y:-28.29, Z:-5.84 [[ 9.90430880e-01 1.36942811e-01 1.71271151e-02 2.06618589e+02] [-1.36926044e-01 9.90578932e-01 -2.15336570e-03 -2.82851236e+01] [-1.72606473e-02 -2.12388240e-04 9.99851001e-01 -5.83717791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57420382200002 meters 0.018647216663141772 Centerline is valid? [True, True] Translation: X:206.65, Y:-28.29, Z:-5.84 [[ 9.90245753e-01 1.38307025e-01 1.68675805e-02 2.06647926e+02] [-1.38290974e-01 9.90389374e-01 -2.11996433e-03 -2.82860497e+01] [-1.69986784e-02 -2.33348453e-04 9.99855485e-01 -5.83700277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60420382200002 meters 0.021622783569791585 Centerline is valid? [True, True] Translation: X:206.68, Y:-28.28, Z:-5.84 [[ 9.89880832e-01 1.40936150e-01 1.65208909e-02 2.06676235e+02] [-1.40921128e-01 9.90018650e-01 -2.07574805e-03 -2.82812329e+01] [-1.66485380e-02 -2.73399382e-04 9.99861366e-01 -5.83847259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63420382200002 meters 0.025125000614473883 Centerline is valid? [True, True] Translation: X:206.70, Y:-28.28, Z:-5.84 [[ 9.89665049e-01 1.42427058e-01 1.66620485e-02 2.06704838e+02] [-1.42412001e-01 9.89805255e-01 -2.09279923e-03 -2.82778697e+01] [-1.67902544e-02 -3.01705425e-04 9.99858988e-01 -5.84080074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66420382200002 meters 0.02625252136119646 Centerline is valid? [True, True] Translation: X:206.74, Y:-28.27, Z:-5.84 [[ 9.89235467e-01 1.45396106e-01 1.65276249e-02 2.06735502e+02] [-1.45381743e-01 9.89373463e-01 -2.07366166e-03 -2.82738145e+01] [-1.66534958e-02 -3.51475254e-04 9.99861259e-01 -5.83972924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69420382200002 meters 0.02849328415396255 Centerline is valid? [True, True] Translation: X:206.76, Y:-28.27, Z:-5.84 [[ 9.89041498e-01 1.46646115e-01 1.70830870e-02 2.06763565e+02] [-1.46630951e-01 9.89188945e-01 -2.14365341e-03 -2.82703588e+01] [-1.72127593e-02 -3.84747123e-04 9.99851775e-01 -5.84016427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72420382200002 meters 0.02899811482962697 Centerline is valid? [True, True] Translation: X:206.79, Y:-28.27, Z:-5.84 [[ 9.88894349e-01 1.47545252e-01 1.78427843e-02 2.06792906e+02] [-1.47528872e-01 9.89055217e-01 -2.23805998e-03 -2.82696514e+01] [-1.79777141e-02 -4.19120985e-04 9.99838300e-01 -5.83940165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75420382200002 meters 0.03365487269077475 Centerline is valid? [True, True] Translation: X:206.82, Y:-28.26, Z:-5.84 [[ 9.88839578e-01 1.47877808e-01 1.81229866e-02 2.06822049e+02] [-1.47861043e-01 9.89005543e-01 -2.26897114e-03 -2.82607671e+01] [-1.82592647e-02 -4.36035236e-04 9.99833191e-01 -5.84203153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78420382200002 meters 0.03030154626022249 Centerline is valid? [True, True] Translation: X:206.85, Y:-28.26, Z:-5.84 [[ 9.89030072e-01 1.46643367e-01 1.77549734e-02 2.06850970e+02] [-1.46627076e-01 9.89189344e-01 -2.22293857e-03 -2.82646044e+01] [-1.78890096e-02 -4.04806742e-04 9.99839897e-01 -5.84152925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81420382200002 meters 0.027279976506713922 Centerline is valid? [True, True] Translation: X:206.88, Y:-28.27, Z:-5.84 [[ 9.89293538e-01 1.44871413e-01 1.76229756e-02 2.06879886e+02] [-1.44855134e-01 9.89450421e-01 -2.20349899e-03 -2.82684317e+01] [-1.77562846e-02 -3.72871180e-04 9.99842275e-01 -5.84229807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844203822 meters 0.022087594314637214 Centerline is valid? [True, True] Translation: X:206.91, Y:-28.27, Z:-5.84 [[ 9.90006703e-01 1.39983833e-01 1.70661954e-02 2.06908875e+02] [-1.39967909e-01 9.90153750e-01 -2.12992108e-03 -2.82747822e+01] [-1.71963119e-02 -2.80083541e-04 9.99852093e-01 -5.84479575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.874203822 meters 0.019849038950231483 Centerline is valid? [True, True] Translation: X:206.94, Y:-28.28, Z:-5.85 [[ 9.90417938e-01 1.37085694e-01 1.67278574e-02 2.06936220e+02] [-1.37069975e-01 9.90559166e-01 -2.08803074e-03 -2.82802498e+01] [-1.68561716e-02 -2.24863895e-04 9.99857899e-01 -5.84693061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904203822 meters 0.01492992407942801 Centerline is valid? [True, True] Translation: X:206.96, Y:-28.29, Z:-5.85 [[ 9.91101980e-01 1.32040187e-01 1.68004328e-02 2.06964276e+02] [-1.32023639e-01 9.91244354e-01 -2.09518640e-03 -2.82873198e+01] [-1.69299830e-02 -1.41510875e-04 9.99856668e-01 -5.84578186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.934203822 meters 0.013609690078327404 Centerline is valid? [True, True] Translation: X:206.99, Y:-28.29, Z:-5.85 [[ 9.91427942e-01 1.29530706e-01 1.71006582e-02 2.06992147e+02] [-1.29513200e-01 9.91575406e-01 -2.13191204e-03 -2.82910689e+01] [-1.72327402e-02 -1.01123802e-04 9.99851500e-01 -5.84658077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964203822 meters 0.011991639582058315 Centerline is valid? [True, True] Translation: X:207.02, Y:-28.30, Z:-5.85 [[ 9.91763871e-01 1.26925551e-01 1.71560357e-02 2.07020366e+02] [-1.26907562e-01 9.91912245e-01 -2.13765915e-03 -2.82956241e+01] [-1.72886054e-02 -5.71775459e-05 9.99850539e-01 -5.84565075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.994203822 meters 0.011445068202046934 Centerline is valid? [True, True] Translation: X:207.05, Y:-28.30, Z:-5.85 [[ 9.92352022e-01 1.22218239e-01 1.73253083e-02 2.07048317e+02] [-1.22199188e-01 9.92503250e-01 -2.15803188e-03 -2.82993708e+01] [-1.74591756e-02 2.43887039e-05 9.99847577e-01 -5.84633351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.024203822 meters 0.011985370737551366 Centerline is valid? [True, True] Translation: X:207.07, Y:-28.30, Z:-5.85 [[ 9.92642613e-01 1.19740184e-01 1.79702793e-02 2.07074864e+02] [-1.19719290e-01 9.92805260e-01 -2.23791137e-03 -2.83039739e+01] [-1.81089557e-02 7.00571227e-05 9.99836017e-01 -5.84660750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.054203822 meters 0.013717329569506224 Centerline is valid? [True, True] Translation: X:207.10, Y:-28.31, Z:-5.84 [[ 9.93186839e-01 1.14974080e-01 1.89964326e-02 2.07102589e+02] [-1.14949920e-01 9.93368479e-01 -2.36249793e-03 -2.83115643e+01] [-1.91420834e-02 1.62763443e-04 9.99816760e-01 -5.84428416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.084203822 meters 0.0151732793073286 Centerline is valid? [True, True] Translation: X:207.13, Y:-28.32, Z:-5.84 [[ 9.93432019e-01 1.12790061e-01 1.92672019e-02 2.07130741e+02] [-1.12764822e-01 9.93618820e-01 -2.39487382e-03 -2.83171475e+01] [-1.94143724e-02 2.06481742e-04 9.99811502e-01 -5.84496469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.114203822 meters 0.0151732793073286 Centerline is valid? [True, True] Translation: X:207.16, Y:-28.32, Z:-5.85 [[ 9.93440033e-01 1.12719439e-01 1.92672889e-02 2.07158018e+02] [-1.12694201e-01 9.93626834e-01 -2.39417417e-03 -2.83204093e+01] [-1.94143652e-02 2.07156749e-04 9.99811502e-01 -5.84574677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.144203822 meters 0.017327080103438097 Centerline is valid? [True, True] Translation: X:207.19, Y:-28.33, Z:-5.85 [[ 9.93704245e-01 1.10366713e-01 1.92629518e-02 2.07185045e+02] [-1.10341068e-01 9.93890902e-01 -2.39238794e-03 -2.83264526e+01] [-1.94093126e-02 2.51831385e-04 9.99811590e-01 -5.84679748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.174203822 meters 0.021173766021468286 Centerline is valid? [True, True] Translation: X:207.21, Y:-28.34, Z:-5.85 [[ 9.94188385e-01 1.06039451e-01 1.85765917e-02 2.07213815e+02] [-1.06014886e-01 9.94361871e-01 -2.30497471e-03 -2.83366060e+01] [-1.87162728e-02 3.22183841e-04 9.99824783e-01 -5.84891976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.204203822 meters 0.023909171826761152 Centerline is valid? [True, True] Translation: X:207.24, Y:-28.34, Z:-5.85 [[ 9.94378140e-01 1.04307883e-01 1.82203276e-02 2.07240454e+02] [-1.04283962e-01 9.94544994e-01 -2.26070133e-03 -2.83443892e+01] [-1.83567446e-02 3.47904038e-04 9.99831440e-01 -5.85079156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.234203822 meters 0.02452517777687846 Centerline is valid? [True, True] Translation: X:207.27, Y:-28.35, Z:-5.85 [[ 9.94576150e-01 1.02493072e-01 1.77045934e-02 2.07268537e+02] [-1.02470218e-01 9.94733650e-01 -2.19559450e-03 -2.83496645e+01] [-1.78363880e-02 3.69492371e-04 9.99840851e-01 -5.85200185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.264203822 meters 0.024779348595234296 Centerline is valid? [True, True] Translation: X:207.30, Y:-28.35, Z:-5.85 [[ 9.94590314e-01 1.02397835e-01 1.74582481e-02 2.07296060e+02] [-1.02375611e-01 9.94743459e-01 -2.16436306e-03 -2.83540708e+01] [-1.75881042e-02 3.65355721e-04 9.99845251e-01 -5.85329486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29420382200001 meters 0.02473725405189459 Centerline is valid? [True, True] Translation: X:207.32, Y:-28.36, Z:-5.85 [[ 9.94588402e-01 1.02440530e-01 1.73161114e-02 2.07323442e+02] [-1.02418687e-01 9.94739065e-01 -2.14586444e-03 -2.83581905e+01] [-1.74448359e-02 3.60758483e-04 9.99847762e-01 -5.85414936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32420382200002 meters 0.02253855972647313 Centerline is valid? [True, True] Translation: X:207.35, Y:-28.36, Z:-5.85 [[ 9.94436197e-01 1.03907689e-01 1.73159502e-02 2.07352055e+02] [-1.03886095e-01 9.94586890e-01 -2.14437896e-03 -2.83605424e+01] [-1.74450345e-02 3.33561619e-04 9.99847768e-01 -5.85410355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35420382200002 meters 0.022036593142359104 Centerline is valid? [True, True] Translation: X:207.38, Y:-28.36, Z:-5.86 [[ 9.94291367e-01 1.05303762e-01 1.71987068e-02 2.07379688e+02] [-1.05282680e-01 9.94440056e-01 -2.12917308e-03 -2.83641430e+01] [-1.73272929e-02 3.06292474e-04 9.99849824e-01 -5.85537831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38420382200002 meters 0.021347510766881846 Centerline is valid? [True, True] Translation: X:207.41, Y:-28.36, Z:-5.86 [[ 9.93904110e-01 1.08966696e-01 1.67594400e-02 2.07408988e+02] [-1.08947216e-01 9.94045373e-01 -2.07370585e-03 -2.83628510e+01] [-1.68856087e-02 2.35170431e-04 9.99857400e-01 -5.85618865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41420382200002 meters 0.016323588636646347 Centerline is valid? [True, True] Translation: X:207.44, Y:-28.36, Z:-5.86 [[ 9.93660447e-01 1.11121021e-01 1.70597262e-02 2.07437778e+02] [-1.11101169e-01 9.93806862e-01 -2.11003151e-03 -2.83639268e+01] [-1.71885418e-02 2.01299339e-04 9.99852246e-01 -5.85574347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44420382200002 meters 0.014230965163131779 Centerline is valid? [True, True] Translation: X:207.47, Y:-28.37, Z:-5.86 [[ 9.93403445e-01 1.13411515e-01 1.69535781e-02 2.07467014e+02] [-1.13392256e-01 9.93548088e-01 -2.09611477e-03 -2.83652373e+01] [-1.70819187e-02 1.59883173e-04 9.99854081e-01 -5.85650359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47420382200002 meters 0.011782464542921912 Centerline is valid? [True, True] Translation: X:207.49, Y:-28.37, Z:-5.86 [[ 9.92833429e-01 1.18300293e-01 1.69358699e-02 2.07494625e+02] [-1.18281796e-01 9.92977862e-01 -2.09323252e-03 -2.83660191e+01] [-1.70645739e-02 7.50261070e-05 9.99854387e-01 -5.85771196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50420382200002 meters 0.011208231277009616 Centerline is valid? [True, True] Translation: X:207.52, Y:-28.37, Z:-5.86 [[ 9.92500242e-01 1.21068452e-01 1.69026414e-02 2.07522703e+02] [-1.21050447e-01 9.92644160e-01 -2.08808578e-03 -2.83665320e+01] [-1.70311096e-02 2.63533478e-05 9.99854960e-01 -5.85926563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53420382200002 meters 0.012423481178235624 Centerline is valid? [True, True] Translation: X:207.55, Y:-28.36, Z:-5.86 [[ 9.91749622e-01 1.27097837e-01 1.66981040e-02 2.07552385e+02] [-1.27081138e-01 9.91890182e-01 -2.06168342e-03 -2.83617725e+01] [-1.68247209e-02 -7.73402969e-05 9.99858451e-01 -5.86004719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56420382200002 meters 0.013927027711995865 Centerline is valid? [True, True] Translation: X:207.58, Y:-28.36, Z:-5.86 [[ 9.91423503e-01 1.29628840e-01 1.66072912e-02 2.07580689e+02] [-1.29612688e-01 9.91562580e-01 -2.04981914e-03 -2.83613161e+01] [-1.67328842e-02 -1.20276778e-04 9.99859988e-01 -5.86109181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.594203822 meters 0.016469297772193473 Centerline is valid? [True, True] Translation: X:207.61, Y:-28.36, Z:-5.86 [[ 9.91143084e-01 1.31750628e-01 1.66480848e-02 2.07608712e+02] [-1.31734712e-01 9.91282880e-01 -2.05385144e-03 -2.83604041e+01] [-1.67735576e-02 -1.57470004e-04 9.99859302e-01 -5.86305593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624203822 meters 0.01783532583464366 Centerline is valid? [True, True] Translation: X:207.64, Y:-28.36, Z:-5.86 [[ 9.90850531e-01 1.33958503e-01 1.64421581e-02 2.07637796e+02] [-1.33943277e-01 9.90986924e-01 -2.02874417e-03 -2.83627618e+01] [-1.65657312e-02 -1.92134294e-04 9.99862760e-01 -5.86412757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.654203822 meters 0.017873010267020182 Centerline is valid? [True, True] Translation: X:207.67, Y:-28.37, Z:-5.87 [[ 9.90823576e-01 1.34241253e-01 1.57457036e-02 2.07666181e+02] [-1.34227364e-01 9.90948661e-01 -1.94042491e-03 -2.83683781e+01] [-1.58636690e-02 -1.90885539e-04 9.99874146e-01 -5.86553142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684203822 meters 0.01860309196539411 Centerline is valid? [True, True] Translation: X:207.69, Y:-28.37, Z:-5.87 [[ 9.90885768e-01 1.33834953e-01 1.52839725e-02 2.07693088e+02] [-1.33821873e-01 9.91003619e-01 -1.87997042e-03 -2.83739146e+01] [-1.53980778e-02 -1.82493894e-04 9.99881426e-01 -5.86850072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.714203822 meters 0.01724681332070676 Centerline is valid? [True, True] Translation: X:207.72, Y:-28.38, Z:-5.87 [[ 9.91004876e-01 1.32949238e-01 1.52917185e-02 2.07721512e+02] [-1.32936042e-01 9.91122834e-01 -1.88072686e-03 -2.83797127e+01] [-1.54060126e-02 -1.69011048e-04 9.99881306e-01 -5.86828281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744203822 meters 0.016685113158517954 Centerline is valid? [True, True] Translation: X:207.75, Y:-28.38, Z:-5.87 [[ 9.91150224e-01 1.31812911e-01 1.57031712e-02 2.07748965e+02] [-1.31798918e-01 9.91274599e-01 -1.92719837e-03 -2.83848695e+01] [-1.58201844e-02 -1.59517887e-04 9.99874840e-01 -5.86978320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.774203822 meters 0.014849332487808897 Centerline is valid? [True, True] Translation: X:207.78, Y:-28.40, Z:-5.87 [[ 9.91534938e-01 1.28886943e-01 1.57042162e-02 2.07776045e+02] [-1.28872591e-01 9.91659288e-01 -1.92672829e-03 -2.83950938e+01] [-1.58215619e-02 -1.13424608e-04 9.99874825e-01 -5.87136465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.804203822 meters 0.013746744102076868 Centerline is valid? [True, True] Translation: X:207.80, Y:-28.40, Z:-5.87 [[ 9.91764227e-01 1.27115186e-01 1.56667400e-02 2.07803321e+02] [-1.27100708e-01 9.91887958e-01 -1.92040779e-03 -2.84023953e+01] [-1.57837638e-02 -8.66620104e-05 9.99875425e-01 -5.87250562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.834203822 meters 0.01148405576268171 Centerline is valid? [True, True] Translation: X:207.83, Y:-28.41, Z:-5.87 [[ 9.92174184e-01 1.23720594e-01 1.68405005e-02 2.07831474e+02] [-1.23703376e-01 9.92317093e-01 -2.06430538e-03 -2.84139756e+01] [-1.69665136e-02 -3.50762550e-05 9.99856058e-01 -5.87000245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.864203822 meters 0.011004056004573297 Centerline is valid? [True, True] Translation: X:207.86, Y:-28.42, Z:-5.87 [[ 9.92353657e-01 1.22232716e-01 1.71284058e-02 2.07859944e+02] [-1.22214750e-01 9.92501468e-01 -2.09569227e-03 -2.84216406e+01] [-1.72561301e-02 -1.36759369e-05 9.99851102e-01 -5.87017452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.894203822 meters 0.01130731372577838 Centerline is valid? [True, True] Translation: X:207.89, Y:-28.43, Z:-5.87 [[ 9.92544332e-01 1.20753264e-01 1.65649799e-02 2.07886629e+02] [-1.20736265e-01 9.92682552e-01 -2.02615089e-03 -2.84291620e+01] [-1.66884309e-02 1.10507797e-05 9.99860738e-01 -5.87237214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.924203822 meters 0.011799694788882618 Centerline is valid? [True, True] Translation: X:207.91, Y:-28.44, Z:-5.87 [[ 9.92813924e-01 1.18588587e-01 1.60393212e-02 2.07914416e+02] [-1.18572384e-01 9.92943475e-01 -1.96080550e-03 -2.84379193e+01] [-1.61586684e-02 4.48944547e-05 9.99869439e-01 -5.87390696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.954203822 meters 0.012123155485004316 Centerline is valid? [True, True] Translation: X:207.94, Y:-28.45, Z:-5.87 [[ 9.92910973e-01 1.17719516e-01 1.64291007e-02 2.07940696e+02] [-1.17702403e-01 9.93046883e-01 -2.00806444e-03 -2.84456250e+01] [-1.65512556e-02 6.00845769e-05 9.99863017e-01 -5.87496956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.984203822 meters 0.011213197795316937 Centerline is valid? [True, True] Translation: X:207.97, Y:-28.45, Z:-5.87 [[ 9.92924203e-01 1.17564137e-01 1.67392151e-02 2.07969409e+02] [-1.17546380e-01 9.93065290e-01 -2.04421710e-03 -2.84507183e+01] [-1.68634602e-02 6.21184912e-05 9.99857800e-01 -5.87214356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.014203822 meters 0.011258463752676886 Centerline is valid? [True, True] Translation: X:208.00, Y:-28.46, Z:-5.87 [[ 9.92902044e-01 1.17749292e-01 1.67521583e-02 2.07996410e+02] [-1.17731541e-01 9.93043353e-01 -2.04538080e-03 -2.84558027e+01] [-1.68764616e-02 5.86053697e-05 9.99857581e-01 -5.87347074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04420382200001 meters 0.011445237632526452 Centerline is valid? [True, True] Translation: X:208.02, Y:-28.46, Z:-5.88 [[ 9.92860597e-01 1.18141419e-01 1.64450658e-02 2.08022788e+02] [-1.18124390e-01 9.92996779e-01 -2.00647809e-03 -2.84599979e+01] [-1.65669455e-02 4.95896738e-05 9.99862758e-01 -5.87565229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07420382200002 meters 0.011481256761646507 Centerline is valid? [True, True] Translation: X:208.05, Y:-28.46, Z:-5.88 [[ 9.92721587e-01 1.19404703e-01 1.56961186e-02 2.08050557e+02] [-1.19389373e-01 9.92845666e-01 -1.91352511e-03 -2.84637982e+01] [-1.58123072e-02 2.56479305e-05 9.99874977e-01 -5.87811860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10420382200002 meters 0.0226516329020065 Centerline is valid? [True, True] Translation: X:208.08, Y:-28.47, Z:-5.88 [[ 9.92551010e-01 1.20942606e-01 1.46758180e-02 2.08079253e+02] [-1.20929385e-01 9.92659502e-01 -1.78821244e-03 -2.84667818e+01] [-1.47843613e-02 1.54410324e-07 9.99890705e-01 -5.88018966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13420382200002 meters 0.011600521895339501 Centerline is valid? [True, True] Translation: X:208.11, Y:-28.47, Z:-5.88 [[ 9.92414804e-01 1.22077288e-01 1.44911078e-02 2.08107829e+02] [-1.22064528e-01 9.92520597e-01 -1.76503037e-03 -2.84706357e+01] [-1.45981930e-02 -1.72079705e-05 9.99893441e-01 -5.88096696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16420382200002 meters 0.012341210105994576 Centerline is valid? [True, True] Translation: X:208.14, Y:-28.47, Z:-5.88 [[ 9.92305058e-01 1.22973397e-01 1.44296441e-02 2.08135701e+02] [-1.22960848e-01 9.92409967e-01 -1.75700855e-03 -2.84736939e+01] [-1.45361879e-02 -3.07927976e-05 9.99894344e-01 -5.88374749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19420382200002 meters 0.012617905462575038 Centerline is valid? [True, True] Translation: X:208.16, Y:-28.48, Z:-5.88 [[ 9.92117930e-01 1.24495959e-01 1.42396967e-02 2.08164491e+02] [-1.24483910e-01 9.92220113e-01 -1.73283523e-03 -2.84769761e+01] [-1.43446445e-02 -5.34362283e-05 9.99897109e-01 -5.88358722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22420382200002 meters 0.013221784103743615 Centerline is valid? [True, True] Translation: X:208.19, Y:-28.48, Z:-5.88 [[ 9.92005515e-01 1.25415983e-01 1.39960854e-02 2.08192738e+02] [-1.25404435e-01 9.92104242e-01 -1.70314095e-03 -2.84787862e+01] [-1.40991768e-02 -6.56459660e-05 9.99900600e-01 -5.88468553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25420382200002 meters 0.013720165434175171 Centerline is valid? [True, True] Translation: X:208.22, Y:-28.48, Z:-5.88 [[ 9.91857178e-01 1.26600491e-01 1.38439444e-02 2.08221775e+02] [-1.26589334e-01 9.91953784e-01 -1.68279946e-03 -2.84798899e+01] [-1.39455963e-02 -8.33989705e-05 9.99902752e-01 -5.88499826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28420382200002 meters 0.015912592275330706 Centerline is valid? [True, True] Translation: X:208.25, Y:-28.48, Z:-5.89 [[ 9.91556369e-01 1.28983001e-01 1.33922250e-02 2.08249926e+02] [-1.28972777e-01 9.91646798e-01 -1.62791023e-03 -2.84787118e+01] [-1.34903298e-02 -1.13067685e-04 9.99908995e-01 -5.88825719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31420382200002 meters 0.016317827995962986 Centerline is valid? [True, True] Translation: X:208.28, Y:-28.48, Z:-5.89 [[ 9.91485257e-01 1.29498237e-01 1.36818113e-02 2.08277986e+02] [-1.29487637e-01 9.91579644e-01 -1.66153257e-03 -2.84814062e+01] [-1.37817711e-02 -1.24240368e-04 9.99905019e-01 -5.88894992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344203822 meters 0.01519802070210558 Centerline is valid? [True, True] Translation: X:208.31, Y:-28.49, Z:-5.89 [[ 9.91494451e-01 1.29368820e-01 1.42288990e-02 2.08306502e+02] [-1.29357362e-01 9.91596537e-01 -1.72657879e-03 -2.84860431e+01] [-1.43326924e-02 -1.28719546e-04 9.99897273e-01 -5.88683937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.374203822 meters 0.015197006470423225 Centerline is valid? [True, True] Translation: X:208.33, Y:-28.49, Z:-5.89 [[ 9.91601167e-01 1.28512368e-01 1.45498332e-02 2.08334308e+02] [-1.28500298e-01 9.91707899e-01 -1.76535415e-03 -2.84903589e+01] [-1.46560543e-02 -1.19130660e-04 9.99892587e-01 -5.88837345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404203822 meters 0.014326516747867746 Centerline is valid? [True, True] Translation: X:208.36, Y:-28.50, Z:-5.89 [[ 9.91794077e-01 1.26958801e-01 1.50323490e-02 2.08361383e+02] [-1.26945766e-01 9.91907986e-01 -1.82200125e-03 -2.84960404e+01] [-1.51420261e-02 -1.01243021e-04 9.99885348e-01 -5.88913248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.434203822 meters 0.011692158424904633 Centerline is valid? [True, True] Translation: X:208.39, Y:-28.51, Z:-5.89 [[ 9.92294130e-01 1.22902207e-01 1.57291873e-02 2.08388976e+02] [-1.22887444e-01 9.92418785e-01 -1.90531816e-03 -2.85065048e+01] [-1.58441087e-02 -4.22836038e-05 9.99874473e-01 -5.88686804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464203822 meters 0.011735439045919283 Centerline is valid? [True, True] Translation: X:208.42, Y:-28.51, Z:-5.89 [[ 9.92587072e-01 1.20534227e-01 1.55693687e-02 2.08415309e+02] [-1.20519476e-01 9.92709172e-01 -1.88566595e-03 -2.85133772e+01] [-1.56831424e-02 -4.72451876e-06 9.99877012e-01 -5.88970909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.494203822 meters 0.01214753016849355 Centerline is valid? [True, True] Translation: X:208.44, Y:-28.53, Z:-5.89 [[ 9.93166609e-01 1.15588640e-01 1.61044263e-02 2.08442837e+02] [-1.15572238e-01 9.93297166e-01 -1.94857705e-03 -2.85277643e+01] [-1.62217143e-02 7.40370741e-05 9.99868417e-01 -5.88882386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.524203822 meters 0.016583666472804036 Centerline is valid? [True, True] Translation: X:208.47, Y:-28.54, Z:-5.89 [[ 9.93432778e-01 1.13223710e-01 1.64835462e-02 2.08469431e+02] [-1.13206208e-01 9.93569514e-01 -1.99404014e-03 -2.85369837e+01] [-1.66033216e-02 1.14905088e-04 9.99862149e-01 -5.89045389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.554203822 meters 0.01518052703171328 Centerline is valid? [True, True] Translation: X:208.50, Y:-28.55, Z:-5.89 [[ 9.93629926e-01 1.11443324e-01 1.67319060e-02 2.08496402e+02] [-1.11425064e-01 9.93770781e-01 -2.02254583e-03 -2.85462379e+01] [-1.68530785e-02 1.45308371e-04 9.99857966e-01 -5.89078946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.584203822 meters 0.016741317440956187 Centerline is valid? [True, True] Translation: X:208.52, Y:-28.56, Z:-5.89 [[ 9.93931108e-01 1.08862771e-01 1.58066216e-02 2.08523863e+02] [-1.08846171e-01 9.94056772e-01 -1.90927411e-03 -2.85577159e+01] [-1.59205281e-02 1.77196688e-04 9.99873245e-01 -5.89120783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.614203822 meters 0.01658133100577795 Centerline is valid? [True, True] Translation: X:208.55, Y:-28.57, Z:-5.89 [[ 9.93954704e-01 1.08678646e-01 1.55884146e-02 2.08551788e+02] [-1.08662490e-01 9.94076919e-01 -1.88220366e-03 -2.85653050e+01] [-1.57006385e-02 1.76949230e-04 9.99876722e-01 -5.89091427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.644203822 meters 0.015813003508833797 Centerline is valid? [True, True] Translation: X:208.58, Y:-28.57, Z:-5.89 [[ 9.93858362e-01 1.09615345e-01 1.51668326e-02 2.08580592e+02] [-1.09600171e-01 9.93974070e-01 -1.83061711e-03 -2.85692710e+01] [-1.52761020e-02 1.57086681e-04 9.99883301e-01 -5.89100152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.674203822 meters 0.014223620430450185 Centerline is valid? [True, True] Translation: X:208.61, Y:-28.57, Z:-5.89 [[ 9.93675155e-01 1.11331155e-01 1.46649468e-02 2.08609011e+02] [-1.11317165e-01 9.93783356e-01 -1.76940289e-03 -2.85722931e+01] [-1.47707697e-02 1.25751392e-04 9.99890898e-01 -5.89133045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.704203822 meters 0.017132396660367012 Centerline is valid? [True, True] Translation: X:208.64, Y:-28.57, Z:-5.89 [[ 9.93394364e-01 1.13828372e-01 1.45168525e-02 2.08636752e+02] [-1.13814937e-01 9.93500425e-01 -1.75100199e-03 -2.85747253e+01] [-1.46218128e-02 8.72008610e-05 9.99893092e-01 -5.89269094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.734203822 meters 0.011506208245843011 Centerline is valid? [True, True] Translation: X:208.66, Y:-28.57, Z:-5.89 [[ 9.92535531e-01 1.20954665e-01 1.55944845e-02 2.08664745e+02] [-1.20940053e-01 9.92658032e-01 -1.88018276e-03 -2.85732862e+01] [-1.57074072e-02 -1.98495779e-05 9.99876631e-01 -5.89184494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.764203822 meters 0.013007313163348752 Centerline is valid? [True, True] Translation: X:208.69, Y:-28.57, Z:-5.89 [[ 9.92035209e-01 1.24988069e-01 1.56245864e-02 2.08693542e+02] [-1.24973925e-01 9.92158241e-01 -1.88222055e-03 -2.85709010e+01] [-1.57373173e-02 -8.54368241e-05 9.99876157e-01 -5.89164186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79420382200001 meters 0.01928267339781601 Centerline is valid? [True, True] Translation: X:208.72, Y:-28.56, Z:-5.89 [[ 9.91063142e-01 1.32514070e-01 1.52928037e-02 2.08722818e+02] [-1.32501430e-01 9.91181104e-01 -1.84130420e-03 -2.85629848e+01] [-1.54019368e-02 -2.01469636e-04 9.99881363e-01 -5.89300717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82420382200002 meters 0.022491196401801455 Centerline is valid? [True, True] Translation: X:208.75, Y:-28.56, Z:-5.89 [[ 9.90611800e-01 1.35827853e-01 1.54614451e-02 2.08751917e+02] [-1.35815351e-01 9.90732420e-01 -1.86065265e-03 -2.85620966e+01] [-1.55708833e-02 -2.56717112e-04 9.99878733e-01 -5.89357173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85420382200002 meters 0.02502130244348642 Centerline is valid? [True, True] Translation: X:208.78, Y:-28.56, Z:-5.89 [[ 9.90125348e-01 1.39305807e-01 1.56744142e-02 2.08781541e+02] [-1.39293412e-01 9.90249358e-01 -1.88507846e-03 -2.85622846e+01] [-1.57841810e-02 -3.16878673e-04 9.99875372e-01 -5.89286778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88420382200002 meters 0.03403468083786354 Centerline is valid? [True, True] Translation: X:208.81, Y:-28.55, Z:-5.90 [[ 9.89268855e-01 1.45294831e-01 1.53800037e-02 2.08812113e+02] [-1.45283623e-01 9.89388320e-01 -1.84949016e-03 -2.85543910e+01] [-1.54855174e-02 -4.04819642e-04 9.99880010e-01 -5.89587893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91420382200002 meters 0.037443827660873584 Centerline is valid? [True, True] Translation: X:208.84, Y:-28.55, Z:-5.90 [[ 9.88611867e-01 1.49726362e-01 1.51193125e-02 2.08842236e+02] [-1.49716051e-01 9.88727363e-01 -1.81796047e-03 -2.85538829e+01] [-1.52210746e-02 -4.66346467e-04 9.99884044e-01 -5.89605002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94420382200002 meters 0.04258986423675825 Centerline is valid? [True, True] Translation: X:208.87, Y:-28.55, Z:-5.90 [[ 9.88379441e-01 1.51203698e-01 1.56051752e-02 2.08870517e+02] [-1.51192891e-01 9.88502497e-01 -1.87679000e-03 -2.85493769e+01] [-1.57095322e-02 -5.04410891e-04 9.99876470e-01 -5.89775449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97420382200002 meters 0.038983232561909664 Centerline is valid? [True, True] Translation: X:208.90, Y:-28.55, Z:-5.90 [[ 9.88208674e-01 1.52285429e-01 1.58985966e-02 2.08898434e+02] [-1.52274367e-01 9.88336413e-01 -1.91110647e-03 -2.85548079e+01] [-1.60041956e-02 -5.32376750e-04 9.99871783e-01 -5.89554141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00420382200002 meters 0.0402427432833728 Centerline is valid? [True, True] Translation: X:208.93, Y:-28.55, Z:-5.90 [[ 9.88137537e-01 1.52748982e-01 1.58731262e-02 2.08926915e+02] [-1.52738031e-01 9.88264872e-01 -1.90706924e-03 -2.85543535e+01] [-1.59781559e-02 -5.39983333e-04 9.99872195e-01 -5.89698853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03420382200002 meters 0.0402427432833728 Centerline is valid? [True, True] Translation: X:208.95, Y:-28.56, Z:-5.90 [[ 9.88166990e-01 1.52558341e-01 1.58730444e-02 2.08954196e+02] [-1.52547354e-01 9.88294321e-01 -1.90775302e-03 -2.85574288e+01] [-1.59782832e-02 -5.36212364e-04 9.99872195e-01 -5.89777015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06420382200002 meters 0.04334066683695265 Centerline is valid? [True, True] Translation: X:208.98, Y:-28.56, Z:-5.90 [[ 9.88297327e-01 1.51679875e-01 1.61743059e-02 2.08982311e+02] [-1.51668430e-01 9.88429526e-01 -1.93906000e-03 -2.85553319e+01] [-1.62812779e-02 -5.36763770e-04 9.99867307e-01 -5.90021616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.094203822 meters 0.0364029110574662 Centerline is valid? [True, True] Translation: X:209.01, Y:-28.57, Z:-5.90 [[ 9.88748504e-01 1.48739409e-01 1.59054812e-02 2.09011297e+02] [-1.48727985e-01 9.88876310e-01 -1.90529385e-03 -2.85669458e+01] [-1.60119458e-02 -4.81733733e-04 9.99871685e-01 -5.89981176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124203822 meters 0.037358577988734015 Centerline is valid? [True, True] Translation: X:209.04, Y:-28.57, Z:-5.90 [[ 9.89052267e-01 1.46776410e-01 1.52413607e-02 2.09039443e+02] [-1.46765658e-01 9.89169602e-01 -1.82766530e-03 -2.85727744e+01] [-1.53445489e-02 -4.29251833e-04 9.99882173e-01 -5.90126714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.154203822 meters 0.031013459618366768 Centerline is valid? [True, True] Translation: X:209.07, Y:-28.58, Z:-5.90 [[ 9.89445135e-01 1.44167200e-01 1.46336424e-02 2.09068300e+02] [-1.44157041e-01 9.89553272e-01 -1.75227094e-03 -2.85789174e+01] [-1.47333887e-02 -3.75766624e-04 9.99891387e-01 -5.90268470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184203822 meters 0.02653992676027595 Centerline is valid? [True, True] Translation: X:209.10, Y:-28.59, Z:-5.90 [[ 9.90186186e-01 1.38907814e-01 1.53602077e-02 2.09096130e+02] [-1.38896054e-01 9.90305266e-01 -1.83499629e-03 -2.85863722e+01] [-1.54661899e-02 -3.16484260e-04 9.99880341e-01 -5.90315113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.214203822 meters 0.022804410721134084 Centerline is valid? [True, True] Translation: X:209.12, Y:-28.59, Z:-5.90 [[ 9.90602400e-01 1.35907932e-01 1.53596850e-02 2.09124181e+02] [-1.35895818e-01 9.90721435e-01 -1.83452445e-03 -2.85938346e+01] [-1.54664956e-02 -2.70032639e-04 9.99880350e-01 -5.90317310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244203822 meters 0.01661837259606661 Centerline is valid? [True, True] Translation: X:209.15, Y:-28.60, Z:-5.90 [[ 9.91490485e-01 1.29215435e-01 1.58110393e-02 2.09153322e+02] [-1.29201767e-01 9.91616530e-01 -1.88716836e-03 -2.86037196e+01] [-1.59223392e-02 -1.71704750e-04 9.99873217e-01 -5.90302964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.274203822 meters 0.014163673044273427 Centerline is valid? [True, True] Translation: X:209.18, Y:-28.61, Z:-5.90 [[ 9.91975142e-01 1.25480552e-01 1.54902846e-02 2.09180579e+02] [-1.25466972e-01 9.92096074e-01 -1.84931359e-03 -2.86113770e+01] [-1.55999034e-02 -1.09045986e-04 9.99878308e-01 -5.90476507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.304203822 meters 0.011943627247900601 Centerline is valid? [True, True] Translation: X:209.21, Y:-28.62, Z:-5.91 [[ 9.92781989e-01 1.18995167e-01 1.49690382e-02 2.09206980e+02] [-1.18981756e-01 9.92894833e-01 -1.78651799e-03 -2.86237339e+01] [-1.50752677e-02 -7.41956704e-06 9.99886362e-01 -5.90658801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.334203822 meters 0.011665271235214469 Centerline is valid? [True, True] Translation: X:209.23, Y:-28.63, Z:-5.91 [[ 9.93089761e-01 1.16395270e-01 1.49955935e-02 2.09234433e+02] [-1.16381534e-01 9.93202970e-01 -1.78836767e-03 -2.86300126e+01] [-1.51018255e-02 3.07994486e-05 9.99885960e-01 -5.90578915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.364203822 meters 0.0127670128511126 Centerline is valid? [True, True] Translation: X:209.26, Y:-28.64, Z:-5.91 [[ 9.93319934e-01 1.14398146e-01 1.51186076e-02 2.09261810e+02] [-1.14383972e-01 9.93434981e-01 -1.80175539e-03 -2.86359335e+01] [-1.52254711e-02 6.03931597e-05 9.99884084e-01 -5.90766404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.394203822 meters 0.01902691817761825 Centerline is valid? [True, True] Translation: X:209.29, Y:-28.64, Z:-5.91 [[ 9.93589879e-01 1.11880328e-01 1.61847058e-02 2.09289862e+02] [-1.11863766e-01 9.93721682e-01 -1.92784689e-03 -2.86415447e+01] [-1.62987812e-02 1.05007012e-04 9.99867161e-01 -5.90645706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.424203822 meters 0.013478103309880666 Centerline is valid? [True, True] Translation: X:209.32, Y:-28.65, Z:-5.91 [[ 9.93696840e-01 1.10858588e-01 1.66422279e-02 2.09317043e+02] [-1.10840954e-01 9.93836183e-01 -1.98111300e-03 -2.86465272e+01] [-1.67592716e-02 1.23985313e-04 9.99859546e-01 -5.90524235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.454203822 meters 0.013316805900303747 Centerline is valid? [True, True] Translation: X:209.35, Y:-28.65, Z:-5.90 [[ 9.93774914e-01 1.10141243e-01 1.67429919e-02 2.09345819e+02] [-1.10123318e-01 9.93915936e-01 -1.99162367e-03 -2.86497639e+01] [-1.68604863e-02 1.35431826e-04 9.99857843e-01 -5.90475471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.484203822 meters 0.013795410878947624 Centerline is valid? [True, True] Translation: X:209.37, Y:-28.65, Z:-5.91 [[ 9.93759521e-01 1.10347252e-01 1.62941165e-02 2.09372917e+02] [-1.10330311e-01 9.93893087e-01 -1.93771885e-03 -2.86535089e+01] [-1.64084317e-02 1.27891612e-04 9.99865364e-01 -5.90731125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.514203822 meters 0.013611618311483789 Centerline is valid? [True, True] Translation: X:209.40, Y:-28.66, Z:-5.91 [[ 9.93730499e-01 1.10678854e-01 1.58078308e-02 2.09401028e+02] [-1.10662974e-01 9.93856216e-01 -1.87851810e-03 -2.86570756e+01] [-1.59186231e-02 1.17399167e-04 9.99873284e-01 -5.90901188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54420382200001 meters 0.012787709544425848 Centerline is valid? [True, True] Translation: X:209.43, Y:-28.66, Z:-5.91 [[ 9.93574914e-01 1.12121013e-01 1.54197487e-02 2.09429540e+02] [-1.12106087e-01 9.93694556e-01 -1.83169813e-03 -2.86593919e+01] [-1.55278921e-02 9.12816282e-05 9.99879431e-01 -5.91016248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57420382200002 meters 0.021784798787045482 Centerline is valid? [True, True] Translation: X:209.46, Y:-28.66, Z:-5.91 [[ 9.93443808e-01 1.13274587e-01 1.54359646e-02 2.09456871e+02] [-1.13259779e-01 9.93563718e-01 -1.83302693e-03 -2.86607320e+01] [-1.55442498e-02 7.27353101e-05 9.99879178e-01 -5.91290851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60420382200002 meters 0.011755054011356476 Centerline is valid? [True, True] Translation: X:209.49, Y:-28.66, Z:-5.91 [[ 9.93159697e-01 1.15728290e-01 1.55170884e-02 2.09485942e+02] [-1.15713642e-01 9.93280908e-01 -1.84154999e-03 -2.86606498e+01] [-1.56259471e-02 3.34144145e-05 9.99877907e-01 -5.91234177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63420382200002 meters 0.01142606077924607 Centerline is valid? [True, True] Translation: X:209.51, Y:-28.66, Z:-5.91 [[ 9.92966256e-01 1.17294581e-01 1.61243708e-02 2.09514453e+02] [-1.17278983e-01 9.93097166e-01 -1.91280885e-03 -2.86607634e+01] [-1.62374290e-02 8.30483521e-06 9.99868164e-01 -5.91299917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66420382200002 meters 0.011480640052260387 Centerline is valid? [True, True] Translation: X:209.54, Y:-28.66, Z:-5.91 [[ 9.92559526e-01 1.20625804e-01 1.65832300e-02 2.09543190e+02] [-1.20609779e-01 9.92698047e-01 -1.96672147e-03 -2.86575624e+01] [-1.66993774e-02 -4.80115769e-05 9.99860555e-01 -5.91186152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69420382200002 meters 0.012137195798775237 Centerline is valid? [True, True] Translation: X:209.57, Y:-28.66, Z:-5.91 [[ 9.92290262e-01 1.22879167e-01 1.61476352e-02 2.09572536e+02] [-1.22864294e-01 9.92421636e-01 -1.91368335e-03 -2.86587398e+01] [-1.62604144e-02 -8.50384455e-05 9.99867787e-01 -5.91191400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72420382200002 meters 0.014678285424947686 Centerline is valid? [True, True] Translation: X:209.60, Y:-28.66, Z:-5.92 [[ 9.92011883e-01 1.25054288e-01 1.65483662e-02 2.09600698e+02] [-1.25038982e-01 9.92149893e-01 -1.96046060e-03 -2.86578359e+01] [-1.66636238e-02 -1.24390659e-04 9.99861144e-01 -5.91506809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75420382200002 meters 0.01773960319772114 Centerline is valid? [True, True] Translation: X:209.63, Y:-28.65, Z:-5.91 [[ 9.91394740e-01 1.29796959e-01 1.70064564e-02 2.09629733e+02] [-1.29781510e-01 9.91540572e-01 -2.01360374e-03 -2.86542986e+01] [-1.71239512e-02 -2.10847443e-04 9.99853352e-01 -5.91315010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78420382200002 meters 0.020677781931572763 Centerline is valid? [True, True] Translation: X:209.66, Y:-28.65, Z:-5.91 [[ 9.91072674e-01 1.32246374e-01 1.69071587e-02 2.09658190e+02] [-1.32231479e-01 9.91216844e-01 -2.00084377e-03 -2.86516181e+01] [-1.70232648e-02 -2.52677006e-04 9.99855062e-01 -5.91447762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81420382200002 meters 0.02442371420280948 Centerline is valid? [True, True] Translation: X:209.69, Y:-28.64, Z:-5.91 [[ 9.90454315e-01 1.36754141e-01 1.72787175e-02 2.09688338e+02] [-1.36739292e-01 9.90604962e-01 -2.04348752e-03 -2.86441922e+01] [-1.73958387e-02 -3.38698560e-04 9.99848624e-01 -5.91357807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844203822 meters 0.026527203652168756 Centerline is valid? [True, True] Translation: X:209.72, Y:-28.64, Z:-5.91 [[ 9.90205081e-01 1.38521799e-01 1.74816489e-02 2.09716566e+02] [-1.38506881e-01 9.90359314e-01 -2.06709784e-03 -2.86419165e+01] [-1.75994519e-02 -3.74477881e-04 9.99845048e-01 -5.91470821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.874203822 meters 0.0288008460658322 Centerline is valid? [True, True] Translation: X:209.74, Y:-28.64, Z:-5.92 [[ 9.90019652e-01 1.39942981e-01 1.66448256e-02 2.09744867e+02] [-1.39929673e-01 9.90159491e-01 -1.96722541e-03 -2.86403249e+01] [-1.67563314e-02 -3.81513187e-04 9.99859530e-01 -5.91731372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904203822 meters 0.029512507983459346 Centerline is valid? [True, True] Translation: X:209.77, Y:-28.64, Z:-5.92 [[ 9.89883700e-01 1.41060584e-01 1.52371911e-02 2.09773845e+02] [-1.41049554e-01 9.90000898e-01 -1.80152640e-03 -2.86396860e+01] [-1.53389572e-02 -3.65897392e-04 9.99882284e-01 -5.92118001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.934203822 meters 0.028756215779367003 Centerline is valid? [True, True] Translation: X:209.80, Y:-28.64, Z:-5.92 [[ 9.89939239e-01 1.40673233e-01 1.52099917e-02 2.09801684e+02] [-1.40662231e-01 9.90056014e-01 -1.79608477e-03 -2.86416348e+01] [-1.53114048e-02 -3.61456572e-04 9.99882708e-01 -5.92203393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964203822 meters 0.026067662016702044 Centerline is valid? [True, True] Translation: X:209.83, Y:-28.64, Z:-5.92 [[ 9.90255744e-01 1.38252382e-01 1.67284287e-02 2.09831074e+02] [-1.38238815e-01 9.90396965e-01 -1.97023307e-03 -2.86440546e+01] [-1.68401744e-02 -3.61483540e-04 9.99858129e-01 -5.92089579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.994203822 meters 0.02514305618358176 Centerline is valid? [True, True] Translation: X:209.86, Y:-28.65, Z:-5.92 [[ 9.90580809e-01 1.35823842e-01 1.73650607e-02 2.09858761e+02] [-1.35808879e-01 9.90732947e-01 -2.04351856e-03 -2.86467724e+01] [-1.74816963e-02 -3.34059166e-04 9.99847128e-01 -5.92183576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.024203822 meters 0.02646959891403723 Centerline is valid? [True, True] Translation: X:209.89, Y:-28.65, Z:-5.92 [[ 9.90978608e-01 1.32837640e-01 1.77639804e-02 2.09887700e+02] [-1.32821505e-01 9.91137770e-01 -2.09030089e-03 -2.86518984e+01] [-1.78842225e-02 -2.87995150e-04 9.99840023e-01 -5.92197991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.054203822 meters 0.013936040922254025 Centerline is valid? [True, True] Translation: X:209.92, Y:-28.66, Z:-5.92 [[ 9.92093926e-01 1.24045767e-01 1.90339126e-02 2.09915430e+02] [-1.24025707e-01 9.92276487e-01 -2.23534090e-03 -2.86642599e+01] [-1.91641885e-02 -1.43026333e-04 9.99816340e-01 -5.92130069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.084203822 meters 0.01036614599955858 Centerline is valid? [True, True] Translation: X:209.94, Y:-28.68, Z:-5.92 [[ 9.93246572e-01 1.14329101e-01 1.97510464e-02 2.09942804e+02] [-1.14305577e-01 9.93442930e-01 -2.31962662e-03 -2.86821459e+01] [-1.98867382e-02 4.63064412e-05 9.99802238e-01 -5.92070499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.114203822 meters 0.012291546857647582 Centerline is valid? [True, True] Translation: X:209.97, Y:-28.69, Z:-5.92 [[ 9.93734209e-01 1.10055621e-01 1.94957232e-02 2.09970055e+02] [-1.10031915e-01 9.93925422e-01 -2.28771936e-03 -2.86926659e+01] [-1.96290712e-02 1.28233227e-04 9.99807323e-01 -5.92204723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.144203822 meters 0.014801309452844358 Centerline is valid? [True, True] Translation: X:210.00, Y:-28.70, Z:-5.92 [[ 9.94157381e-01 1.06287111e-01 1.88189437e-02 2.09997569e+02] [-1.06264368e-01 9.94335463e-01 -2.20724154e-03 -2.87014405e+01] [-1.89469444e-02 1.94562304e-04 9.99820472e-01 -5.92354814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.174203822 meters 0.018449358727962988 Centerline is valid? [True, True] Translation: X:210.02, Y:-28.71, Z:-5.93 [[ 9.94542692e-01 1.02724503e-01 1.82348883e-02 2.10024826e+02] [-1.02702570e-01 9.94709813e-01 -2.13768630e-03 -2.87101968e+01] [-1.83580151e-02 2.53250391e-04 9.99831445e-01 -5.92560031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.204203822 meters 0.023187866534950686 Centerline is valid? [True, True] Translation: X:210.05, Y:-28.72, Z:-5.93 [[ 9.95105286e-01 9.73062878e-02 1.72323966e-02 2.10052872e+02] [-9.72859090e-02 9.95254428e-01 -2.01895667e-03 -2.87213932e+01] [-1.73470762e-02 3.32605087e-04 9.99849473e-01 -5.92776323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.234203822 meters 0.026876435793998624 Centerline is valid? [True, True] Translation: X:210.08, Y:-28.73, Z:-5.93 [[ 9.95479502e-01 9.35873285e-02 1.61855554e-02 2.10081332e+02] [-9.35688699e-02 9.95611005e-01 -1.89565037e-03 -2.87328847e+01] [-1.62919259e-02 3.72616957e-04 9.99867208e-01 -5.93035680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.264203822 meters 0.026812459684130166 Centerline is valid? [True, True] Translation: X:210.11, Y:-28.74, Z:-5.93 [[ 9.95563322e-01 9.27221628e-02 1.60085091e-02 2.10110073e+02] [-9.27039952e-02 9.95691947e-01 -1.87484136e-03 -2.87375933e+01] [-1.61133829e-02 3.82470546e-04 9.99870098e-01 -5.93102181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29420382200001 meters 0.028390445782025365 Centerline is valid? [True, True] Translation: X:210.14, Y:-28.74, Z:-5.93 [[ 9.95603497e-01 9.22982174e-02 1.59597975e-02 2.10137643e+02] [-9.22801157e-02 9.95731334e-01 -1.86851850e-03 -2.87443373e+01] [-1.60641314e-02 3.87531586e-04 9.99870888e-01 -5.93264401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32420382200002 meters 0.031135199059929803 Centerline is valid? [True, True] Translation: X:210.17, Y:-28.75, Z:-5.93 [[ 9.95575380e-01 9.26450966e-02 1.57019032e-02 2.10166760e+02] [-9.26276351e-02 9.95699124e-01 -1.83726515e-03 -2.87472147e+01] [-1.58045848e-02 3.74705795e-04 9.99875030e-01 -5.93298416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35420382200002 meters 0.02629505936920568 Centerline is valid? [True, True] Translation: X:210.19, Y:-28.75, Z:-5.94 [[ 9.95506630e-01 9.35352116e-02 1.47551323e-02 2.10194594e+02] [-9.35198995e-02 9.95615915e-01 -1.72585424e-03 -2.87545602e+01] [-1.48518727e-02 3.38200853e-04 9.99889648e-01 -5.93548289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38420382200002 meters 0.023163371000594433 Centerline is valid? [True, True] Translation: X:210.22, Y:-28.76, Z:-5.94 [[ 9.95231414e-01 9.65290735e-02 1.40203322e-02 2.10223154e+02] [-9.65155539e-02 9.95330126e-01 -1.63931496e-03 -2.87572855e+01] [-1.41131006e-02 2.78317616e-04 9.99900367e-01 -5.93615375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41420382200002 meters 0.03125366920540738 Centerline is valid? [True, True] Translation: X:210.25, Y:-28.76, Z:-5.94 [[ 9.95004673e-01 9.88122822e-02 1.42068147e-02 2.10251123e+02] [-9.87986408e-02 9.95106060e-01 -1.66058185e-03 -2.87603318e+01] [-1.43013733e-02 2.48672721e-04 9.99897699e-01 -5.93759888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44420382200002 meters 0.020598082561606612 Centerline is valid? [True, True] Translation: X:210.28, Y:-28.76, Z:-5.94 [[ 9.94856878e-01 1.00183451e-01 1.49354832e-02 2.10279351e+02] [-1.00168546e-01 9.94968954e-01 -1.74459510e-03 -2.87637746e+01] [-1.50351217e-02 2.39556791e-04 9.99886937e-01 -5.93733199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47420382200002 meters 0.024762674023874266 Centerline is valid? [True, True] Translation: X:210.31, Y:-28.77, Z:-5.94 [[ 9.94462400e-01 1.03867288e-01 1.60037820e-02 2.10308227e+02] [-1.03850667e-01 9.94591146e-01 -1.86839297e-03 -2.87657664e+01] [-1.61112848e-02 1.96043121e-04 9.99870186e-01 -5.93622038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50420382200002 meters 0.01612482447473405 Centerline is valid? [True, True] Translation: X:210.34, Y:-28.77, Z:-5.94 [[ 9.94362817e-01 1.04806335e-01 1.60692574e-02 2.10336513e+02] [-1.04789707e-01 9.94492634e-01 -1.87561495e-03 -2.87695028e+01] [-1.61773344e-02 1.81148991e-04 9.99869122e-01 -5.93620336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53420382200002 meters 0.01398277204626057 Centerline is valid? [True, True] Translation: X:210.37, Y:-28.77, Z:-5.94 [[ 9.94062684e-01 1.07670600e-01 1.56978624e-02 2.10365506e+02] [-1.07655103e-01 9.94186615e-01 -1.83139562e-03 -2.87738537e+01] [-1.58037922e-02 1.30567050e-04 9.99875104e-01 -5.93737303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56420382200002 meters 0.013118521685070189 Centerline is valid? [True, True] Translation: X:210.39, Y:-28.78, Z:-5.94 [[ 9.93882691e-01 1.09326059e-01 1.56527623e-02 2.10393254e+02] [-1.09310860e-01 9.94005937e-01 -1.82587172e-03 -2.87792146e+01] [-1.57585540e-02 1.03685387e-04 9.99875821e-01 -5.93951306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.594203822 meters 0.013333653595074737 Centerline is valid? [True, True] Translation: X:210.42, Y:-28.79, Z:-5.94 [[ 9.93743938e-01 1.10630252e-01 1.52948994e-02 2.10420851e+02] [-1.10615908e-01 9.93861631e-01 -1.78323798e-03 -2.87851919e+01] [-1.53982938e-02 8.02227436e-05 9.99881436e-01 -5.94326685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624203822 meters 0.011776322407707259 Centerline is valid? [True, True] Translation: X:210.45, Y:-28.79, Z:-5.94 [[ 9.93458874e-01 1.13185174e-01 1.51189407e-02 2.10449043e+02] [-1.13171470e-01 9.93573910e-01 -1.76168284e-03 -2.87900082e+01] [-1.52211814e-02 3.91267072e-05 9.99884150e-01 -5.94222348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.654203822 meters 0.011538251098476964 Centerline is valid? [True, True] Translation: X:210.48, Y:-28.79, Z:-5.94 [[ 9.93313537e-01 1.14428735e-01 1.53062912e-02 2.10476349e+02] [-1.14414846e-01 9.93431459e-01 -1.78291927e-03 -2.87941324e+01] [-1.54097684e-02 1.97308941e-05 9.99881262e-01 -5.94303817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684203822 meters 0.010950304107129835 Centerline is valid? [True, True] Translation: X:210.50, Y:-28.80, Z:-5.94 [[ 9.93037504e-01 1.16677046e-01 1.62167207e-02 2.10504123e+02] [-1.16661775e-01 9.93169908e-01 -1.88778927e-03 -2.88013175e+01] [-1.63262207e-02 -1.72258707e-05 9.99866718e-01 -5.94118824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.714203822 meters 0.011118714093590899 Centerline is valid? [True, True] Translation: X:210.53, Y:-28.81, Z:-5.94 [[ 9.92888435e-01 1.17937454e-01 1.62268825e-02 2.10532809e+02] [-1.17922344e-01 9.93021025e-01 -1.88818229e-03 -2.88061673e+01] [-1.63363229e-02 -3.87576721e-05 9.99866553e-01 -5.94128083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744203822 meters 0.015072221848892809 Centerline is valid? [True, True] Translation: X:210.56, Y:-28.81, Z:-5.94 [[ 9.92570972e-01 1.20518064e-01 1.66811926e-02 2.10560209e+02] [-1.20502473e-01 9.92711131e-01 -1.94031378e-03 -2.88099093e+01] [-1.67934484e-02 -8.42258318e-05 9.99858977e-01 -5.94350041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.774203822 meters 0.0129708049376126 Centerline is valid? [True, True] Translation: X:210.59, Y:-28.82, Z:-5.94 [[ 9.92509062e-01 1.21007112e-01 1.68238297e-02 2.10587763e+02] [-1.20991340e-01 9.92651636e-01 -1.95594309e-03 -2.88156895e+01] [-1.69368851e-02 -9.42464564e-05 9.99856556e-01 -5.94393839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.804203822 meters 0.012674328477941685 Centerline is valid? [True, True] Translation: X:210.62, Y:-28.82, Z:-5.94 [[ 9.92448956e-01 1.21477879e-01 1.69763114e-02 2.10615399e+02] [-1.21461908e-01 9.92594134e-01 -1.97249619e-03 -2.88224483e+01] [-1.70902018e-02 -1.04373394e-04 9.99853946e-01 -5.94267898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.834203822 meters 0.012891866852890427 Centerline is valid? [True, True] Translation: X:210.64, Y:-28.83, Z:-5.94 [[ 9.92387334e-01 1.22065756e-01 1.63502464e-02 2.10642955e+02] [-1.22051043e-01 9.92522009e-01 -1.89848867e-03 -2.88305330e+01] [-1.64597198e-02 -1.11528509e-04 9.99864523e-01 -5.94346444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.864203822 meters 0.013333004865785966 Centerline is valid? [True, True] Translation: X:210.67, Y:-28.84, Z:-5.95 [[ 9.92404676e-01 1.21951644e-01 1.61479384e-02 2.10669759e+02] [-1.21937294e-01 9.92536037e-01 -1.87400041e-03 -2.88362762e+01] [-1.62559483e-02 -1.09269148e-04 9.99867857e-01 -5.94578628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.894203822 meters 0.013000478944562341 Centerline is valid? [True, True] Translation: X:210.70, Y:-28.85, Z:-5.95 [[ 9.92519616e-01 1.21071543e-01 1.57001232e-02 2.10697225e+02] [-1.21057885e-01 9.92643779e-01 -1.82092990e-03 -2.88478050e+01] [-1.58050924e-02 -9.33150628e-05 9.99875087e-01 -5.94812036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.924203822 meters 0.013000478944562341 Centerline is valid? [True, True] Translation: X:210.73, Y:-28.85, Z:-5.95 [[ 9.92525457e-01 1.21023641e-01 1.57002104e-02 2.10725363e+02] [-1.21009988e-01 9.92649621e-01 -1.82017695e-03 -2.88509773e+01] [-1.58050924e-02 -9.33103190e-05 9.99875087e-01 -5.94892634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.954203822 meters 0.012865279446623284 Centerline is valid? [True, True] Translation: X:210.75, Y:-28.86, Z:-5.95 [[ 9.92607755e-01 1.20327818e-01 1.58449248e-02 2.10752756e+02] [-1.20313834e-01 9.92734209e-01 -1.83631434e-03 -2.88581101e+01] [-1.59507585e-02 -8.36237930e-05 9.99872775e-01 -5.94992760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.984203822 meters 0.012247356748564864 Centerline is valid? [True, True] Translation: X:210.78, Y:-28.87, Z:-5.95 [[ 9.92754876e-01 1.19051290e-01 1.62648831e-02 2.10779380e+02] [-1.19036401e-01 9.92888103e-01 -1.88393885e-03 -2.88685773e+01] [-1.63734943e-02 -6.58236693e-05 9.99865943e-01 -5.94974689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.014203822 meters 0.012217081762968238 Centerline is valid? [True, True] Translation: X:210.81, Y:-28.87, Z:-5.95 [[ 9.92779655e-01 1.18798734e-01 1.65957087e-02 2.10807069e+02] [-1.18783216e-01 9.92918353e-01 -1.92122339e-03 -2.88743301e+01] [-1.67064227e-02 -6.39401520e-05 9.99860436e-01 -5.95024436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04420382200001 meters 0.013145281414734278 Centerline is valid? [True, True] Translation: X:210.83, Y:-28.88, Z:-5.95 [[ 9.92671363e-01 1.19692538e-01 1.66511960e-02 2.10834166e+02] [-1.19677058e-01 9.92811004e-01 -1.92663659e-03 -2.88805319e+01] [-1.67620946e-02 -8.02491761e-05 9.99859503e-01 -5.95154414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07420382200002 meters 0.01307707341993359 Centerline is valid? [True, True] Translation: X:210.86, Y:-28.89, Z:-5.95 [[ 9.92565782e-01 1.20582000e-01 1.65272575e-02 2.10862989e+02] [-1.20566890e-01 9.92703366e-01 -1.91122746e-03 -2.88855829e+01] [-1.66371238e-02 -9.56210568e-05 9.99861589e-01 -5.95083573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10420382200002 meters 0.013237133369946629 Centerline is valid? [True, True] Translation: X:210.89, Y:-28.89, Z:-5.95 [[ 9.92464951e-01 1.21404252e-01 1.65628966e-02 2.10891459e+02] [-1.21389204e-01 9.92603141e-01 -1.91457601e-03 -2.88894863e+01] [-1.66728208e-02 -1.10407249e-04 9.99860993e-01 -5.95037389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13420382200002 meters 0.015056349473832567 Centerline is valid? [True, True] Translation: X:210.92, Y:-28.89, Z:-5.95 [[ 9.92296811e-01 1.22669625e-01 1.72974317e-02 2.10918717e+02] [-1.22653420e-01 9.92447552e-01 -1.99870320e-03 -2.88930705e+01] [-1.74119739e-02 -1.38282329e-04 9.99848391e-01 -5.95196468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16420382200002 meters 0.015036979616565907 Centerline is valid? [True, True] Translation: X:210.95, Y:-28.90, Z:-5.95 [[ 9.92198135e-01 1.23363655e-01 1.80074744e-02 2.10947647e+02] [-1.23346229e-01 9.92361519e-01 -2.07944058e-03 -2.88980822e+01] [-1.81264520e-02 -1.57936985e-04 9.99835690e-01 -5.95078473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19420382200002 meters 0.016406576479700487 Centerline is valid? [True, True] Translation: X:210.98, Y:-28.90, Z:-5.95 [[ 9.92015764e-01 1.24874767e-01 1.76356830e-02 2.10976013e+02] [-1.24858307e-01 9.92172495e-01 -2.03570113e-03 -2.89017031e+01] [-1.77518473e-02 -1.82513910e-04 9.99842407e-01 -5.95132700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22420382200002 meters 0.017269643384326867 Centerline is valid? [True, True] Translation: X:211.00, Y:-28.90, Z:-5.95 [[ 9.91903673e-01 1.25862657e-01 1.69025047e-02 2.11004567e+02] [-1.25847693e-01 9.92047657e-01 -1.95033779e-03 -2.89046392e+01] [-1.70135649e-02 -1.92594007e-04 9.99855240e-01 -5.95304814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25420382200002 meters 0.02023026309553575 Centerline is valid? [True, True] Translation: X:211.03, Y:-28.90, Z:-5.96 [[ 9.91753384e-01 1.27136752e-01 1.61700722e-02 2.11031947e+02] [-1.27123236e-01 9.91885177e-01 -1.86518977e-03 -2.89048549e+01] [-1.62759891e-02 -2.05783632e-04 9.99867516e-01 -5.95684070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28420382200002 meters 0.022520129798403968 Centerline is valid? [True, True] Translation: X:211.06, Y:-28.91, Z:-5.96 [[ 9.91340323e-01 1.30376860e-01 1.56919846e-02 2.11060460e+02] [-1.30364549e-01 9.91464478e-01 -1.80927798e-03 -2.89056436e+01] [-1.57939333e-02 -2.52068281e-04 9.99875236e-01 -5.95675768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31420382200002 meters 0.02441909398196369 Centerline is valid? [True, True] Translation: X:211.09, Y:-28.91, Z:-5.96 [[ 9.91085211e-01 1.32318807e-01 1.55511707e-02 2.11088907e+02] [-1.32306969e-01 9.91207170e-01 -1.79215471e-03 -2.89057716e+01] [-1.56515677e-02 -2.81350229e-04 9.99877467e-01 -5.95721107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344203822 meters 0.02753017494846253 Centerline is valid? [True, True] Translation: X:211.12, Y:-28.90, Z:-5.96 [[ 9.90586352e-01 1.36079540e-01 1.48673183e-02 2.11119009e+02] [-1.36069163e-01 9.90697861e-01 -1.71206191e-03 -2.89034219e+01] [-1.49619970e-02 -3.27038385e-04 9.99888010e-01 -5.95783295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.374203822 meters 0.03274608212550357 Centerline is valid? [True, True] Translation: X:211.15, Y:-28.90, Z:-5.96 [[ 9.90411181e-01 1.37367140e-01 1.46956037e-02 2.11147746e+02] [-1.37357141e-01 9.90520142e-01 -1.69243245e-03 -2.88991023e+01] [-1.47887760e-02 -3.42342080e-04 9.99890581e-01 -5.96171388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404203822 meters 0.030412628485943394 Centerline is valid? [True, True] Translation: X:211.18, Y:-28.90, Z:-5.96 [[ 9.90320595e-01 1.38034004e-01 1.45510493e-02 2.11176227e+02] [-1.38024287e-01 9.90427429e-01 -1.67473737e-03 -2.89042878e+01] [-1.46429291e-02 -3.49871295e-04 9.99892725e-01 -5.96031552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.434203822 meters 0.028811045161374123 Centerline is valid? [True, True] Translation: X:211.20, Y:-28.91, Z:-5.96 [[ 9.90385195e-01 1.37625965e-01 1.40092968e-02 2.11203425e+02] [-1.37616921e-01 9.90484217e-01 -1.61212749e-03 -2.89090653e+01] [-1.40978580e-02 -3.31289090e-04 9.99900565e-01 -5.96125931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464203822 meters 0.027660726893029106 Centerline is valid? [True, True] Translation: X:211.23, Y:-28.91, Z:-5.96 [[ 9.90571955e-01 1.36296707e-01 1.37989121e-02 2.11232107e+02] [-1.36287823e-01 9.90668013e-01 -1.58657602e-03 -2.89145581e+01] [-1.38863859e-02 -3.09005972e-04 9.99903532e-01 -5.96242129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.494203822 meters 0.02667738015235376 Centerline is valid? [True, True] Translation: X:211.26, Y:-28.92, Z:-5.96 [[ 9.90876345e-01 1.34034697e-01 1.40985317e-02 2.11259380e+02] [-1.34025201e-01 9.90976599e-01 -1.62047670e-03 -2.89186898e+01] [-1.41885151e-02 -2.83866519e-04 9.99899298e-01 -5.96356203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.524203822 meters 0.027719421220401576 Centerline is valid? [True, True] Translation: X:211.29, Y:-28.92, Z:-5.96 [[ 9.90960087e-01 1.33362989e-01 1.45745828e-02 2.11287535e+02] [-1.33352783e-01 9.91067219e-01 -1.67421970e-03 -2.89189424e+01] [-1.46676702e-02 -2.84476283e-04 9.99892383e-01 -5.96474740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.554203822 meters 0.03329265732449778 Centerline is valid? [True, True] Translation: X:211.32, Y:-28.92, Z:-5.96 [[ 9.90946740e-01 1.33364990e-01 1.54382179e-02 2.11316457e+02] [-1.33353557e-01 9.91066944e-01 -1.77226037e-03 -2.89220304e+01] [-1.55366649e-02 -3.02525629e-04 9.99879253e-01 -5.96192633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.584203822 meters 0.0249346022031972 Centerline is valid? [True, True] Translation: X:211.34, Y:-28.92, Z:-5.96 [[ 9.90982813e-01 1.33136607e-01 1.50900319e-02 2.11343913e+02] [-1.33125663e-01 9.91097653e-01 -1.73192015e-03 -2.89244059e+01] [-1.51862772e-02 -2.92567398e-04 9.99884639e-01 -5.96221345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.614203822 meters 0.02597932124458646 Centerline is valid? [True, True] Translation: X:211.37, Y:-28.92, Z:-5.96 [[ 9.90957916e-01 1.33404199e-01 1.43432253e-02 2.11371304e+02] [-1.33394354e-01 9.91061673e-01 -1.64520034e-03 -2.89249940e+01] [-1.44344975e-02 -2.82980971e-04 9.99895777e-01 -5.96444715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.644203822 meters 0.02523408664916783 Centerline is valid? [True, True] Translation: X:211.40, Y:-28.93, Z:-5.97 [[ 9.90960692e-01 1.33427381e-01 1.39298298e-02 2.11399794e+02] [-1.33418115e-01 9.91058554e-01 -1.59660504e-03 -2.89259240e+01] [-1.40183079e-02 -2.76318801e-04 9.99901701e-01 -5.96547393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.674203822 meters 0.023753711058369084 Centerline is valid? [True, True] Translation: X:211.43, Y:-28.93, Z:-5.97 [[ 9.91037861e-01 1.32901628e-01 1.34579426e-02 2.11427747e+02] [-1.32892933e-01 9.91129199e-01 -1.54229685e-03 -2.89295617e+01] [-1.35435336e-02 -2.59990892e-04 9.99908248e-01 -5.96595735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.704203822 meters 0.023188562075437055 Centerline is valid? [True, True] Translation: X:211.45, Y:-28.93, Z:-5.97 [[ 9.91267789e-01 1.31328619e-01 1.18728575e-02 2.11454952e+02] [-1.31321744e-01 9.91338867e-01 -1.36019249e-03 -2.89311277e+01] [-1.19486573e-02 -2.10849346e-04 9.99928590e-01 -5.96955781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.734203822 meters 0.024930780699038056 Centerline is valid? [True, True] Translation: X:211.48, Y:-28.93, Z:-5.97 [[ 9.91417558e-01 1.30188919e-01 1.19193183e-02 2.11482764e+02] [-1.30181926e-01 9.91489186e-01 -1.36402422e-03 -2.89300674e+01] [-1.19954560e-02 -1.99362249e-04 9.99928032e-01 -5.97371976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.764203822 meters 0.022761541551910472 Centerline is valid? [True, True] Translation: X:211.51, Y:-28.93, Z:-5.97 [[ 9.91606296e-01 1.28730484e-01 1.20588812e-02 2.11511016e+02] [-1.28723230e-01 9.91679600e-01 -1.37898244e-03 -2.89337952e+01] [-1.21360636e-02 -1.84850471e-04 9.99926338e-01 -5.97345453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79420382200001 meters 0.017819137648843176 Centerline is valid? [True, True] Translation: X:211.54, Y:-28.94, Z:-5.97 [[ 9.92083722e-01 1.25043112e-01 1.15805331e-02 2.11539328e+02] [-1.25036176e-01 9.92151300e-01 -1.32383427e-03 -2.89412787e+01] [-1.16551774e-02 -1.34631153e-04 9.99932067e-01 -5.97236070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82420382200002 meters 0.017525235047380745 Centerline is valid? [True, True] Translation: X:211.57, Y:-28.95, Z:-5.98 [[ 9.92387661e-01 1.22578440e-01 1.18851397e-02 2.11567155e+02] [-1.22570963e-01 9.92458822e-01 -1.35822152e-03 -2.89456122e+01] [-1.19620004e-02 -1.08890737e-04 9.99928447e-01 -5.97573809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85420382200002 meters 0.013229619508693904 Centerline is valid? [True, True] Translation: X:211.59, Y:-28.96, Z:-5.97 [[ 9.93035419e-01 1.17071351e-01 1.32270412e-02 2.11594979e+02] [-1.17061618e-01 9.93123505e-01 -1.51035202e-03 -2.89568336e+01] [-1.33129045e-02 -4.85457900e-05 9.99911378e-01 -5.97217438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88420382200002 meters 0.01201838114591163 Centerline is valid? [True, True] Translation: X:211.62, Y:-28.96, Z:-5.97 [[ 9.93310153e-01 1.14661600e-01 1.36987836e-02 2.11623761e+02] [-1.14650941e-01 9.93404609e-01 -1.56352728e-03 -2.89631173e+01] [-1.37877113e-02 -1.75108992e-05 9.99904945e-01 -5.97077762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91420382200002 meters 0.013314523828820311 Centerline is valid? [True, True] Translation: X:211.65, Y:-28.97, Z:-5.97 [[ 9.93835874e-01 1.09932683e-01 1.43199667e-02 2.11650651e+02] [-1.09920552e-01 9.93939034e-01 -1.63387938e-03 -2.89732594e+01] [-1.44127906e-02 4.97492960e-05 9.99896129e-01 -5.97416926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94420382200002 meters 0.013199635687043371 Centerline is valid? [True, True] Translation: X:211.68, Y:-28.98, Z:-5.97 [[ 9.94067366e-01 1.07745377e-01 1.48662515e-02 2.11679268e+02] [-1.07732077e-01 9.94178519e-01 -1.69491793e-03 -2.89790703e+01] [-1.49623275e-02 8.32904509e-05 9.99888055e-01 -5.97131146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97420382200002 meters 0.015058966830452556 Centerline is valid? [True, True] Translation: X:211.71, Y:-28.99, Z:-5.97 [[ 9.94337812e-01 1.05147551e-01 1.53723403e-02 2.11706170e+02] [-1.05133030e-01 9.94456624e-01 -1.75198248e-03 -2.89863776e+01] [-1.54713423e-02 1.25921713e-04 9.99880304e-01 -5.97168322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00420382200002 meters 0.014702044753674854 Centerline is valid? [True, True] Translation: X:211.74, Y:-28.99, Z:-5.97 [[ 9.94401411e-01 1.04547595e-01 1.53503677e-02 2.11735721e+02] [-1.04533065e-01 9.94519875e-01 -1.74808912e-03 -2.89893637e+01] [-1.54490043e-02 1.33681299e-04 9.99880648e-01 -5.97051686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03420382200002 meters 0.014675834806496302 Centerline is valid? [True, True] Translation: X:211.77, Y:-28.99, Z:-5.97 [[ 9.94415116e-01 1.04441395e-01 1.51846018e-02 2.11765625e+02] [-1.04427171e-01 9.94531034e-01 -1.72885122e-03 -2.89928898e+01] [-1.52821214e-02 1.33510785e-04 9.99883213e-01 -5.97095179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06420382200002 meters 0.014832689262869465 Centerline is valid? [True, True] Translation: X:211.79, Y:-29.00, Z:-5.97 [[ 9.94359904e-01 1.05090164e-01 1.42982047e-02 2.11793151e+02] [-1.05077614e-01 9.94462691e-01 -1.62825042e-03 -2.89972728e+01] [-1.43901442e-02 1.16645696e-04 9.99896450e-01 -5.97420570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.094203822 meters 0.013965319055317586 Centerline is valid? [True, True] Translation: X:211.82, Y:-29.00, Z:-5.98 [[ 9.94254534e-01 1.06155412e-01 1.37459193e-02 2.11821657e+02] [-1.06143931e-01 9.94349546e-01 -1.56417510e-03 -2.89993667e+01] [-1.38342943e-02 9.61422759e-05 9.99904297e-01 -5.97517781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124203822 meters 0.013043874034290776 Centerline is valid? [True, True] Translation: X:211.85, Y:-29.00, Z:-5.98 [[ 9.93877304e-01 1.09782140e-01 1.24814716e-02 2.11850263e+02] [-1.09772964e-01 9.93955673e-01 -1.41999875e-03 -2.89964994e+01] [-1.25619200e-02 4.11764020e-05 9.99921095e-01 -5.97834507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.154203822 meters 0.012710627356566667 Centerline is valid? [True, True] Translation: X:211.88, Y:-29.00, Z:-5.98 [[ 9.93626402e-01 1.12032765e-01 1.24592579e-02 2.11879263e+02] [-1.12023810e-01 9.93704513e-01 -1.41650756e-03 -2.89958600e+01] [-1.25395160e-02 1.17457734e-05 9.99921377e-01 -5.97970052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184203822 meters 0.013356845442772424 Centerline is valid? [True, True] Translation: X:211.91, Y:-28.99, Z:-5.98 [[ 9.93029217e-01 1.17172204e-01 1.27925374e-02 2.11908334e+02] [-1.17163198e-01 9.93111611e-01 -1.45376860e-03 -2.89923490e+01] [-1.28747587e-02 -5.51798974e-05 9.99917115e-01 -5.97936498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.214203822 meters 0.02348838675166918 Centerline is valid? [True, True] Translation: X:211.94, Y:-28.99, Z:-5.98 [[ 9.92716525e-01 1.19829156e-01 1.24448416e-02 2.11936824e+02] [-1.19820847e-01 9.92794523e-01 -1.41387807e-03 -2.89911022e+01] [-1.25245944e-02 -8.75713356e-05 9.99921560e-01 -5.98171416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244203822 meters 0.017876746385112774 Centerline is valid? [True, True] Translation: X:211.97, Y:-28.99, Z:-5.98 [[ 9.92345236e-01 1.22946765e-01 1.16200133e-02 2.11965138e+02] [-1.22939741e-01 9.92413260e-01 -1.31955485e-03 -2.89867227e+01] [-1.16940902e-02 -1.19107457e-04 9.99931615e-01 -5.98394149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.274203822 meters 0.019207458670774936 Centerline is valid? [True, True] Translation: X:211.99, Y:-28.99, Z:-5.99 [[ 9.92189779e-01 1.24162964e-01 1.19583359e-02 2.11993535e+02] [-1.24155623e-01 9.92261830e-01 -1.35720210e-03 -2.89862725e+01] [-1.20343145e-02 -1.38092599e-04 9.99927575e-01 -5.98502648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.304203822 meters 0.019325215265601645 Centerline is valid? [True, True] Translation: X:212.02, Y:-28.99, Z:-5.98 [[ 9.92119048e-01 1.24672408e-01 1.25133827e-02 2.12021424e+02] [-1.24664418e-01 9.92197948e-01 -1.41956489e-03 -2.89882967e+01] [-1.25927333e-02 -1.51596215e-04 9.99920697e-01 -5.98498930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.334203822 meters 0.019109238378167255 Centerline is valid? [True, True] Translation: X:212.05, Y:-28.99, Z:-5.99 [[ 9.92206345e-01 1.23953654e-01 1.27302776e-02 2.12049174e+02] [-1.23945340e-01 9.92287998e-01 -1.44303320e-03 -2.89919238e+01] [-1.28109709e-02 -1.46071879e-04 9.99917925e-01 -5.98625320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.364203822 meters 0.01795641123248631 Centerline is valid? [True, True] Translation: X:212.08, Y:-29.00, Z:-5.99 [[ 9.92345709e-01 1.22825829e-01 1.27987842e-02 2.12077329e+02] [-1.22817344e-01 9.92428233e-01 -1.44984138e-03 -2.89971010e+01] [-1.28799528e-02 -1.33168813e-04 9.99917041e-01 -5.98610258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.394203822 meters 0.015318572074268002 Centerline is valid? [True, True] Translation: X:212.11, Y:-29.01, Z:-5.99 [[ 9.92761384e-01 1.19419375e-01 1.28002922e-02 2.12105839e+02] [-1.19410615e-01 9.92843897e-01 -1.44922579e-03 -2.90055079e+01] [-1.28817576e-02 -8.97553666e-05 9.99917023e-01 -5.98696799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.424203822 meters 0.014014888115383478 Centerline is valid? [True, True] Translation: X:212.13, Y:-29.01, Z:-5.99 [[ 9.93019918e-01 1.17283207e-01 1.24936814e-02 2.12133860e+02] [-1.17274695e-01 9.93098508e-01 -1.41428700e-03 -2.90120185e+01] [-1.25733284e-02 -6.07775141e-05 9.99920951e-01 -5.98796009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.454203822 meters 0.012985238623797291 Centerline is valid? [True, True] Translation: X:212.16, Y:-29.02, Z:-5.99 [[ 9.93584818e-01 1.12495666e-01 1.15730477e-02 2.12161406e+02] [-1.12488042e-01 9.93652215e-01 -1.30961838e-03 -2.90232227e+01] [-1.16469109e-02 -6.12541976e-07 9.99932172e-01 -5.99037232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.484203822 meters 0.013657666306803012 Centerline is valid? [True, True] Translation: X:212.19, Y:-29.03, Z:-5.99 [[ 9.93862814e-01 1.09999399e-01 1.16977967e-02 2.12188725e+02] [-1.09991442e-01 9.93931653e-01 -1.32334819e-03 -2.90313960e+01] [-1.17723779e-02 2.85690350e-05 9.99930703e-01 -5.99290863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.514203822 meters 0.016172894500137754 Centerline is valid? [True, True] Translation: X:212.22, Y:-29.04, Z:-5.99 [[ 9.94113837e-01 1.07676877e-01 1.19736782e-02 2.12216568e+02] [-1.07668384e-01 9.94185942e-01 -1.35359011e-03 -2.90396776e+01] [-1.20498128e-02 5.64360896e-05 9.99927397e-01 -5.99291299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54420382200001 meters 0.01548447482002388 Centerline is valid? [True, True] Translation: X:212.24, Y:-29.05, Z:-5.99 [[ 9.94594369e-01 1.02986587e-01 1.32591104e-02 2.12244071e+02] [-1.02975764e-01 9.94682737e-01 -1.49816473e-03 -2.90529493e+01] [-1.33428991e-02 1.24699175e-04 9.99910972e-01 -5.98900784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57420382200002 meters 0.03242870711038948 Centerline is valid? [True, True] Translation: X:212.27, Y:-29.06, Z:-5.99 [[ 9.94735512e-01 1.01545484e-01 1.37759288e-02 2.12272645e+02] [-1.01533674e-01 9.94830886e-01 -1.55582489e-03 -2.90591228e+01] [-1.38627064e-02 1.48913613e-04 9.99903897e-01 -5.98933430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60420382200002 meters 0.022776946926905833 Centerline is valid? [True, True] Translation: X:212.30, Y:-29.07, Z:-5.99 [[ 9.94944568e-01 9.95713394e-02 1.30711584e-02 2.12301209e+02] [-9.95605463e-02 9.95030412e-01 -1.47546982e-03 -2.90662199e+01] [-1.31531147e-02 1.66639007e-04 9.99913480e-01 -5.99055176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63420382200002 meters 0.018523681659321167 Centerline is valid? [True, True] Translation: X:212.33, Y:-29.07, Z:-5.99 [[ 9.94996322e-01 9.91074727e-02 1.26502453e-02 2.12330677e+02] [-9.90973341e-02 9.95076721e-01 -1.42733364e-03 -2.90724934e+01] [-1.27294241e-02 1.66586139e-04 9.99918964e-01 -5.99227934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66420382200002 meters 0.018618738575315687 Centerline is valid? [True, True] Translation: X:212.36, Y:-29.08, Z:-5.99 [[ 9.94976886e-01 9.93083182e-02 1.26037375e-02 2.12357997e+02] [-9.92982715e-02 9.95056698e-01 -1.42197022e-03 -2.90822124e+01] [-1.26826469e-02 1.63298158e-04 9.99919559e-01 -5.99429868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69420382200002 meters 0.017772930384066164 Centerline is valid? [True, True] Translation: X:212.39, Y:-29.09, Z:-5.99 [[ 9.94894119e-01 1.00105278e-01 1.28306339e-02 2.12386899e+02] [-1.00094941e-01 9.94976839e-01 -1.44689623e-03 -2.90871245e+01] [-1.29110255e-02 1.55227008e-04 9.99916637e-01 -5.99366291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72420382200002 meters 0.016823069792736307 Centerline is valid? [True, True] Translation: X:212.42, Y:-29.09, Z:-5.99 [[ 9.94717585e-01 1.01768325e-01 1.34213989e-02 2.12415136e+02] [-1.01757168e-01 9.94808116e-01 -1.51333708e-03 -2.90907844e+01] [-1.35057264e-02 1.39619452e-04 9.99908784e-01 -5.99417000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75420382200002 meters 0.013691961161434953 Centerline is valid? [True, True] Translation: X:212.44, Y:-29.09, Z:-5.99 [[ 9.94180057e-01 1.06857122e-01 1.36955979e-02 2.12444197e+02] [-1.06845994e-01 9.94274384e-01 -1.54372650e-03 -2.90887190e+01] [-1.37821403e-02 7.14223280e-05 9.99905019e-01 -5.99448934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78420382200002 meters 0.012477520341132343 Centerline is valid? [True, True] Translation: X:212.47, Y:-29.09, Z:-5.99 [[ 9.93834841e-01 1.10054540e-01 1.34278745e-02 2.12473718e+02] [-1.10044139e-01 9.93925549e-01 -1.51327433e-03 -2.90876913e+01] [-1.35128503e-02 2.62858599e-05 9.99908697e-01 -5.99499880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81420382200002 meters 0.01394721313534117 Centerline is valid? [True, True] Translation: X:212.50, Y:-29.08, Z:-6.00 [[ 9.93126533e-01 1.16418840e-01 1.20971977e-02 2.12502850e+02] [-1.16410876e-01 9.93200207e-01 -1.36286095e-03 -2.90833726e+01] [-1.21736020e-02 -5.47520127e-05 9.99925897e-01 -5.99921875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844203822 meters 0.01394721313534117 Centerline is valid? [True, True] Translation: X:212.53, Y:-29.09, Z:-6.00 [[ 9.93132082e-01 1.16371494e-01 1.20972623e-02 2.12531001e+02] [-1.16363533e-01 9.93205755e-01 -1.36228709e-03 -2.90864512e+01] [-1.21736019e-02 -5.47491702e-05 9.99925897e-01 -6.00002476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.874203822 meters 0.01594509632943103 Centerline is valid? [True, True] Translation: X:212.56, Y:-29.09, Z:-6.00 [[ 9.92818518e-01 1.19091627e-01 1.13390831e-02 2.12559353e+02] [-1.19084813e-01 9.92883265e-01 -1.27664480e-03 -2.90862315e+01] [-1.14104235e-02 -8.28359855e-05 9.99934896e-01 -6.00340461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904203822 meters 0.01974895238861747 Centerline is valid? [True, True] Translation: X:212.59, Y:-29.09, Z:-6.01 [[ 9.92348140e-01 1.23095453e-01 9.62695577e-03 2.12588383e+02] [-1.23090738e-01 9.92394829e-01 -1.08310402e-03 -2.90864015e+01] [-9.68706631e-03 -1.10172827e-04 9.99953073e-01 -6.00790359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.934203822 meters 0.02134096753401402 Centerline is valid? [True, True] Translation: X:212.62, Y:-29.09, Z:-6.01 [[ 9.92169287e-01 1.24573060e-01 9.03657600e-03 2.12616625e+02] [-1.24568964e-01 9.92210431e-01 -1.01687395e-03 -2.90882087e+01] [-9.09286007e-03 -1.16765813e-04 9.99958652e-01 -6.01000474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964203822 meters 0.02426691084611784 Centerline is valid? [True, True] Translation: X:212.64, Y:-29.09, Z:-6.01 [[ 9.92005815e-01 1.25872213e-01 8.98043227e-03 2.12644343e+02] [-1.25868226e-01 9.92046455e-01 -1.01002974e-03 -2.90872595e+01] [-9.03614068e-03 -1.28395706e-04 9.99959165e-01 -6.01300074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.994203822 meters 0.02293761340055491 Centerline is valid? [True, True] Translation: X:212.67, Y:-29.09, Z:-6.01 [[ 9.91667051e-01 1.28388380e-01 1.06246990e-02 2.12673133e+02] [-1.28382955e-01 9.91723949e-01 -1.19386668e-03 -2.90890012e+01] [-1.06900471e-02 -1.80112005e-04 9.99942844e-01 -6.00642206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.024203822 meters 0.02652767134103582 Centerline is valid? [True, True] Translation: X:212.70, Y:-29.09, Z:-6.01 [[ 9.91433632e-01 1.30124200e-01 1.12715057e-02 2.12701114e+02] [-1.30118212e-01 9.91497679e-01 -1.26610518e-03 -2.90868506e+01] [-1.13404227e-02 -2.11368915e-04 9.99935673e-01 -6.00911559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.054203822 meters 0.0251908436779098 Centerline is valid? [True, True] Translation: X:212.73, Y:-29.09, Z:-6.01 [[ 9.91408858e-01 1.30327694e-01 1.10980844e-02 2.12729364e+02] [-1.30321912e-01 9.91470951e-01 -1.24575142e-03 -2.90919734e+01] [-1.11657842e-02 -2.11274578e-04 9.99937638e-01 -6.00865881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.084203822 meters 0.02740554341690905 Centerline is valid? [True, True] Translation: X:212.76, Y:-29.09, Z:-6.01 [[ 9.91583492e-01 1.28923443e-01 1.18711405e-02 2.12756925e+02] [-1.28916732e-01 9.91654528e-01 -1.33204340e-03 -2.90922008e+01] [-1.19438018e-02 -2.09556388e-04 9.99928648e-01 -6.01273904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.114203822 meters 0.02450459086334796 Centerline is valid? [True, True] Translation: X:212.79, Y:-29.10, Z:-6.01 [[ 9.91793333e-01 1.27287030e-01 1.19998915e-02 2.12785655e+02] [-1.27280067e-01 9.91865906e-01 -1.34530012e-03 -2.90986180e+01] [-1.20735225e-02 -1.93087301e-04 9.99927094e-01 -6.01214360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.144203822 meters 0.01811211664615178 Centerline is valid? [True, True] Translation: X:212.81, Y:-29.11, Z:-6.01 [[ 9.92369475e-01 1.22631048e-01 1.28238891e-02 2.12813943e+02] [-1.22622713e-01 9.92452319e-01 -1.43718994e-03 -2.91108584e+01] [-1.29033426e-02 -1.46276655e-04 9.99916738e-01 -6.00893119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.174203822 meters 0.016508546949676236 Centerline is valid? [True, True] Translation: X:212.84, Y:-29.12, Z:-6.01 [[ 9.92691708e-01 1.19946206e-01 1.32695317e-02 2.12841312e+02] [-1.19937044e-01 9.92780386e-01 -1.48698026e-03 -2.91174107e+01] [-1.33520884e-02 -1.15395430e-04 9.99910850e-01 -6.01026787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.204203822 meters 0.014488510244369661 Centerline is valid? [True, True] Translation: X:212.87, Y:-29.13, Z:-6.01 [[ 9.93030897e-01 1.17127913e-01 1.30647945e-02 2.12869008e+02] [-1.17118800e-01 9.93116834e-01 -1.46308651e-03 -2.91250089e+01] [-1.31462356e-02 -7.72429407e-05 9.99913582e-01 -6.01094140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.234203822 meters 0.012910997260689288 Centerline is valid? [True, True] Translation: X:212.90, Y:-29.14, Z:-6.01 [[ 9.93724326e-01 1.11177926e-01 1.23058438e-02 2.12896990e+02] [-1.11169393e-01 9.93800518e-01 -1.37738624e-03 -2.91380533e+01] [-1.23826889e-02 7.09029939e-07 9.99923332e-01 -6.01341156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.264203822 meters 0.01352937826330234 Centerline is valid? [True, True] Translation: X:212.92, Y:-29.15, Z:-6.02 [[ 9.94043371e-01 1.08303985e-01 1.21664459e-02 2.12924706e+02] [-1.08295435e-01 9.94117823e-01 -1.36135332e-03 -2.91462267e+01] [-1.22423207e-02 3.56736989e-05 9.99925059e-01 -6.01532616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29420382200001 meters 0.015060354602934645 Centerline is valid? [True, True] Translation: X:212.95, Y:-29.16, Z:-6.02 [[ 9.94558066e-01 1.03520059e-01 1.17409684e-02 2.12954359e+02] [-1.03511774e-01 9.94627362e-01 -1.31277331e-03 -2.91589977e+01] [-1.18137868e-02 9.03008127e-05 9.99930211e-01 -6.01523156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32420382200002 meters 0.017532014243602272 Centerline is valid? [True, True] Translation: X:212.98, Y:-29.17, Z:-6.02 [[ 9.94753147e-01 1.01643938e-01 1.16054232e-02 2.12982401e+02] [-1.01635723e-01 9.94820837e-01 -1.29700778e-03 -2.91685151e+01] [-1.16771498e-02 1.10676987e-04 9.99931814e-01 -6.01904031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35420382200002 meters 0.018593441392281963 Centerline is valid? [True, True] Translation: X:213.01, Y:-29.18, Z:-6.02 [[ 9.94876967e-01 1.00437933e-01 1.14909748e-02 2.13011404e+02] [-1.00429782e-01 9.94943318e-01 -1.28563267e-03 -2.91762297e+01] [-1.15619949e-02 1.25010236e-04 9.99933150e-01 -6.02010204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38420382200002 meters 0.0207619960326228 Centerline is valid? [True, True] Translation: X:213.04, Y:-29.18, Z:-6.02 [[ 9.94922545e-01 9.99528062e-02 1.17714107e-02 2.13041757e+02] [-9.99442268e-02 9.94992170e-01 -1.31633391e-03 -2.91811582e+01] [-1.18440328e-02 1.33165738e-04 9.99929848e-01 -6.01724525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41420382200002 meters 0.01787600012460465 Centerline is valid? [True, True] Translation: X:213.07, Y:-29.19, Z:-6.02 [[ 9.94843819e-01 1.00684393e-01 1.21831506e-02 2.13070764e+02] [-1.00675255e-01 9.94918407e-01 -1.36257456e-03 -2.91855505e+01] [-1.22584308e-02 1.29007084e-04 9.99924854e-01 -6.01896055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44420382200002 meters 0.013806097881521318 Centerline is valid? [True, True] Translation: X:213.10, Y:-29.18, Z:-6.02 [[ 9.94389142e-01 1.04961870e-01 1.31620576e-02 2.13101479e+02] [-1.04951582e-01 9.94476244e-01 -1.47186531e-03 -2.91837322e+01] [-1.32438434e-02 8.22281189e-05 9.99912293e-01 -6.01586984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47420382200002 meters 0.01271896577732785 Centerline is valid? [True, True] Translation: X:213.13, Y:-29.18, Z:-6.02 [[ 9.94024427e-01 1.08321959e-01 1.34830042e-02 2.13131293e+02] [-1.08311474e-01 9.94115864e-01 -1.50758134e-03 -2.91837845e+01] [-1.35669726e-02 3.82086042e-05 9.99907964e-01 -6.01717136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50420382200002 meters 0.013904384397156546 Centerline is valid? [True, True] Translation: X:213.16, Y:-29.18, Z:-6.02 [[ 9.93072068e-01 1.16774055e-01 1.31029378e-02 2.13161134e+02] [-1.16764883e-01 9.93158504e-01 -1.46549223e-03 -2.91777114e+01] [-1.31844256e-02 -7.46236036e-05 9.99913079e-01 -6.01742559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53420382200002 meters 0.016553618821144516 Centerline is valid? [True, True] Translation: X:213.19, Y:-29.18, Z:-6.02 [[ 9.92574227e-01 1.20923313e-01 1.31892855e-02 2.13190235e+02] [-1.20914394e-01 9.92661843e-01 -1.47450064e-03 -2.91754919e+01] [-1.32708020e-02 -1.31223134e-04 9.99911930e-01 -6.01810305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56420382200002 meters 0.02346864286103217 Centerline is valid? [True, True] Translation: X:213.22, Y:-29.16, Z:-6.02 [[ 9.91586912e-01 1.28678792e-01 1.40414923e-02 2.13220027e+02] [-1.28669473e-01 9.91686294e-01 -1.56884210e-03 -2.91646995e+01] [-1.41266321e-02 -2.51068121e-04 9.99900183e-01 -6.01779287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.594203822 meters 0.027726997839519724 Centerline is valid? [True, True] Translation: X:213.25, Y:-29.16, Z:-6.02 [[ 9.91166304e-01 1.31883458e-01 1.40040083e-02 2.13249225e+02] [-1.31874516e-01 9.91265184e-01 -1.56408195e-03 -2.91593281e+01] [-1.40879624e-02 -2.96506501e-04 9.99900716e-01 -6.01956112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624203822 meters 0.02959349427080326 Centerline is valid? [True, True] Translation: X:213.28, Y:-29.16, Z:-6.02 [[ 9.90800925e-01 1.34598132e-01 1.40310491e-02 2.13279077e+02] [-1.34589438e-01 9.90900212e-01 -1.56641403e-03 -2.91580686e+01] [-1.41142059e-02 -3.36426530e-04 9.99900333e-01 -6.01952263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.654203822 meters 0.03260343253166653 Centerline is valid? [True, True] Translation: X:213.31, Y:-29.16, Z:-6.02 [[ 9.90382095e-01 1.37578850e-01 1.46753256e-02 2.13309159e+02] [-1.37569671e-01 9.90490738e-01 -1.63795268e-03 -2.91583209e+01] [-1.47611218e-02 -3.96680718e-04 9.99890970e-01 -6.01977045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684203822 meters 0.03366527549473021 Centerline is valid? [True, True] Translation: X:213.34, Y:-29.16, Z:-6.02 [[ 9.90353964e-01 1.37807524e-01 1.44261158e-02 2.13337136e+02] [-1.37798677e-01 9.90458950e-01 -1.61029612e-03 -2.91610037e+01] [-1.45103865e-02 -3.93136531e-04 9.99894642e-01 -6.02156530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.714203822 meters 0.03430221453937818 Centerline is valid? [True, True] Translation: X:213.37, Y:-29.16, Z:-6.02 [[ 9.90569513e-01 1.36253495e-01 1.43883722e-02 2.13365315e+02] [-1.36244545e-01 9.90673936e-01 -1.60505170e-03 -2.91626410e+01] [-1.44728792e-02 -3.70421946e-04 9.99895194e-01 -6.02428804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.744203822 meters 0.03071263841471401 Centerline is valid? [True, True] Translation: X:213.39, Y:-29.17, Z:-6.02 [[ 9.90793757e-01 1.34591040e-01 1.45939285e-02 2.13394083e+02] [-1.34581665e-01 9.90901170e-01 -1.62710056e-03 -2.91690408e+01] [-1.46801340e-02 -3.51954120e-04 9.99892179e-01 -6.02327760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.774203822 meters 0.029964465524792476 Centerline is valid? [True, True] Translation: X:213.42, Y:-29.17, Z:-6.02 [[ 9.90999622e-01 1.33094614e-01 1.43378407e-02 2.13421442e+02] [-1.33085410e-01 9.91103284e-01 -1.59843596e-03 -2.91719468e+01] [-1.44230242e-02 -3.24107977e-04 9.99895930e-01 -6.02442412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.804203822 meters 0.02879528622117855 Centerline is valid? [True, True] Translation: X:213.45, Y:-29.17, Z:-6.03 [[ 9.91388483e-01 1.30208929e-01 1.39466857e-02 2.13449356e+02] [-1.30199947e-01 9.91486540e-01 -1.55393224e-03 -2.91743506e+01] [-1.40302870e-02 -2.75307226e-04 9.99901533e-01 -6.02713048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.834203822 meters 0.02494265724730056 Centerline is valid? [True, True] Translation: X:213.48, Y:-29.18, Z:-6.03 [[ 9.91541618e-01 1.29017564e-01 1.41311292e-02 2.13477299e+02] [-1.29008236e-01 9.91642274e-01 -1.57349354e-03 -2.91816391e+01] [-1.42160334e-02 -2.62847722e-04 9.99898913e-01 -6.02533870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.864203822 meters 0.021381486999132712 Centerline is valid? [True, True] Translation: X:213.51, Y:-29.19, Z:-6.03 [[ 9.91895278e-01 1.26335441e-01 1.35319673e-02 2.13505950e+02] [-1.26326648e-01 9.91987555e-01 -1.50602678e-03 -2.91895877e+01] [-1.36138077e-02 -2.15627218e-04 9.99907305e-01 -6.02549267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.894203822 meters 0.021668848966855253 Centerline is valid? [True, True] Translation: X:213.53, Y:-29.19, Z:-6.03 [[ 9.92035653e-01 1.25236616e-01 1.34556211e-02 2.13533521e+02] [-1.25227823e-01 9.92126882e-01 -1.49739774e-03 -2.91915608e+01] [-1.35372124e-02 -1.99546186e-04 9.99908348e-01 -6.02780240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.924203822 meters 0.019069888055439573 Centerline is valid? [True, True] Translation: X:213.56, Y:-29.20, Z:-6.03 [[ 9.92290459e-01 1.23244278e-01 1.30573146e-02 2.13561911e+02] [-1.23235838e-01 9.92376350e-01 -1.45212984e-03 -2.91951290e+01] [-1.31367369e-02 -1.68194527e-04 9.99913695e-01 -6.02837673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.954203822 meters 0.019194810155762822 Centerline is valid? [True, True] Translation: X:213.59, Y:-29.20, Z:-6.03 [[ 9.92421710e-01 1.22237830e-01 1.25324484e-02 2.13589618e+02] [-1.22229979e-01 9.92500827e-01 -1.39338710e-03 -2.91970114e+01] [-1.26087900e-02 -1.49013299e-04 9.99920495e-01 -6.03162617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.984203822 meters 0.01709861683638034 Centerline is valid? [True, True] Translation: X:213.62, Y:-29.20, Z:-6.03 [[ 9.92568580e-01 1.21078686e-01 1.21476355e-02 2.13617851e+02] [-1.21071233e-01 9.92642904e-01 -1.34974400e-03 -2.92013811e+01] [-1.22216894e-02 -1.31015724e-04 9.99925304e-01 -6.03027490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.014203822 meters 0.01654641161946148 Centerline is valid? [True, True] Translation: X:213.65, Y:-29.20, Z:-6.03 [[ 9.92829256e-01 1.18914593e-01 1.22224719e-02 2.13645341e+02] [-1.18906890e-01 9.92904481e-01 -1.35763262e-03 -2.92020629e+01] [-1.22971894e-02 -1.05438722e-04 9.99924381e-01 -6.03288629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04420382200001 meters 0.015856168758330198 Centerline is valid? [True, True] Translation: X:213.67, Y:-29.21, Z:-6.03 [[ 9.92985537e-01 1.17622828e-01 1.20246978e-02 2.13673199e+02] [-1.17615286e-01 9.93058338e-01 -1.33490756e-03 -2.92059476e+01] [-1.20982420e-02 -8.87443781e-05 9.99926810e-01 -6.03452125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07420382200002 meters 0.013351419940900656 Centerline is valid? [True, True] Translation: X:213.70, Y:-29.21, Z:-6.03 [[ 9.93379393e-01 1.14220939e-01 1.22865416e-02 2.13701468e+02] [-1.14212816e-01 9.93455371e-01 -1.36303834e-03 -2.92133904e+01] [-1.23618183e-02 -4.92663272e-05 9.99923589e-01 -6.03295744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10420382200002 meters 0.013346981627448226 Centerline is valid? [True, True] Translation: X:213.73, Y:-29.22, Z:-6.04 [[ 9.93612997e-01 1.12090851e-01 1.29943258e-02 2.13729016e+02] [-1.12081591e-01 9.93697962e-01 -1.44101836e-03 -2.92173477e+01] [-1.30739601e-02 -2.46101391e-05 9.99914532e-01 -6.03550470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13420382200002 meters 0.01287653319964865 Centerline is valid? [True, True] Translation: X:213.76, Y:-29.23, Z:-6.03 [[ 9.94160804e-01 1.06999143e-01 1.39813863e-02 2.13757088e+02] [-1.06987935e-01 9.94259112e-01 -1.54928568e-03 -2.92264752e+01] [-1.40668929e-02 4.43994560e-05 9.99901055e-01 -6.03372110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16420382200002 meters 0.013917655459254276 Centerline is valid? [True, True] Translation: X:213.79, Y:-29.23, Z:-6.03 [[ 9.94422778e-01 1.04549096e-01 1.38861461e-02 2.13786446e+02] [-1.04537815e-01 9.94519724e-01 -1.53775209e-03 -2.92336623e+01] [-1.39708168e-02 7.75483292e-05 9.99902400e-01 -6.03462988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19420382200002 meters 0.014770761606597618 Centerline is valid? [True, True] Translation: X:213.82, Y:-29.24, Z:-6.03 [[ 9.94684245e-01 1.02060662e-01 1.36701899e-02 2.13815534e+02] [-1.02049498e-01 9.94778171e-01 -1.51353792e-03 -2.92399761e+01] [-1.37532792e-02 1.10456293e-04 9.99905413e-01 -6.03418416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22420382200002 meters 0.01779623255737723 Centerline is valid? [True, True] Translation: X:213.84, Y:-29.25, Z:-6.04 [[ 9.95080080e-01 9.82034265e-02 1.31042365e-02 2.13843881e+02] [-9.81928399e-02 9.95166349e-01 -1.45039850e-03 -2.92491151e+01] [-1.31833293e-02 1.56520454e-04 9.99913084e-01 -6.03573357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25420382200002 meters 0.019221448049257888 Centerline is valid? [True, True] Translation: X:213.87, Y:-29.26, Z:-6.04 [[ 9.95208775e-01 9.69376847e-02 1.27506876e-02 2.13872748e+02] [-9.69275597e-02 9.95290438e-01 -1.41112068e-03 -2.92554149e+01] [-1.28274282e-02 1.68466652e-04 9.99917711e-01 -6.03717122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28420382200002 meters 0.020970968320963648 Centerline is valid? [True, True] Translation: X:213.90, Y:-29.26, Z:-6.04 [[ 9.95304231e-01 9.60357259e-02 1.21089554e-02 2.13902289e+02] [-9.60265341e-02 9.95377873e-01 -1.33958493e-03 -2.92615371e+01] [-1.21816343e-02 1.70513526e-04 9.99925787e-01 -6.04031898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31420382200002 meters 0.02010118946556725 Centerline is valid? [True, True] Translation: X:213.93, Y:-29.26, Z:-6.04 [[ 9.95258057e-01 9.65779500e-02 1.15801604e-02 2.13931699e+02] [-9.65695718e-02 9.95325412e-01 -1.28180346e-03 -2.92630727e+01] [-1.16498219e-02 1.57434086e-04 9.99932126e-01 -6.04087902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344203822 meters 0.018894717655257656 Centerline is valid? [True, True] Translation: X:213.96, Y:-29.26, Z:-6.04 [[ 9.95131610e-01 9.78988258e-02 1.13533390e-02 2.13961824e+02] [-9.78908638e-02 9.95196363e-01 -1.25623899e-03 -2.92647934e+01] [-1.14217860e-02 1.38734969e-04 9.99934760e-01 -6.04199458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.374203822 meters 0.016125883014035763 Centerline is valid? [True, True] Translation: X:213.99, Y:-29.26, Z:-6.04 [[ 9.94690010e-01 1.02327374e-01 1.09951031e-02 2.13990981e+02] [-1.02320177e-01 9.94750774e-01 -1.21659536e-03 -2.92629361e+01] [-1.10618783e-02 8.51143610e-05 9.99938812e-01 -6.04393791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404203822 meters 0.013163425089086514 Centerline is valid? [True, True] Translation: X:214.02, Y:-29.26, Z:-6.04 [[ 9.94132597e-01 1.07639935e-01 1.06781973e-02 2.14020590e+02] [-1.07633449e-01 9.94189943e-01 -1.18189551e-03 -2.92564324e+01] [-1.07433755e-02 2.56296409e-05 9.99942288e-01 -6.04268224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.434203822 meters 0.01339711677791945 Centerline is valid? [True, True] Translation: X:214.05, Y:-29.26, Z:-6.04 [[ 9.93836515e-01 1.10321934e-01 1.08652055e-02 2.14048787e+02] [-1.10315383e-01 9.93895905e-01 -1.20224120e-03 -2.92554271e+01] [-1.09315168e-02 -3.76809984e-06 9.99940249e-01 -6.04495453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464203822 meters 0.013394999417288783 Centerline is valid? [True, True] Translation: X:214.08, Y:-29.26, Z:-6.04 [[ 9.93556898e-01 1.12756273e-01 1.14330227e-02 2.14078194e+02] [-1.12749193e-01 9.93622676e-01 -1.26405216e-03 -2.92556242e+01] [-1.15026404e-02 -3.31563393e-05 9.99933842e-01 -6.04422312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.494203822 meters 0.014231967115897868 Centerline is valid? [True, True] Translation: X:214.11, Y:-29.26, Z:-6.04 [[ 9.93153217e-01 1.16112687e-01 1.28270059e-02 2.14107073e+02] [-1.16104064e-01 9.93236043e-01 -1.41738207e-03 -2.92551774e+01] [-1.29048206e-02 -8.15899481e-05 9.99916726e-01 -6.04260163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.524203822 meters 0.01457277412831856 Centerline is valid? [True, True] Translation: X:214.14, Y:-29.26, Z:-6.04 [[ 9.93083876e-01 1.16721448e-01 1.26695937e-02 2.14135576e+02] [-1.16713092e-01 9.93164687e-01 -1.39938696e-03 -2.92577849e+01] [-1.27463315e-02 -8.89988299e-05 9.99918758e-01 -6.04324589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.554203822 meters 0.015327877309942015 Centerline is valid? [True, True] Translation: X:214.16, Y:-29.26, Z:-6.05 [[ 9.93054037e-01 1.17001491e-01 1.24230044e-02 2.14163298e+02] [-1.16993485e-01 9.93131735e-01 -1.37175602e-03 -2.92601381e+01] [-1.24981774e-02 -9.11827262e-05 9.99921891e-01 -6.04567608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.584203822 meters 0.016234127166201318 Centerline is valid? [True, True] Translation: X:214.19, Y:-29.26, Z:-6.05 [[ 9.93040853e-01 1.17169248e-01 1.18840804e-02 2.14191420e+02] [-1.17161941e-01 9.93111957e-01 -1.31155809e-03 -2.92615251e+01] [-1.19558966e-02 -8.99311620e-05 9.99928522e-01 -6.04832748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.614203822 meters 0.019524363195306114 Centerline is valid? [True, True] Translation: X:214.22, Y:-29.26, Z:-6.05 [[ 9.92974555e-01 1.17755092e-01 1.16306537e-02 2.14220261e+02] [-1.17748144e-01 9.93042662e-01 -1.28274977e-03 -2.92637242e+01] [-1.17007856e-02 -9.57499977e-05 9.99931539e-01 -6.04738368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.644203822 meters 0.018941021599290613 Centerline is valid? [True, True] Translation: X:214.25, Y:-29.26, Z:-6.05 [[ 9.92589414e-01 1.20922554e-01 1.19996644e-02 2.14248320e+02] [-1.20915394e-01 9.92661935e-01 -1.32312240e-03 -2.92618220e+01] [-1.20716055e-02 -1.37626867e-04 9.99927126e-01 -6.04823254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.674203822 meters 0.02097864252899069 Centerline is valid? [True, True] Translation: X:214.28, Y:-29.26, Z:-6.05 [[ 9.92314765e-01 1.23119287e-01 1.23712626e-02 2.14277297e+02] [-1.23111862e-01 9.92391864e-01 -1.36286628e-03 -2.92617356e+01] [-1.24449355e-02 -1.70656850e-04 9.99922544e-01 -6.04826276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.704203822 meters 0.033269356768562255 Centerline is valid? [True, True] Translation: X:214.31, Y:-29.26, Z:-6.05 [[ 9.91673266e-01 1.28073104e-01 1.34689745e-02 2.14307654e+02] [-1.28064774e-01 9.91764698e-01 -1.48268353e-03 -2.92555371e+01] [-1.35479453e-02 -2.54563565e-04 9.99908190e-01 -6.04623406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.734203822 meters 0.033269356768562255 Centerline is valid? [True, True] Translation: X:214.33, Y:-29.26, Z:-6.05 [[ 9.91682396e-01 1.28002397e-01 1.34689322e-02 2.14334989e+02] [-1.27994056e-01 9.91773826e-01 -1.48306876e-03 -2.92584060e+01] [-1.35479708e-02 -2.53210079e-04 9.99908190e-01 -6.04701631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.764203822 meters 0.027986551079055375 Centerline is valid? [True, True] Translation: X:214.36, Y:-29.26, Z:-6.05 [[ 9.91365489e-01 1.30386496e-01 1.39222569e-02 2.14363964e+02] [-1.30377839e-01 9.91463198e-01 -1.53156298e-03 -2.92559831e+01] [-1.40031005e-02 -2.96815082e-04 9.99901908e-01 -6.04694335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79420382200001 meters 0.03237422009681861 Centerline is valid? [True, True] Translation: X:214.39, Y:-29.25, Z:-6.05 [[ 9.90876804e-01 1.34039311e-01 1.40222353e-02 2.14393639e+02] [-1.34030906e-01 9.90975953e-01 -1.54170560e-03 -2.92476517e+01] [-1.41023471e-02 -3.51772589e-04 9.99900495e-01 -6.04776480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82420382200002 meters 0.03107101949389677 Centerline is valid? [True, True] Translation: X:214.42, Y:-29.25, Z:-6.05 [[ 9.90757709e-01 1.34871672e-01 1.44496782e-02 2.14421933e+02] [-1.34862838e-01 9.90863003e-01 -1.58851386e-03 -2.92495861e+01] [-1.45318971e-02 -3.74892261e-04 9.99894336e-01 -6.04642028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85420382200002 meters 0.032700321374000633 Centerline is valid? [True, True] Translation: X:214.45, Y:-29.25, Z:-6.05 [[ 9.90729430e-01 1.35057242e-01 1.46539441e-02 2.14449568e+02] [-1.35048190e-01 9.90837723e-01 -1.61003266e-03 -2.92486959e+01] [-1.47371272e-02 -3.83881901e-04 9.99891329e-01 -6.04786155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88420382200002 meters 0.029804770310021888 Centerline is valid? [True, True] Translation: X:214.48, Y:-29.25, Z:-6.05 [[ 9.90971296e-01 1.33306487e-01 1.43273106e-02 2.14478090e+02] [-1.33297666e-01 9.91074799e-01 -1.57313470e-03 -2.92517795e+01] [-1.44091456e-02 -3.50865735e-04 9.99896121e-01 -6.04847865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91420382200002 meters 0.02631781157018407 Centerline is valid? [True, True] Translation: X:214.51, Y:-29.26, Z:-6.05 [[ 9.91518521e-01 1.29196628e-01 1.41157017e-02 2.14506135e+02] [-1.29187662e-01 9.91618953e-01 -1.54904844e-03 -2.92561027e+01] [-1.41975292e-02 -2.87664275e-04 9.99899169e-01 -6.05104927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94420382200002 meters 0.023255083245797472 Centerline is valid? [True, True] Translation: X:214.53, Y:-29.26, Z:-6.05 [[ 9.91844707e-01 1.26664777e-01 1.41460619e-02 2.14534805e+02] [-1.26655522e-01 9.91945548e-01 -1.55185907e-03 -2.92623666e+01] [-1.42286890e-02 -2.52473654e-04 9.99898735e-01 -6.05130016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97420382200002 meters 0.020857977723362613 Centerline is valid? [True, True] Translation: X:214.56, Y:-29.27, Z:-6.05 [[ 9.92174578e-01 1.24036866e-01 1.42990598e-02 2.14563240e+02] [-1.24027142e-01 9.92277587e-01 -1.56827479e-03 -2.92675147e+01] [-1.43831605e-02 -2.17469139e-04 9.99896533e-01 -6.05210343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00420382200002 meters 0.017771101800657985 Centerline is valid? [True, True] Translation: X:214.59, Y:-29.27, Z:-6.06 [[ 9.92780051e-01 1.19141398e-01 1.38959593e-02 2.14590222e+02] [-1.19131741e-01 9.92877287e-01 -1.52359686e-03 -2.92734674e+01] [-1.39785058e-02 -1.42853255e-04 9.99902286e-01 -6.05500311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03420382200002 meters 0.015662233575579592 Centerline is valid? [True, True] Translation: X:214.62, Y:-29.28, Z:-6.06 [[ 9.93079235e-01 1.16708359e-01 1.31449981e-02 2.14618156e+02] [-1.16699517e-01 9.93166224e-01 -1.44034892e-03 -2.92786718e+01] [-1.32232689e-02 -1.03634325e-04 9.99912563e-01 -6.05649173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06420382200002 meters 0.013950489098850456 Centerline is valid? [True, True] Translation: X:214.65, Y:-29.28, Z:-6.06 [[ 9.93588166e-01 1.12439421e-01 1.18293229e-02 2.14646009e+02] [-1.12431962e-01 9.93658581e-01 -1.29575203e-03 -2.92845863e+01] [-1.19000018e-02 -4.25501073e-05 9.99929192e-01 -6.06071982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.094203822 meters 0.012958508868855925 Centerline is valid? [True, True] Translation: X:214.67, Y:-29.29, Z:-6.06 [[ 9.93827396e-01 1.10330298e-01 1.15901565e-02 2.14673917e+02] [-1.10323000e-01 9.93894977e-01 -1.26906499e-03 -2.92902010e+01] [-1.16594147e-02 -1.74292840e-05 9.99932027e-01 -6.06041978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124203822 meters 0.013832044599008733 Centerline is valid? [True, True] Translation: X:214.70, Y:-29.30, Z:-6.06 [[ 9.94244208e-01 1.06591655e-01 1.08016000e-02 2.14700716e+02] [-1.06585099e-01 9.94302881e-01 -1.18249356e-03 -2.92978325e+01] [-1.08661060e-02 2.43977685e-05 9.99940962e-01 -6.06443494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.154203822 meters 0.01995464293267345 Centerline is valid? [True, True] Translation: X:214.73, Y:-29.30, Z:-6.07 [[ 9.94397971e-01 1.05211148e-01 1.01631161e-02 2.14729441e+02] [-1.05205279e-01 9.94449905e-01 -1.11183885e-03 -2.93009372e+01] [-1.02236877e-02 3.63968335e-05 9.99947736e-01 -6.06567258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184203822 meters 0.014978876790992433 Centerline is valid? [True, True] Translation: X:214.76, Y:-29.30, Z:-6.07 [[ 9.94534880e-01 1.03946096e-01 9.77659045e-03 2.14757146e+02] [-1.03940605e-01 9.94582931e-01 -1.06943007e-03 -2.93046916e+01] [-9.83479306e-03 4.74007791e-05 9.99951636e-01 -6.06736917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.214203822 meters 0.01711078159208518 Centerline is valid? [True, True] Translation: X:214.79, Y:-29.31, Z:-6.07 [[ 9.94794145e-01 1.01358584e-01 1.05379023e-02 2.14785760e+02] [-1.01352071e-01 9.94849954e-01 -1.15163045e-03 -2.93102977e+01] [-1.06003593e-02 7.75970032e-05 9.99943812e-01 -6.06540878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.244203822 meters 0.015802382459000088 Centerline is valid? [True, True] Translation: X:214.81, Y:-29.32, Z:-6.07 [[ 9.94919392e-01 1.00098835e-01 1.07529987e-02 2.14814466e+02] [-1.00091986e-01 9.94977495e-01 -1.17458139e-03 -2.93163601e+01] [-1.08165659e-02 9.23248068e-05 9.99941495e-01 -6.06578084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.274203822 meters 0.023024415745790488 Centerline is valid? [True, True] Translation: X:214.84, Y:-29.32, Z:-6.07 [[ 9.95085919e-01 9.83278380e-02 1.16468840e-02 2.14843043e+02] [-9.83196895e-02 9.95154069e-01 -1.27154409e-03 -2.93222299e+01] [-1.17154722e-02 1.20177600e-04 9.99931364e-01 -6.06511968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.304203822 meters 0.017856566129520253 Centerline is valid? [True, True] Translation: X:214.87, Y:-29.33, Z:-6.07 [[ 9.95143620e-01 9.76956598e-02 1.20305526e-02 2.14870217e+02] [-9.76869247e-02 9.95216329e-01 -1.31299885e-03 -2.93277489e+01] [-1.21012767e-02 1.31394741e-04 9.99926768e-01 -6.06671154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.334203822 meters 0.01762604630772146 Centerline is valid? [True, True] Translation: X:214.90, Y:-29.33, Z:-6.07 [[ 9.95129382e-01 9.78113191e-02 1.22662027e-02 2.14898979e+02] [-9.78022600e-02 9.95204968e-01 -1.33767442e-03 -2.93303559e+01] [-1.23382256e-02 1.31496766e-04 9.99923873e-01 -6.06711396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.364203822 meters 0.01521821957866227 Centerline is valid? [True, True] Translation: X:214.93, Y:-29.33, Z:-6.07 [[ 9.94887872e-01 1.00217101e-01 1.24360002e-02 2.14928166e+02] [-1.00207987e-01 9.94965588e-01 -1.35542253e-03 -2.93280797e+01] [-1.25092288e-02 1.02306893e-04 9.99921751e-01 -6.06581186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.394203822 meters 0.01594087347824226 Centerline is valid? [True, True] Translation: X:214.96, Y:-29.33, Z:-6.07 [[ 9.94680739e-01 1.02177123e-01 1.30408540e-02 2.14957009e+02] [-1.02167273e-01 9.94766218e-01 -1.42101923e-03 -2.93271756e+01] [-1.31177967e-02 8.11119678e-05 9.99913955e-01 -6.06528335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.424203822 meters 0.01230955979614148 Centerline is valid? [True, True] Translation: X:214.99, Y:-29.33, Z:-6.07 [[ 9.94234876e-01 1.06321498e-01 1.38834474e-02 2.14985471e+02] [-1.06310747e-01 9.94331805e-01 -1.51223560e-03 -2.93255270e+01] [-1.39655365e-02 2.75577129e-05 9.99902477e-01 -6.06627026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.454203822 meters 0.01207413363425109 Centerline is valid? [True, True] Translation: X:215.01, Y:-29.33, Z:-6.07 [[ 9.94046160e-01 1.08164150e-01 1.31433688e-02 2.15014615e+02] [-1.08154687e-01 9.94133048e-01 -1.43073592e-03 -2.93261171e+01] [-1.32210116e-02 7.00621816e-07 9.99912599e-01 -6.06725071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.484203822 meters 0.012806435871742702 Centerline is valid? [True, True] Translation: X:215.04, Y:-29.33, Z:-6.07 [[ 9.93877674e-01 1.09782654e-01 1.24474073e-02 2.15042032e+02] [-1.09774295e-01 9.93955617e-01 -1.35482021e-03 -2.93260598e+01] [-1.25209061e-02 -1.98797999e-05 9.99921610e-01 -6.07083953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.514203822 meters 0.013937731815856417 Centerline is valid? [True, True] Translation: X:215.07, Y:-29.32, Z:-6.07 [[ 9.93658354e-01 1.11968454e-01 1.03024259e-02 2.15071378e+02] [-1.11962854e-01 9.93711761e-01 -1.12052316e-03 -2.93221818e+01] [-1.03631050e-02 -4.00718048e-05 9.99946301e-01 -6.07369328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54420382200001 meters 0.014520655115399433 Centerline is valid? [True, True] Translation: X:215.10, Y:-29.32, Z:-6.08 [[ 9.93597760e-01 1.12485947e-01 1.05073104e-02 2.15098324e+02] [-1.12480153e-01 9.93653315e-01 -1.14269725e-03 -2.93204939e+01] [-1.05691612e-02 -4.64824568e-05 9.99944144e-01 -6.07568692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57420382200002 meters 0.014026410498584581 Centerline is valid? [True, True] Translation: X:215.13, Y:-29.32, Z:-6.08 [[ 9.93642961e-01 1.12042833e-01 1.09576245e-02 2.15127219e+02] [-1.12036518e-01 9.93703377e-01 -1.19036271e-03 -2.93240254e+01] [-1.10220000e-02 -4.48585618e-05 9.99939255e-01 -6.07564097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60420382200002 meters 0.014022283318401668 Centerline is valid? [True, True] Translation: X:215.15, Y:-29.33, Z:-6.08 [[ 9.93716548e-01 1.11357123e-01 1.12700042e-02 2.15154733e+02] [-1.11350404e-01 9.93780453e-01 -1.22391099e-03 -2.93280661e+01] [-1.13362011e-02 -3.86989131e-05 9.99935742e-01 -6.07704265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63420382200002 meters 0.012790419717902712 Centerline is valid? [True, True] Translation: X:215.18, Y:-29.33, Z:-6.08 [[ 9.93969185e-01 1.09010355e-01 1.19164609e-02 2.15183324e+02] [-1.09002686e-01 9.94040614e-01 -1.29311119e-03 -2.93344784e+01] [-1.19864086e-02 -1.36135652e-05 9.99928160e-01 -6.07626426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66420382200002 meters 0.012735275098399456 Centerline is valid? [True, True] Translation: X:215.21, Y:-29.34, Z:-6.08 [[ 9.94115347e-01 1.07577486e-01 1.27185570e-02 2.15211418e+02] [-1.07568642e-01 9.94196703e-01 -1.37943917e-03 -2.93380809e+01] [-1.27931440e-02 3.20374790e-06 9.99918164e-01 -6.07682750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69420382200002 meters 0.013248572966353777 Centerline is valid? [True, True] Translation: X:215.24, Y:-29.34, Z:-6.08 [[ 9.94472927e-01 1.04260052e-01 1.23870898e-02 2.15239459e+02] [-1.04251412e-01 9.94550069e-01 -1.34292363e-03 -2.93441214e+01] [-1.24595943e-02 4.41295851e-05 9.99922375e-01 -6.07759552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72420382200002 meters 0.013394297792942416 Centerline is valid? [True, True] Translation: X:215.27, Y:-29.35, Z:-6.08 [[ 9.94664282e-01 1.02462969e-01 1.20127538e-02 2.15267572e+02] [-1.02454718e-01 9.94736817e-01 -1.30184163e-03 -2.93482664e+01] [-1.20829190e-02 6.41320717e-05 9.99926997e-01 -6.07717394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75420382200002 meters 0.014094809334947075 Centerline is valid? [True, True] Translation: X:215.30, Y:-29.35, Z:-6.08 [[ 9.94820797e-01 1.00898332e-01 1.22925898e-02 2.15295338e+02] [-1.00889577e-01 9.94896738e-01 -1.33186552e-03 -2.93529481e+01] [-1.23642405e-02 8.47733260e-05 9.99923556e-01 -6.07791454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78420382200002 meters 0.01674280068270275 Centerline is valid? [True, True] Translation: X:215.32, Y:-29.36, Z:-6.08 [[ 9.95122952e-01 9.78455928e-02 1.25119941e-02 2.15322588e+02] [-9.78362938e-02 9.95201600e-01 -1.35462500e-03 -2.93628755e+01] [-1.25845006e-02 1.23891308e-04 9.99920804e-01 -6.08038789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81420382200002 meters 0.017052497211391893 Centerline is valid? [True, True] Translation: X:215.35, Y:-29.37, Z:-6.08 [[ 9.95264220e-01 9.64355435e-02 1.22196039e-02 2.15351389e+02] [-9.64265800e-02 9.95339222e-01 -1.32197284e-03 -2.93685389e+01] [-1.22901363e-02 1.37417647e-04 9.99924464e-01 -6.08039447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844203822 meters 0.019196402582516377 Centerline is valid? [True, True] Translation: X:215.38, Y:-29.38, Z:-6.08 [[ 9.95420527e-01 9.47465508e-02 1.26911553e-02 2.15378691e+02] [-9.47367491e-02 9.95501413e-01 -1.37265665e-03 -2.93761754e+01] [-1.27641176e-02 1.64051809e-04 9.99918522e-01 -6.08154663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.874203822 meters 0.019689533914817935 Centerline is valid? [True, True] Translation: X:215.41, Y:-29.38, Z:-6.08 [[ 9.95451344e-01 9.43790893e-02 1.30080324e-02 2.15405948e+02] [-9.43687755e-02 9.95536317e-01 -1.40578833e-03 -2.93802552e+01] [-1.30826457e-02 1.71841790e-04 9.99914404e-01 -6.08238345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904203822 meters 0.018777743892459786 Centerline is valid? [True, True] Translation: X:215.43, Y:-29.38, Z:-6.08 [[ 9.95430948e-01 9.45926960e-02 1.30172535e-02 2.15434369e+02] [-9.45823980e-02 9.95516044e-01 -1.40585430e-03 -2.93827275e+01] [-1.30918682e-02 1.68227828e-04 9.99914284e-01 -6.08142335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.934203822 meters 0.016466015812506035 Centerline is valid? [True, True] Translation: X:215.46, Y:-29.38, Z:-6.08 [[ 9.95150735e-01 9.74108832e-02 1.36431135e-02 2.15464477e+02] [-9.73998502e-02 9.95244242e-01 -1.47239577e-03 -2.93836620e+01] [-1.37216576e-02 1.36418518e-04 9.99905844e-01 -6.08142505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964203822 meters 0.015444148056945597 Centerline is valid? [True, True] Translation: X:215.49, Y:-29.38, Z:-6.08 [[ 9.94922718e-01 9.97212649e-02 1.35813900e-02 2.15491921e+02] [-9.97105440e-02 9.95015406e-01 -1.46593672e-03 -2.93845177e+01] [-1.36598774e-02 1.04285955e-04 9.99906694e-01 -6.08383546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.994203822 meters 0.01255035118984752 Centerline is valid? [True, True] Translation: X:215.52, Y:-29.38, Z:-6.08 [[ 9.94337064e-01 1.05410106e-01 1.35097543e-02 2.15521100e+02] [-1.05400036e-01 9.94428836e-01 -1.45723352e-03 -2.93797724e+01] [-1.35880964e-02 2.50527159e-05 9.99907677e-01 -6.08402540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.024203822 meters 0.012596700190894951 Centerline is valid? [True, True] Translation: X:215.55, Y:-29.38, Z:-6.09 [[ 9.93991996e-01 1.08649609e-01 1.32353757e-02 2.15550093e+02] [-1.08640238e-01 9.94080109e-01 -1.42705349e-03 -2.93778685e+01] [-1.33120726e-02 -1.94146304e-05 9.99911390e-01 -6.08522782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.054203822 meters 0.015290175859250665 Centerline is valid? [True, True] Translation: X:215.58, Y:-29.37, Z:-6.09 [[ 9.93422394e-01 1.13835645e-01 1.23851793e-02 2.15578274e+02] [-1.13827844e-01 9.93499592e-01 -1.33525544e-03 -2.93705707e+01] [-1.24566702e-02 -8.33055982e-05 9.99922409e-01 -6.08807713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.084203822 meters 0.01704416498832165 Centerline is valid? [True, True] Translation: X:215.61, Y:-29.37, Z:-6.09 [[ 9.93141622e-01 1.16306387e-01 1.19391173e-02 2.15607615e+02] [-1.16299330e-01 9.93213377e-01 -1.28601652e-03 -2.93685476e+01] [-1.20076630e-02 -1.11314818e-04 9.99927899e-01 -6.08905730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.114203822 meters 0.019089395405154707 Centerline is valid? [True, True] Translation: X:215.64, Y:-29.37, Z:-6.09 [[ 9.92921875e-01 1.18214890e-01 1.14625801e-02 2.15635622e+02] [-1.18208511e-01 9.92988028e-01 -1.23481094e-03 -2.93668268e+01] [-1.15281779e-02 -1.28903735e-04 9.99933540e-01 -6.09100583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.144203822 meters 0.021588939174111876 Centerline is valid? [True, True] Translation: X:215.66, Y:-29.36, Z:-6.09 [[ 9.92567733e-01 1.21083213e-01 1.21717094e-02 2.15664971e+02] [-1.21076258e-01 9.92642345e-01 -1.30943578e-03 -2.93640773e+01] [-1.22407049e-02 -1.74001326e-04 9.99925065e-01 -6.09077198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.174203822 meters 0.022528079237488483 Centerline is valid? [True, True] Translation: X:215.69, Y:-29.36, Z:-6.09 [[ 9.92426294e-01 1.22236056e-01 1.21818229e-02 2.15693470e+02] [-1.22229181e-01 9.92501038e-01 -1.31014715e-03 -2.93645812e+01] [-1.22506191e-02 -1.88749754e-04 9.99924941e-01 -6.09062504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.204203822 meters 0.02749621490532253 Centerline is valid? [True, True] Translation: X:215.72, Y:-29.36, Z:-6.09 [[ 9.92115070e-01 1.24711587e-01 1.24381943e-02 2.15722190e+02] [-1.24704623e-01 9.92193010e-01 -1.33694621e-03 -2.93577191e+01] [-1.25078221e-02 -2.24695846e-04 9.99921749e-01 -6.09368518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.234203822 meters 0.024219010798345156 Centerline is valid? [True, True] Translation: X:215.75, Y:-29.36, Z:-6.09 [[ 9.92032238e-01 1.25291913e-01 1.31899520e-02 2.15749912e+02] [-1.25284142e-01 9.92119890e-01 -1.41709000e-03 -2.93628872e+01] [-1.32635637e-02 -2.46692858e-04 9.99912005e-01 -6.08919432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.264203822 meters 0.02469844656491968 Centerline is valid? [True, True] Translation: X:215.78, Y:-29.36, Z:-6.09 [[ 9.92043652e-01 1.25216220e-01 1.30495596e-02 2.15777484e+02] [-1.25208608e-01 9.92129447e-01 -1.40187812e-03 -2.93624111e+01] [-1.31223902e-02 -2.43192904e-04 9.99913868e-01 -6.09096415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29420382200001 meters 0.0240306387327462 Centerline is valid? [True, True] Translation: X:215.81, Y:-29.36, Z:-6.09 [[ 9.92120563e-01 1.24624732e-01 1.28632770e-02 2.15806382e+02] [-1.24617323e-01 9.92203921e-01 -1.37908887e-03 -2.93639950e+01] [-1.29348625e-02 -2.34764708e-04 9.99916314e-01 -6.09205038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32420382200002 meters 0.02332494629145646 Centerline is valid? [True, True] Translation: X:215.83, Y:-29.36, Z:-6.09 [[ 9.92399499e-01 1.22251149e-01 1.40673944e-02 2.15834789e+02] [-1.22242060e-01 9.92499172e-01 -1.50736262e-03 -2.93646592e+01] [-1.41461541e-02 -2.23721364e-04 9.99899913e-01 -6.09295593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35420382200002 meters 0.020236724304020647 Centerline is valid? [True, True] Translation: X:215.86, Y:-29.37, Z:-6.09 [[ 9.92645016e-01 1.20177426e-01 1.46033959e-02 2.15863013e+02] [-1.20167418e-01 9.92752409e-01 -1.56401642e-03 -2.93709345e+01] [-1.46855160e-02 -2.02339290e-04 9.99892142e-01 -6.09155405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38420382200002 meters 0.01813332954415631 Centerline is valid? [True, True] Translation: X:215.89, Y:-29.38, Z:-6.09 [[ 9.92925383e-01 1.17797702e-01 1.49293645e-02 2.15891962e+02] [-1.17786987e-01 9.93037598e-01 -1.59802714e-03 -2.93762845e+01] [-1.50136642e-02 -1.71763162e-04 9.99887274e-01 -6.09208237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41420382200002 meters 0.014112817093967863 Centerline is valid? [True, True] Translation: X:215.92, Y:-29.39, Z:-6.09 [[ 9.93532608e-01 1.12595325e-01 1.46713600e-02 2.15920074e+02] [-1.12584415e-01 9.93640923e-01 -1.57006911e-03 -2.93854204e+01] [-1.47548461e-02 -9.18516217e-05 9.99891137e-01 -6.09308924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44420382200002 meters 0.012847394144151694 Centerline is valid? [True, True] Translation: X:215.95, Y:-29.39, Z:-6.09 [[ 9.93829362e-01 1.10003428e-01 1.42283493e-02 2.15948850e+02] [-1.09992913e-01 9.93931206e-01 -1.52186615e-03 -2.93918839e+01] [-1.43094109e-02 -5.25423238e-05 9.99897614e-01 -6.09448853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47420382200002 meters 0.012270949271273653 Centerline is valid? [True, True] Translation: X:215.98, Y:-29.40, Z:-6.10 [[ 9.94394218e-01 1.04785055e-01 1.41503196e-02 2.15975775e+02] [-1.04774129e-01 9.94494893e-01 -1.51335397e-03 -2.94028078e+01] [-1.42309975e-02 2.22830212e-05 9.99898734e-01 -6.09566948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50420382200002 meters 0.012881884058518636 Centerline is valid? [True, True] Translation: X:216.00, Y:-29.41, Z:-6.10 [[ 9.94663593e-01 1.02160137e-01 1.44098354e-02 2.16003907e+02] [-1.02148546e-01 9.94767964e-01 -1.54006697e-03 -2.94105170e+01] [-1.44917760e-02 5.99048239e-05 9.99894987e-01 -6.09617800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53420382200002 meters 0.015800546626233532 Centerline is valid? [True, True] Translation: X:216.03, Y:-29.42, Z:-6.10 [[ 9.95148250e-01 9.73148099e-02 1.44841011e-02 2.16031340e+02] [-9.73025953e-02 9.95253641e-01 -1.54732067e-03 -2.94231415e+01] [-1.45659316e-02 1.30472831e-04 9.99893903e-01 -6.09688468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56420382200002 meters 0.017246551312693904 Centerline is valid? [True, True] Translation: X:216.06, Y:-29.43, Z:-6.10 [[ 9.95375570e-01 9.49377546e-02 1.46389191e-02 2.16059682e+02] [-9.49250304e-02 9.95483197e-01 -1.56317861e-03 -2.94304430e+01] [-1.47212026e-02 1.66349957e-04 9.99891623e-01 -6.09655993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.594203822 meters 0.021453850961592722 Centerline is valid? [True, True] Translation: X:216.09, Y:-29.44, Z:-6.10 [[ 9.95718822e-01 9.12592196e-02 1.46895559e-02 2.16086729e+02] [-9.12460195e-02 9.95827147e-01 -1.56772967e-03 -2.94434303e+01] [-1.47713284e-02 2.20654428e-04 9.99890874e-01 -6.09852552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624203822 meters 0.021453850961592722 Centerline is valid? [True, True] Translation: X:216.11, Y:-29.45, Z:-6.10 [[ 9.95722932e-01 9.12143548e-02 1.46895953e-02 2.16114899e+02] [-9.12011553e-02 9.95831257e-01 -1.56736075e-03 -2.94463446e+01] [-1.47713239e-02 2.20948977e-04 9.99890874e-01 -6.09933156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.654203822 meters 0.028952583208891432 Centerline is valid? [True, True] Translation: X:216.14, Y:-29.45, Z:-6.10 [[ 9.95843117e-01 8.99075703e-02 1.45984305e-02 2.16143958e+02] [-8.98944051e-02 9.95950085e-01 -1.55685505e-03 -2.94493918e+01] [-1.46792811e-02 2.38066160e-04 9.99892225e-01 -6.09702286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684203822 meters 0.0223532877290766 Centerline is valid? [True, True] Translation: X:216.17, Y:-29.46, Z:-6.10 [[ 9.95921772e-01 8.89390134e-02 1.51550807e-02 2.16171506e+02] [-8.89247220e-02 9.96037039e-01 -1.61562014e-03 -2.94579256e+01] [-1.52387134e-02 2.61369936e-04 9.99883850e-01 -6.09805855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.714203822 meters 0.021472085812056466 Centerline is valid? [True, True] Translation: X:216.20, Y:-29.47, Z:-6.10 [[ 9.95935335e-01 8.88121814e-02 1.50068069e-02 2.16200756e+02] [-8.87981645e-02 9.96048357e-01 -1.59911197e-03 -2.94652232e+01] [-1.50895260e-02 2.60035201e-04 9.99886113e-01 -6.09789429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.744203822 meters 0.020024275600131612 Centerline is valid? [True, True] Translation: X:216.23, Y:-29.47, Z:-6.10 [[ 9.95815827e-01 9.02350087e-02 1.44388819e-02 2.16230399e+02] [-9.02221869e-02 9.95920474e-01 -1.53827628e-03 -2.94708059e+01] [-1.45187845e-02 2.29132366e-04 9.99894571e-01 -6.09902163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.774203822 meters 0.019323045947853165 Centerline is valid? [True, True] Translation: X:216.26, Y:-29.47, Z:-6.10 [[ 9.95707849e-01 9.14762500e-02 1.40703585e-02 2.16259180e+02] [-9.14642005e-02 9.95807237e-01 -1.49886112e-03 -2.94744863e+01] [-1.41484750e-02 2.05493695e-04 9.99899884e-01 -6.10051898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.804203822 meters 0.0191256416993498 Centerline is valid? [True, True] Translation: X:216.29, Y:-29.48, Z:-6.10 [[ 9.95564386e-01 9.31138508e-02 1.34671291e-02 2.16287118e+02] [-9.31029707e-02 9.95655453e-01 -1.43396559e-03 -2.94789748e+01] [-1.35421425e-02 1.73775349e-04 9.99908286e-01 -6.10376533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.834203822 meters 0.015558650909756262 Centerline is valid? [True, True] Translation: X:216.32, Y:-29.48, Z:-6.11 [[ 9.95157777e-01 9.74491065e-02 1.28324124e-02 2.16315723e+02] [-9.74395869e-02 9.95240503e-01 -1.36646833e-03 -2.94804012e+01] [-1.29044977e-02 1.09466621e-04 9.99916728e-01 -6.10539024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.864203822 meters 0.013854135318424374 Centerline is valid? [True, True] Translation: X:216.34, Y:-29.48, Z:-6.11 [[ 9.94945534e-01 9.96123761e-02 1.26790897e-02 2.16344287e+02] [-9.96032655e-02 9.95026315e-01 -1.34957374e-03 -2.94817232e+01] [-1.27504622e-02 7.98736206e-05 9.99918706e-01 -6.10555861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.894203822 meters 0.012751900565095613 Centerline is valid? [True, True] Translation: X:216.37, Y:-29.48, Z:-6.11 [[ 9.94495826e-01 1.04107648e-01 1.18173269e-02 2.16371816e+02] [-1.04100055e-01 9.94566035e-01 -1.25756106e-03 -2.94808196e+01] [-1.18840337e-02 2.04548421e-05 9.99929382e-01 -6.10794117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.924203822 meters 0.013003802776570728 Centerline is valid? [True, True] Translation: X:216.40, Y:-29.48, Z:-6.11 [[ 9.94291805e-01 1.06063063e-01 1.15945555e-02 2.16399865e+02] [-1.06055892e-01 9.94359405e-01 -1.23332364e-03 -2.94817320e+01] [-1.16599654e-02 -3.38733223e-06 9.99932020e-01 -6.11003847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.954203822 meters 0.013346832030647541 Centerline is valid? [True, True] Translation: X:216.43, Y:-29.48, Z:-6.11 [[ 9.94087822e-01 1.07959285e-01 1.15842155e-02 2.16428815e+02] [-1.07952269e-01 9.94155316e-01 -1.23107578e-03 -2.94831492e+01] [-1.16494155e-02 -2.67449091e-05 9.99932143e-01 -6.11112962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.984203822 meters 0.014849806865731017 Centerline is valid? [True, True] Translation: X:216.46, Y:-29.49, Z:-6.11 [[ 9.93730409e-01 1.11244996e-01 1.11546084e-02 2.16457576e+02] [-1.11238703e-01 9.93793010e-01 -1.18494437e-03 -2.94856551e+01] [-1.12171910e-02 -6.33089139e-05 9.99937083e-01 -6.11287912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.014203822 meters 0.015809687035207878 Centerline is valid? [True, True] Translation: X:216.49, Y:-29.49, Z:-6.11 [[ 9.93535062e-01 1.12988451e-01 1.10313741e-02 2.16486027e+02] [-1.12982409e-01 9.93596298e-01 -1.17134938e-03 -2.94886730e+01] [-1.10930814e-02 -8.25745428e-05 9.99938466e-01 -6.11352182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04420382200001 meters 0.018186924337032045 Centerline is valid? [True, True] Translation: X:216.51, Y:-29.49, Z:-6.11 [[ 9.93121452e-01 1.16523026e-01 1.14963707e-02 2.16514528e+02] [-1.16516705e-01 9.93187982e-01 -1.22032425e-03 -2.94890877e+01] [-1.15602531e-02 -1.27589047e-04 9.99933170e-01 -6.11278215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07420382200002 meters 0.019441144231860146 Centerline is valid? [True, True] Translation: X:216.54, Y:-29.49, Z:-6.11 [[ 9.92922373e-01 1.18187742e-01 1.16969542e-02 2.16543681e+02] [-1.18181325e-01 9.92991256e-01 -1.24068643e-03 -2.94901541e+01] [-1.17616072e-02 -1.50456234e-04 9.99930819e-01 -6.11273831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10420382200002 meters 0.019723020321520162 Centerline is valid? [True, True] Translation: X:216.57, Y:-29.49, Z:-6.11 [[ 9.92738031e-01 1.19718945e-01 1.17717942e-02 2.16572845e+02] [-1.19712561e-01 9.92807809e-01 -1.24806985e-03 -2.94923543e+01] [-1.18365468e-02 -1.70225222e-04 9.99929931e-01 -6.11147808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13420382200002 meters 0.023500431004149412 Centerline is valid? [True, True] Translation: X:216.60, Y:-29.49, Z:-6.11 [[ 9.92355142e-01 1.22755744e-01 1.27397149e-02 2.16600879e+02] [-1.22748523e-01 9.92436888e-01 -1.35012219e-03 -2.94899222e+01] [-1.28090983e-02 -2.23980495e-04 9.99917935e-01 -6.11182903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16420382200002 meters 0.024946843119933095 Centerline is valid? [True, True] Translation: X:216.63, Y:-29.49, Z:-6.11 [[ 9.92149265e-01 1.24350498e-01 1.32962453e-02 2.16629665e+02] [-1.24342791e-01 9.92238322e-01 -1.40798893e-03 -2.94907981e+01] [-1.33681282e-02 -2.56357064e-04 9.99910610e-01 -6.11183233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19420382200002 meters 0.02888142665837298 Centerline is valid? [True, True] Translation: X:216.66, Y:-29.49, Z:-6.11 [[ 9.91861486e-01 1.26616399e-01 1.33820466e-02 2.16657977e+02] [-1.26608805e-01 9.91951714e-01 -1.41659175e-03 -2.94890124e+01] [-1.34537078e-02 -2.89222133e-04 9.99909453e-01 -6.11369369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22420382200002 meters 0.028396148942532267 Centerline is valid? [True, True] Translation: X:216.69, Y:-29.49, Z:-6.11 [[ 9.91801157e-01 1.27146444e-01 1.28158607e-02 2.16686082e+02] [-1.27139534e-01 9.91883915e-01 -1.35576052e-03 -2.94933190e+01] [-1.28842262e-02 -2.84757707e-04 9.99916954e-01 -6.11471356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25420382200002 meters 0.029515246545068558 Centerline is valid? [True, True] Translation: X:216.71, Y:-29.50, Z:-6.12 [[ 9.91817635e-01 1.27061725e-01 1.23732388e-02 2.16713570e+02] [-1.27055278e-01 9.91894774e-01 -1.30896464e-03 -2.94955805e+01] [-1.24392702e-02 -2.73831079e-04 9.99922592e-01 -6.11717955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28420382200002 meters 0.027703932806835713 Centerline is valid? [True, True] Translation: X:216.74, Y:-29.50, Z:-6.12 [[ 9.91977434e-01 1.25766201e-01 1.27919566e-02 2.16742099e+02] [-1.25759224e-01 9.92059873e-01 -1.35152247e-03 -2.95007949e+01] [-1.28603627e-02 -2.68026747e-04 9.99917266e-01 -6.11736793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31420382200002 meters 0.026444967904327005 Centerline is valid? [True, True] Translation: X:216.77, Y:-29.50, Z:-6.12 [[ 9.92120841e-01 1.24589981e-01 1.31747352e-02 2.16770353e+02] [-1.24582485e-01 9.92208279e-01 -1.39129302e-03 -2.95048351e+01] [-1.32454225e-02 -2.61010452e-04 9.99912241e-01 -6.11773497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34420382200003 meters 0.024045625586592043 Centerline is valid? [True, True] Translation: X:216.80, Y:-29.51, Z:-6.12 [[ 9.92533299e-01 1.21252176e-01 1.32499255e-02 2.16797639e+02] [-1.21244304e-01 9.92621712e-01 -1.39876670e-03 -2.95131345e+01] [-1.33217672e-02 -2.18155467e-04 9.99911238e-01 -6.12006673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.374203822 meters 0.020633964214008052 Centerline is valid? [True, True] Translation: X:216.83, Y:-29.52, Z:-6.12 [[ 9.92803628e-01 1.19021161e-01 1.32257215e-02 2.16826009e+02] [-1.19013132e-01 9.92891700e-01 -1.39526000e-03 -2.95226458e+01] [-1.32977745e-02 -1.88815347e-04 9.99911563e-01 -6.11905454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404203822 meters 0.018502689493312827 Centerline is valid? [True, True] Translation: X:216.85, Y:-29.53, Z:-6.12 [[ 9.93092192e-01 1.16540207e-01 1.36483634e-02 2.16853157e+02] [-1.16531430e-01 9.93185962e-01 -1.43931401e-03 -2.95298135e+01] [-1.37231009e-02 -1.61091797e-04 9.99905821e-01 -6.11929451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.434203822 meters 0.014508123981685831 Centerline is valid? [True, True] Translation: X:216.88, Y:-29.54, Z:-6.12 [[ 9.93592480e-01 1.12201047e-01 1.35980924e-02 2.16880708e+02] [-1.12191941e-01 9.93685521e-01 -1.43303985e-03 -2.95404864e+01] [-1.36730161e-02 -1.01738768e-04 9.99906515e-01 -6.11899885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464203822 meters 0.013553079172837655 Centerline is valid? [True, True] Translation: X:216.91, Y:-29.55, Z:-6.12 [[ 9.93976647e-01 1.08829301e-01 1.29077202e-02 2.16908132e+02] [-1.08820817e-01 9.94060451e-01 -1.35990333e-03 -2.95476568e+01] [-1.29790515e-02 -5.29165118e-05 9.99915767e-01 -6.12166242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.494203822 meters 0.012547838907685963 Centerline is valid? [True, True] Translation: X:216.94, Y:-29.55, Z:-6.12 [[ 9.94070407e-01 1.07921189e-01 1.33057481e-02 2.16936234e+02] [-1.07912106e-01 9.94159452e-01 -1.40079103e-03 -2.95519900e+01] [-1.33792103e-02 -4.33663915e-05 9.99910493e-01 -6.12043829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.524203822 meters 0.012420128614736145 Centerline is valid? [True, True] Translation: X:216.96, Y:-29.56, Z:-6.12 [[ 9.94112764e-01 1.07527490e-01 1.33286029e-02 2.16964951e+02] [-1.07518349e-01 9.94202111e-01 -1.40254783e-03 -2.95561769e+01] [-1.34021376e-02 -3.87786894e-05 9.99910187e-01 -6.12090515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.554203822 meters 0.012758016985343883 Centerline is valid? [True, True] Translation: X:216.99, Y:-29.56, Z:-6.12 [[ 9.94152044e-01 1.07274611e-01 1.24045017e-02 2.16993047e+02] [-1.07266685e-01 9.94229429e-01 -1.30446335e-03 -2.95625095e+01] [-1.24728564e-02 -3.37548679e-05 9.99922210e-01 -6.12310168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.584203822 meters 0.013433996423240216 Centerline is valid? [True, True] Translation: X:217.02, Y:-29.57, Z:-6.13 [[ 9.94129932e-01 1.07510432e-01 1.21319629e-02 2.17020343e+02] [-1.07502865e-01 9.94203956e-01 -1.27599490e-03 -2.95653835e+01] [-1.21988283e-02 -3.57160445e-05 9.99925591e-01 -6.12549291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.614203822 meters 0.013583818694079316 Centerline is valid? [True, True] Translation: X:217.05, Y:-29.57, Z:-6.13 [[ 9.94072441e-01 1.08060288e-01 1.19564415e-02 2.17048697e+02] [-1.08052990e-01 9.94144342e-01 -1.25661636e-03 -2.95670554e+01] [-1.20222190e-02 -4.27615595e-05 9.99927730e-01 -6.12639422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.644203822 meters 0.013747465644687321 Centerline is valid? [True, True] Translation: X:217.08, Y:-29.57, Z:-6.13 [[ 9.93907578e-01 1.09648595e-01 1.11763694e-02 2.17077587e+02] [-1.09642323e-01 9.93970413e-01 -1.17423186e-03 -2.95662157e+01] [-1.12377333e-02 -5.83251594e-05 9.99936853e-01 -6.12589884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.674203822 meters 0.015496289220043308 Centerline is valid? [True, True] Translation: X:217.11, Y:-29.57, Z:-6.13 [[ 9.93747730e-01 1.11068986e-01 1.13634875e-02 2.17105191e+02] [-1.11062599e-01 9.93812696e-01 -1.19350299e-03 -2.95655726e+01] [-1.14257393e-02 -7.60175675e-05 9.99934721e-01 -6.12969688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.704203822 meters 0.015768790611946495 Centerline is valid? [True, True] Translation: X:217.13, Y:-29.57, Z:-6.13 [[ 9.93670628e-01 1.11677221e-01 1.21194787e-02 2.17132689e+02] [-1.11670013e-01 9.93744530e-01 -1.27195954e-03 -2.95665009e+01] [-1.21857145e-02 -8.94735061e-05 9.99925747e-01 -6.12965392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.734203822 meters 0.01592295524223524 Centerline is valid? [True, True] Translation: X:217.16, Y:-29.57, Z:-6.13 [[ 9.93604939e-01 1.12222097e-01 1.24670359e-02 2.17161969e+02] [-1.12214525e-01 9.93683144e-01 -1.30746516e-03 -2.95682164e+01] [-1.25350099e-02 -9.98786629e-05 9.99921429e-01 -6.12918086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.764203822 meters 0.01663109833797768 Centerline is valid? [True, True] Translation: X:217.19, Y:-29.57, Z:-6.13 [[ 9.93422455e-01 1.13731780e-01 1.33006513e-02 2.17190368e+02] [-1.13723306e-01 9.93511483e-01 -1.39417418e-03 -2.95694521e+01] [-1.33729117e-02 -1.27590105e-04 9.99910570e-01 -6.12836059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79420382200001 meters 0.018158999465938214 Centerline is valid? [True, True] Translation: X:217.22, Y:-29.57, Z:-6.13 [[ 9.93209314e-01 1.15458780e-01 1.43013660e-02 2.17218224e+02] [-1.15449171e-01 9.93312259e-01 -1.49844424e-03 -2.95683345e+01] [-1.43787307e-02 -1.62812072e-04 9.99896607e-01 -6.12787782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82420382200002 meters 0.01834399357217383 Centerline is valid? [True, True] Translation: X:217.25, Y:-29.57, Z:-6.13 [[ 9.93107815e-01 1.16350635e-01 1.41208284e-02 2.17246941e+02] [-1.16341371e-01 9.93208185e-01 -1.47855133e-03 -2.95692754e+01] [-1.41969527e-02 -1.74475652e-04 9.99899203e-01 -6.12762217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85420382200002 meters 0.02109380729587628 Centerline is valid? [True, True] Translation: X:217.28, Y:-29.57, Z:-6.13 [[ 9.93021654e-01 1.17146494e-01 1.35901984e-02 2.17275327e+02] [-1.17137994e-01 9.93114629e-01 -1.42255663e-03 -2.95668512e+01] [-1.36632723e-02 -1.79299034e-04 9.99906637e-01 -6.13188580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88420382200002 meters 0.02335743605744112 Centerline is valid? [True, True] Translation: X:217.30, Y:-29.56, Z:-6.14 [[ 9.92846725e-01 1.18745637e-01 1.24440263e-02 2.17303263e+02] [-1.18738642e-01 9.92924690e-01 -1.30208867e-03 -2.95614483e+01] [-1.25105983e-02 -1.84812308e-04 9.99921722e-01 -6.13521680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91420382200002 meters 0.024078107012765797 Centerline is valid? [True, True] Translation: X:217.33, Y:-29.56, Z:-6.14 [[ 9.92752423e-01 1.19523575e-01 1.25196147e-02 2.17332695e+02] [-1.19516572e-01 9.92831343e-01 -1.30877106e-03 -2.95605041e+01] [-1.25862949e-02 -1.97015798e-04 9.99920770e-01 -6.13596683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94420382200002 meters 0.02271179179762915 Centerline is valid? [True, True] Translation: X:217.36, Y:-29.56, Z:-6.13 [[ 9.92677375e-01 1.20096625e-01 1.29780563e-02 2.17361873e+02] [-1.20089156e-01 9.92762185e-01 -1.35609358e-03 -2.95609590e+01] [-1.30469858e-02 -2.12360419e-04 9.99914862e-01 -6.13459359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97420382200002 meters 0.021404903980570877 Centerline is valid? [True, True] Translation: X:217.39, Y:-29.56, Z:-6.13 [[ 9.92726421e-01 1.19670359e-01 1.31627890e-02 2.17390675e+02] [-1.19662647e-01 9.92813659e-01 -1.37476417e-03 -2.95633183e+01] [-1.32327152e-02 -2.10329457e-04 9.99912422e-01 -6.13421201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00420382200002 meters 0.018259583889882417 Centerline is valid? [True, True] Translation: X:217.42, Y:-29.57, Z:-6.13 [[ 9.93076180e-01 1.16779692e-01 1.27359650e-02 2.17419062e+02] [-1.16772241e-01 9.93157830e-01 -1.32961780e-03 -2.95666289e+01] [-1.28040957e-02 -1.66795413e-04 9.99918010e-01 -6.13491746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03420382200002 meters 0.0177568155733978 Centerline is valid? [True, True] Translation: X:217.45, Y:-29.57, Z:-6.14 [[ 9.93406359e-01 1.13987886e-01 1.22706361e-02 2.17447045e+02] [-1.13980764e-01 9.93482132e-01 -1.28046422e-03 -2.95701274e+01] [-1.23366151e-02 -1.26595184e-04 9.99923893e-01 -6.13939743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06420382200002 meters 0.026502231065609554 Centerline is valid? [True, True] Translation: X:217.47, Y:-29.58, Z:-6.14 [[ 9.93777368e-01 1.10752197e-01 1.18530182e-02 2.17474932e+02] [-1.10745328e-01 9.93848049e-01 -1.23629833e-03 -2.95754743e+01] [-1.19170218e-02 -8.40610975e-05 9.99928986e-01 -6.14185975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09420382200003 meters 0.012434671668669807 Centerline is valid? [True, True] Translation: X:217.50, Y:-29.59, Z:-6.14 [[ 9.94553463e-01 1.03528793e-01 1.20498091e-02 2.17502762e+02] [-1.03521171e-01 9.94626457e-01 -1.25626872e-03 -2.95861040e+01] [-1.21151189e-02 2.01606630e-06 9.99926609e-01 -6.13894771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124203822 meters 0.013564556777845552 Centerline is valid? [True, True] Translation: X:217.53, Y:-29.59, Z:-6.14 [[ 9.94929254e-01 9.98894612e-02 1.17420208e-02 2.17530435e+02] [-9.98819740e-02 9.94998539e-01 -1.22382024e-03 -2.95926055e+01] [-1.18055403e-02 4.47983426e-05 9.99930311e-01 -6.14216727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.154203822 meters 0.016840789262428005 Centerline is valid? [True, True] Translation: X:217.56, Y:-29.60, Z:-6.14 [[ 9.95578152e-01 9.32294592e-02 1.15070071e-02 2.17558520e+02] [-9.32218362e-02 9.95644642e-01 -1.19823701e-03 -2.96044297e+01] [-1.15686009e-02 1.20234259e-04 9.99933074e-01 -6.14301713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184203822 meters 0.020261097553108013 Centerline is valid? [True, True] Translation: X:217.59, Y:-29.61, Z:-6.15 [[ 9.95876851e-01 8.99430845e-02 1.18126964e-02 2.17586172e+02] [-8.99348254e-02 9.95946894e-01 -1.22960479e-03 -2.96136304e+01] [-1.18754128e-02 1.62162154e-04 9.99929472e-01 -6.14510686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.214203822 meters 0.021369266185806656 Centerline is valid? [True, True] Translation: X:217.62, Y:-29.62, Z:-6.14 [[ 9.96163414e-01 8.67120011e-02 1.18102109e-02 2.17616037e+02] [-8.67035305e-02 9.96233401e-01 -1.22832262e-03 -2.96196805e+01] [-1.18722369e-02 1.99623070e-04 9.99929503e-01 -6.14412148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.244203822 meters 0.029022789653376964 Centerline is valid? [True, True] Translation: X:217.64, Y:-29.63, Z:-6.15 [[ 9.96736908e-01 7.99174815e-02 1.13460177e-02 2.17644765e+02] [-7.99092323e-02 9.96801447e-01 -1.17926731e-03 -2.96344570e+01] [-1.14039709e-02 2.68767687e-04 9.99934936e-01 -6.14695623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.274203822 meters 0.03400396182201706 Centerline is valid? [True, True] Translation: X:217.67, Y:-29.65, Z:-6.15 [[ 9.97218887e-01 7.36741950e-02 1.12518705e-02 2.17674632e+02] [-7.36656708e-02 9.97282306e-01 -1.17072538e-03 -2.96466280e+01] [-1.13075436e-02 3.38592872e-04 9.99936010e-01 -6.14629466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.304203822 meters 0.03787374859274305 Centerline is valid? [True, True] Translation: X:217.70, Y:-29.66, Z:-6.15 [[ 9.97389588e-01 7.13377212e-02 1.11776042e-02 2.17704987e+02] [-7.13291916e-02 9.97452154e-01 -1.16040824e-03 -2.96566712e+01] [-1.12319062e-02 3.60089630e-04 9.99936855e-01 -6.14779484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.334203822 meters 0.04054400166444721 Centerline is valid? [True, True] Translation: X:217.74, Y:-29.67, Z:-6.15 [[ 9.97521907e-01 6.93174506e-02 1.20472670e-02 2.17735702e+02] [-6.93073675e-02 9.97594566e-01 -1.25295141e-03 -2.96658149e+01] [-1.21051395e-02 4.14882120e-04 9.99926644e-01 -6.14777123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.364203822 meters 0.039221421887015925 Centerline is valid? [True, True] Translation: X:217.77, Y:-29.67, Z:-6.15 [[ 9.97599730e-01 6.80427236e-02 1.28438924e-02 2.17767214e+02] [-6.80311316e-02 9.97682302e-01 -1.33780154e-03 -2.96716319e+01] [-1.29051518e-02 4.60805922e-04 9.99916619e-01 -6.14642398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.394203822 meters 0.04329609647714215 Centerline is valid? [True, True] Translation: X:217.80, Y:-29.69, Z:-6.15 [[ 9.97695985e-01 6.67153435e-02 1.23200654e-02 2.17796172e+02] [-6.67045247e-02 9.97771942e-01 -1.28744030e-03 -2.96891328e+01] [-1.23785076e-02 4.62669919e-04 9.99923276e-01 -6.14925509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.424203822 meters 0.039356865337059885 Centerline is valid? [True, True] Translation: X:217.83, Y:-29.69, Z:-6.15 [[ 9.97603448e-01 6.81793161e-02 1.17873483e-02 2.17828441e+02] [-6.81695403e-02 9.97672993e-01 -1.22961819e-03 -2.96930975e+01] [-1.18437536e-02 4.23133227e-04 9.99929771e-01 -6.14885329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.454203822 meters 0.03630598000699583 Centerline is valid? [True, True] Translation: X:217.86, Y:-29.70, Z:-6.15 [[ 9.97468982e-01 7.00685763e-02 1.20840908e-02 2.17859621e+02] [-7.00583856e-02 9.97542090e-01 -1.26510130e-03 -2.96955392e+01] [-1.21430330e-02 4.15307411e-04 9.99926184e-01 -6.14813067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.484203822 meters 0.033822593421473986 Centerline is valid? [True, True] Translation: X:217.89, Y:-29.70, Z:-6.15 [[ 9.97283657e-01 7.26042712e-02 1.24067311e-02 2.17891317e+02] [-7.25937233e-02 9.97360749e-01 -1.29900844e-03 -2.96996477e+01] [-1.24683002e-02 3.94829085e-04 9.99922190e-01 -6.14834488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.514203822 meters 0.037071002002416156 Centerline is valid? [True, True] Translation: X:217.92, Y:-29.70, Z:-6.15 [[ 9.96732009e-01 7.99642437e-02 1.14465113e-02 2.17920465e+02] [-7.99557392e-02 9.96797693e-01 -1.19941260e-03 -2.97018673e+01] [-1.15057662e-02 2.80278661e-04 9.99933767e-01 -6.15001351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54420382200001 meters 0.037071002002416156 Centerline is valid? [True, True] Translation: X:217.95, Y:-29.71, Z:-6.15 [[ 9.96718246e-01 8.01355618e-02 1.14468095e-02 2.17951965e+02] [-8.01271012e-02 9.96783936e-01 -1.19656914e-03 -2.97053028e+01] [-1.15058836e-02 2.75442625e-04 9.99933767e-01 -6.15091528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57420382200002 meters 0.024333215673655213 Centerline is valid? [True, True] Translation: X:217.98, Y:-29.71, Z:-6.15 [[ 9.96339413e-01 8.47272335e-02 1.13609006e-02 2.17982172e+02] [-8.47191443e-02 9.96404158e-01 -1.19226009e-03 -2.97072396e+01] [-1.14210655e-02 2.25409943e-04 9.99934752e-01 -6.15207552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60420382200002 meters 0.016429646772990383 Centerline is valid? [True, True] Translation: X:218.01, Y:-29.71, Z:-6.15 [[ 9.95367951e-01 9.55344578e-02 1.07615172e-02 2.18012000e+02] [-9.55278247e-02 9.95426119e-01 -1.12990747e-03 -2.97051463e+01] [-1.08202404e-02 9.66493488e-05 9.99941455e-01 -6.15483147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63420382200002 meters 0.01343629372106733 Centerline is valid? [True, True] Translation: X:218.04, Y:-29.70, Z:-6.15 [[ 9.94787319e-01 1.01367696e-01 1.10806255e-02 2.18041990e+02] [-1.01361025e-01 9.94849028e-01 -1.16347816e-03 -2.97020300e+01] [-1.11414886e-02 3.42697663e-05 9.99937931e-01 -6.15445428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66420382200002 meters 0.01314354079855744 Centerline is valid? [True, True] Translation: X:218.07, Y:-29.70, Z:-6.15 [[ 9.94165731e-01 1.07235954e-01 1.16167999e-02 2.18071212e+02] [-1.07229020e-01 9.94233599e-01 -1.21987230e-03 -2.96964070e+01] [-1.16806270e-02 -3.29028360e-05 9.99931779e-01 -6.15360975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69420382200002 meters 0.026404498204419778 Centerline is valid? [True, True] Translation: X:218.10, Y:-29.68, Z:-6.16 [[ 9.92839237e-01 1.18888977e-01 1.16473064e-02 2.18101732e+02] [-1.18882820e-01 9.92907539e-01 -1.22208307e-03 -2.96789048e+01] [-1.17099905e-02 -1.71332604e-04 9.99931421e-01 -6.15934717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72420382200002 meters 0.025983891815858435 Centerline is valid? [True, True] Translation: X:218.13, Y:-29.68, Z:-6.16 [[ 9.92204767e-01 1.24100662e-01 1.13457211e-02 2.18131500e+02] [-1.24095162e-01 9.92269608e-01 -1.19017687e-03 -2.96799078e+01] [-1.14057160e-02 -2.27049942e-04 9.99934927e-01 -6.15739407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75420382200002 meters 0.03524070831404741 Centerline is valid? [True, True] Translation: X:218.16, Y:-29.67, Z:-6.16 [[ 9.91043987e-01 1.33035891e-01 1.15441908e-02 2.18162058e+02] [-1.33030810e-01 9.91111164e-01 -1.21030999e-03 -2.96735967e+01] [-1.16025910e-02 -3.36262610e-04 9.99932631e-01 -6.15865269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78420382200002 meters 0.039709893279176275 Centerline is valid? [True, True] Translation: X:218.19, Y:-29.67, Z:-6.16 [[ 9.90576433e-01 1.36479580e-01 1.14740937e-02 2.18190821e+02] [-1.36474783e-01 9.90642814e-01 -1.20372603e-03 -2.96705031e+01] [-1.15310125e-02 -3.73541808e-04 9.99933446e-01 -6.16011683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81420382200002 meters 0.04598052358668813 Centerline is valid? [True, True] Translation: X:218.22, Y:-29.66, Z:-6.16 [[ 9.90241080e-01 1.38912117e-01 1.12261776e-02 2.18219685e+02] [-1.38907686e-01 9.90304634e-01 -1.17721012e-03 -2.96643589e+01] [-1.12808644e-02 -3.93680533e-04 9.99936292e-01 -6.16339920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84420382200003 meters 0.044743506377270266 Centerline is valid? [True, True] Translation: X:218.25, Y:-29.67, Z:-6.16 [[ 9.89987901e-01 1.40796095e-01 1.00207574e-02 2.18249493e+02] [-1.40792669e-01 9.90038546e-01 -1.05004598e-03 -2.96669775e+01] [-1.00687785e-02 -3.71316370e-04 9.99949240e-01 -6.16410150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.874203822 meters 0.044568467360378894 Centerline is valid? [True, True] Translation: X:218.28, Y:-29.67, Z:-6.16 [[ 9.90021539e-01 1.40526830e-01 1.04671779e-02 2.18278265e+02] [-1.40523075e-01 9.90076796e-01 -1.09697055e-03 -2.96697166e+01] [-1.05174638e-02 -3.84855565e-04 9.99944616e-01 -6.16452009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904203822 meters 0.04281810782355395 Centerline is valid? [True, True] Translation: X:218.31, Y:-29.68, Z:-6.17 [[ 9.90440105e-01 1.37542595e-01 1.05087100e-02 2.18306274e+02] [-1.37538651e-01 9.90495789e-01 -1.10060756e-03 -2.96754590e+01] [-1.05602135e-02 -3.55267930e-04 9.99944176e-01 -6.16591866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.934203822 meters 0.039203484532928067 Centerline is valid? [True, True] Translation: X:218.34, Y:-29.68, Z:-6.17 [[ 9.90804339e-01 1.34888131e-01 1.05808561e-02 2.18335871e+02] [-1.34883986e-01 9.90860779e-01 -1.10774625e-03 -2.96837163e+01] [-1.06335771e-02 -3.29628249e-04 9.99943408e-01 -6.16625241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964203822 meters 0.03625114910598132 Centerline is valid? [True, True] Translation: X:218.37, Y:-29.69, Z:-6.17 [[ 9.91221357e-01 1.31749092e-01 1.10633440e-02 2.18365340e+02] [-1.31744375e-01 9.91283048e-01 -1.15727036e-03 -2.96904708e+01] [-1.11193746e-02 -3.10422240e-04 9.99938130e-01 -6.16653297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.994203822 meters 0.028959237703889758 Centerline is valid? [True, True] Translation: X:218.40, Y:-29.70, Z:-6.16 [[ 9.91993787e-01 1.25595762e-01 1.31920561e-02 2.18395352e+02] [-1.25588511e-01 9.92081459e-01 -1.37997182e-03 -2.97006435e+01] [-1.32609129e-02 -2.87847207e-04 9.99912029e-01 -6.16283909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.024203822 meters 0.025439480010838456 Centerline is valid? [True, True] Translation: X:218.42, Y:-29.71, Z:-6.16 [[ 9.92353618e-01 1.22646906e-01 1.38576255e-02 2.18424064e+02] [-1.22638611e-01 9.92450336e-01 -1.45005057e-03 -2.97068690e+01] [-1.39308493e-02 -2.60517013e-04 9.99902927e-01 -6.16204642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.054203822 meters 0.024897741299644192 Centerline is valid? [True, True] Translation: X:218.45, Y:-29.71, Z:-6.16 [[ 9.92625231e-01 1.20386236e-01 1.42234094e-02 2.18451370e+02] [-1.20377268e-01 9.92727102e-01 -1.48812256e-03 -2.97097699e+01] [-1.42991134e-02 -2.35027157e-04 9.99897735e-01 -6.16413998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.084203822 meters 0.01886998935662741 Centerline is valid? [True, True] Translation: X:218.48, Y:-29.72, Z:-6.16 [[ 9.93019977e-01 1.17096573e-01 1.41321477e-02 2.18479353e+02] [-1.17087400e-01 9.93120515e-01 -1.47761314e-03 -2.97196058e+01] [-1.42079492e-02 -1.87397057e-04 9.99899044e-01 -6.16175610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.114203822 meters 0.023190069446328797 Centerline is valid? [True, True] Translation: X:218.51, Y:-29.72, Z:-6.17 [[ 9.93163260e-01 1.15891227e-01 1.39986710e-02 2.18507292e+02] [-1.15882113e-01 9.93261896e-01 -1.46314766e-03 -2.97201061e+01] [-1.40739125e-02 -1.69051083e-04 9.99900943e-01 -6.16628901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.144203822 meters 0.01838113362091547 Centerline is valid? [True, True] Translation: X:218.53, Y:-29.72, Z:-6.17 [[ 9.93432565e-01 1.13691563e-01 1.28827974e-02 2.18534893e+02] [-1.13683669e-01 9.93516086e-01 -1.34580349e-03 -2.97245762e+01] [-1.29522729e-02 -1.27598658e-04 9.99916108e-01 -6.16866131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.174203822 meters 0.01738823320610497 Centerline is valid? [True, True] Translation: X:218.56, Y:-29.73, Z:-6.17 [[ 9.93576883e-01 1.12447535e-01 1.26700317e-02 2.18563277e+02] [-1.12439809e-01 9.93657657e-01 -1.32269262e-03 -2.97284738e+01] [-1.27384075e-02 -1.10419136e-04 9.99918857e-01 -6.17013042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.204203822 meters 0.015526321796181993 Centerline is valid? [True, True] Translation: X:218.59, Y:-29.73, Z:-6.17 [[ 9.93857996e-01 1.09899716e-01 1.29744368e-02 2.18592028e+02] [-1.09891406e-01 9.93942677e-01 -1.35384762e-03 -2.97328851e+01] [-1.30446339e-02 -8.02468117e-05 9.99914912e-01 -6.17047839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.234203822 meters 0.013633071734869787 Centerline is valid? [True, True] Translation: X:218.62, Y:-29.74, Z:-6.17 [[ 9.93983387e-01 1.08766572e-01 1.29174280e-02 2.18621080e+02] [-1.08758246e-01 9.94067316e-01 -1.34737430e-03 -2.97374032e+01] [-1.29873423e-02 -6.56091469e-05 9.99915659e-01 -6.16772297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.264203822 meters 0.012695963086841925 Centerline is valid? [True, True] Translation: X:218.65, Y:-29.74, Z:-6.17 [[ 9.94203752e-01 1.06747979e-01 1.27972197e-02 2.18650844e+02] [-1.06739652e-01 9.94286109e-01 -1.33384914e-03 -2.97414580e+01] [-1.28664835e-02 -3.98529629e-05 9.99917223e-01 -6.16790091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29420382200001 meters 0.013214612954545511 Centerline is valid? [True, True] Translation: X:218.68, Y:-29.74, Z:-6.17 [[ 9.94306385e-01 1.05819003e-01 1.25360092e-02 2.18678810e+02] [-1.05810940e-01 9.94385407e-01 -1.30651714e-03 -2.97448376e+01] [-1.26038790e-02 -2.73685899e-05 9.99920568e-01 -6.17150279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32420382200002 meters 0.012347472560979822 Centerline is valid? [True, True] Translation: X:218.71, Y:-29.75, Z:-6.17 [[ 9.94468052e-01 1.04319264e-01 1.22794324e-02 2.18707937e+02] [-1.04311421e-01 9.94543861e-01 -1.27916048e-03 -2.97510856e+01] [-1.23458752e-02 -8.80081635e-06 9.99923787e-01 -6.17055655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35420382200002 meters 0.012902953469140771 Centerline is valid? [True, True] Translation: X:218.74, Y:-29.75, Z:-6.17 [[ 9.94504766e-01 1.03988717e-01 1.21085355e-02 2.18736242e+02] [-1.03981068e-01 9.94578477e-01 -1.26126302e-03 -2.97547490e+01] [-1.21740459e-02 -4.72637229e-06 9.99925894e-01 -6.17320458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38420382200002 meters 0.012635638784069474 Centerline is valid? [True, True] Translation: X:218.77, Y:-29.76, Z:-6.17 [[ 9.94493830e-01 1.04126839e-01 1.18162303e-02 2.18765074e+02] [-1.04119568e-01 9.94564026e-01 -1.23060617e-03 -2.97571125e+01] [-1.18801367e-02 -6.47054584e-06 9.99929429e-01 -6.17307361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41420382200002 meters 0.017421890135453758 Centerline is valid? [True, True] Translation: X:218.79, Y:-29.76, Z:-6.18 [[ 9.94398896e-01 1.05071092e-01 1.14412525e-02 2.18793637e+02] [-1.05064343e-01 9.94464713e-01 -1.19103169e-03 -2.97577315e+01] [-1.15030649e-02 -1.77070791e-05 9.99933837e-01 -6.17540503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44420382200002 meters 0.013460988472874648 Centerline is valid? [True, True] Translation: X:218.82, Y:-29.76, Z:-6.18 [[ 9.94233033e-01 1.06685296e-01 1.09051723e-02 2.18822525e+02] [-1.06679267e-01 9.94292837e-01 -1.13475369e-03 -2.97583398e+01] [-1.09639962e-02 -3.51461814e-05 9.99939893e-01 -6.17586240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47420382200002 meters 0.01398518511812789 Centerline is valid? [True, True] Translation: X:218.85, Y:-29.76, Z:-6.18 [[ 9.94094740e-01 1.07970650e-01 1.08621920e-02 2.18851127e+02] [-1.07964750e-01 9.94154081e-01 -1.12975089e-03 -2.97588652e+01] [-1.09206724e-02 -4.96544323e-05 9.99940366e-01 -6.17705176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50420382200002 meters 0.015438966033707086 Centerline is valid? [True, True] Translation: X:218.88, Y:-29.76, Z:-6.18 [[ 9.93931431e-01 1.09484343e-01 1.06530869e-02 2.18879453e+02] [-1.09478759e-01 9.93988518e-01 -1.10771886e-03 -2.97588484e+01] [-1.07103239e-02 -6.52901363e-05 9.99942641e-01 -6.18043085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53420382200002 meters 0.01789625586974697 Centerline is valid? [True, True] Translation: X:218.91, Y:-29.76, Z:-6.18 [[ 9.93614602e-01 1.12371661e-01 1.01307234e-02 2.18906900e+02] [-1.12366765e-01 9.93666242e-01 -1.05304378e-03 -2.97580076e+01] [-1.01848901e-02 -9.20369327e-05 9.99948128e-01 -6.18337104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56420382200002 meters 0.017622452794047203 Centerline is valid? [True, True] Translation: X:218.94, Y:-29.76, Z:-6.18 [[ 9.93508315e-01 1.13274228e-01 1.04965341e-02 2.18935843e+02] [-1.13269034e-01 9.93563756e-01 -1.08984271e-03 -2.97602392e+01] [-1.05524269e-02 -1.06164480e-04 9.99944316e-01 -6.18216107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59420382200003 meters 0.017239232961264922 Centerline is valid? [True, True] Translation: X:218.96, Y:-29.76, Z:-6.18 [[ 9.93464797e-01 1.13532415e-01 1.17510916e-02 2.18964998e+02] [-1.13525933e-01 9.93534285e-01 -1.21937058e-03 -2.97609651e+01] [-1.18135504e-02 -1.22651887e-04 9.99930210e-01 -6.18080143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624203822 meters 0.017162848043637904 Centerline is valid? [True, True] Translation: X:218.99, Y:-29.76, Z:-6.18 [[ 9.93513744e-01 1.13097148e-01 1.18099714e-02 2.18992772e+02] [-1.13090575e-01 9.93583928e-01 -1.22508911e-03 -2.97636380e+01] [-1.18727519e-02 -1.18453588e-04 9.99929509e-01 -6.18185943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.654203822 meters 0.016220059812870086 Centerline is valid? [True, True] Translation: X:219.02, Y:-29.77, Z:-6.18 [[ 9.93788755e-01 1.10700245e-01 1.13739575e-02 2.19020056e+02] [-1.10693999e-01 9.93853836e-01 -1.17920780e-03 -2.97710167e+01] [-1.14345899e-02 -8.71453904e-05 9.99934619e-01 -6.18472428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684203822 meters 0.014299890107242717 Centerline is valid? [True, True] Translation: X:219.05, Y:-29.78, Z:-6.18 [[ 9.93979211e-01 1.08960441e-01 1.15303979e-02 2.19048356e+02] [-1.08953915e-01 9.94046084e-01 -1.19452336e-03 -2.97784440e+01] [-1.15919026e-02 -6.89506027e-05 9.99932809e-01 -6.18339304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.714203822 meters 0.01353171074120003 Centerline is valid? [True, True] Translation: X:219.08, Y:-29.78, Z:-6.18 [[ 9.94195418e-01 1.06954766e-01 1.16682867e-02 2.19076474e+02] [-1.06947952e-01 9.94263886e-01 -1.20820827e-03 -2.97845586e+01] [-1.17305797e-02 -4.67042381e-05 9.99931193e-01 -6.18438808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.744203822 meters 0.012759085994930539 Centerline is valid? [True, True] Translation: X:219.10, Y:-29.79, Z:-6.18 [[ 9.94599891e-01 1.03000494e-01 1.27261443e-02 2.19104172e+02] [-1.02992076e-01 9.94681305e-01 -1.31679254e-03 -2.97943109e+01] [-1.27940881e-02 -1.01031334e-06 9.99918152e-01 -6.18435825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.774203822 meters 0.013084952640852786 Centerline is valid? [True, True] Translation: X:219.13, Y:-29.81, Z:-6.18 [[ 9.95013474e-01 9.87485039e-02 1.40328038e-02 2.19133647e+02] [-9.87378624e-02 9.95112421e-01 -1.45083437e-03 -2.98082010e+01] [-1.41074851e-02 5.80306984e-05 9.99900483e-01 -6.18276959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.804203822 meters 0.0139819706469103 Centerline is valid? [True, True] Translation: X:219.16, Y:-29.82, Z:-6.18 [[ 9.95199048e-01 9.68737898e-02 1.39400162e-02 2.19164590e+02] [-9.68631094e-02 9.95296670e-01 -1.44089684e-03 -2.98171228e+01] [-1.40140368e-02 8.37058479e-05 9.99901795e-01 -6.18350842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.834203822 meters 0.02510924154930845 Centerline is valid? [True, True] Translation: X:219.20, Y:-29.83, Z:-6.19 [[ 9.95396367e-01 9.48440562e-02 1.38086184e-02 2.19195230e+02] [-9.48333764e-02 9.95492136e-01 -1.42764062e-03 -2.98254294e+01] [-1.38817742e-02 1.11550377e-04 9.99903637e-01 -6.18600579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.864203822 meters 0.016063229552607472 Centerline is valid? [True, True] Translation: X:219.23, Y:-29.83, Z:-6.18 [[ 9.95569771e-01 9.30672573e-02 1.33909146e-02 2.19226497e+02] [-9.30570791e-02 9.95659816e-01 -1.38252650e-03 -2.98342653e+01] [-1.34614635e-02 1.30282193e-04 9.99909382e-01 -6.18469474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.894203822 meters 0.01858752401947619 Centerline is valid? [True, True] Translation: X:219.26, Y:-29.85, Z:-6.19 [[ 9.95820651e-01 9.03333656e-02 1.34578464e-02 2.19256484e+02] [-9.03228011e-02 9.95911569e-01 -1.39199631e-03 -2.98483006e+01] [-1.35285687e-02 1.70628282e-04 9.99908470e-01 -6.18620234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.924203822 meters 0.02240725316514133 Centerline is valid? [True, True] Translation: X:219.29, Y:-29.86, Z:-6.19 [[ 9.95963669e-01 8.87148540e-02 1.36398505e-02 2.19286329e+02] [-8.87038056e-02 9.96057044e-01 -1.41406386e-03 -2.98610604e+01] [-1.37115177e-02 1.98449579e-04 9.99905973e-01 -6.18905587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.954203822 meters 0.020961008411889814 Centerline is valid? [True, True] Translation: X:219.32, Y:-29.87, Z:-6.19 [[ 9.95966722e-01 8.86690445e-02 1.37145585e-02 2.19318836e+02] [-8.86578725e-02 9.96061123e-01 -1.42165231e-03 -2.98679835e+01] [-1.37865950e-02 2.00014816e-04 9.99904940e-01 -6.18874950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.984203822 meters 0.02124494942226915 Centerline is valid? [True, True] Translation: X:219.35, Y:-29.88, Z:-6.19 [[ 9.95952007e-01 8.88467621e-02 1.36327571e-02 2.19350789e+02] [-8.88357044e-02 9.96045287e-01 -1.41574663e-03 -2.98750898e+01] [-1.37046280e-02 1.98940117e-04 9.99906067e-01 -6.19015746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.014203822 meters 0.020707107021946884 Centerline is valid? [True, True] Translation: X:219.38, Y:-29.89, Z:-6.19 [[ 9.95848083e-01 8.99250837e-02 1.41447621e-02 2.19380615e+02] [-8.99132404e-02 9.95948514e-01 -1.47229985e-03 -2.98860289e+01] [-1.42198514e-02 1.94385591e-04 9.99898874e-01 -6.19028083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04420382200001 meters 0.020335690603456323 Centerline is valid? [True, True] Translation: X:219.41, Y:-29.89, Z:-6.19 [[ 9.95781207e-01 9.06172324e-02 1.44327639e-02 2.19411191e+02] [-9.06049408e-02 9.95885777e-01 -1.50460312e-03 -2.98930427e+01] [-1.45097273e-02 1.90575788e-04 9.99894710e-01 -6.19112835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07420382200002 meters 0.021295734707825163 Centerline is valid? [True, True] Translation: X:219.44, Y:-29.90, Z:-6.19 [[ 9.95654452e-01 9.20949142e-02 1.38108276e-02 2.19442649e+02] [-9.20837786e-02 9.95750220e-01 -1.44140068e-03 -2.98989918e+01] [-1.38848803e-02 1.63383806e-04 9.99903587e-01 -6.19237682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10420382200002 meters 0.018634891726458238 Centerline is valid? [True, True] Translation: X:219.47, Y:-29.91, Z:-6.19 [[ 9.95552721e-01 9.32050310e-02 1.36967801e-02 2.19473010e+02] [-9.31941496e-02 9.95646925e-01 -1.43196557e-03 -2.99056380e+01] [-1.37706234e-02 1.49137449e-04 9.99905169e-01 -6.19458015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13420382200002 meters 0.016444137875121206 Centerline is valid? [True, True] Translation: X:219.51, Y:-29.91, Z:-6.19 [[ 9.95456926e-01 9.42509360e-02 1.35007163e-02 2.19505285e+02] [-9.42404351e-02 9.95548463e-01 -1.41331222e-03 -2.99096384e+01] [-1.35738234e-02 1.34578056e-04 9.99907862e-01 -6.19362496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16420382200002 meters 0.01597705917870336 Centerline is valid? [True, True] Translation: X:219.54, Y:-29.92, Z:-6.20 [[ 9.95304104e-01 9.59609068e-02 1.26982511e-02 2.19536272e+02] [-9.59517221e-02 9.95385098e-01 -1.33198461e-03 -2.99203676e+01] [-1.27674684e-02 1.07310688e-04 9.99918487e-01 -6.19612784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19420382200002 meters 0.016083942243447516 Centerline is valid? [True, True] Translation: X:219.57, Y:-29.93, Z:-6.20 [[ 9.95202412e-01 9.70431301e-02 1.24414853e-02 2.19567752e+02] [-9.70343907e-02 9.95280173e-01 -1.30560023e-03 -2.99269527e+01] [-1.25094632e-02 9.20845499e-05 9.99921749e-01 -6.19888014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22420382200002 meters 0.015970345600047803 Centerline is valid? [True, True] Translation: X:219.60, Y:-29.94, Z:-6.20 [[ 9.95031963e-01 9.88331424e-02 1.19750770e-02 2.19598397e+02] [-9.88251509e-02 9.95104017e-01 -1.25870720e-03 -2.99365633e+01] [-1.20408493e-02 6.90150960e-05 9.99927504e-01 -6.20231036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25420382200002 meters 0.01539441445116254 Centerline is valid? [True, True] Translation: X:219.63, Y:-29.94, Z:-6.20 [[ 9.94936311e-01 9.97216190e-02 1.25433355e-02 2.19629365e+02] [-9.97128852e-02 9.95015374e-01 -1.32133245e-03 -2.99432648e+01] [-1.26125771e-02 6.39094571e-05 9.99920456e-01 -6.20198850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28420382200002 meters 0.013598416362866492 Centerline is valid? [True, True] Translation: X:219.66, Y:-29.95, Z:-6.20 [[ 9.94814774e-01 1.00719118e-01 1.41146844e-02 2.19661080e+02] [-1.00708125e-01 9.94914899e-01 -1.48920423e-03 -2.99516034e+01] [-1.41929011e-02 6.00189635e-05 9.99899274e-01 -6.19738650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31420382200002 meters 0.013037487547563122 Centerline is valid? [True, True] Translation: X:219.69, Y:-29.96, Z:-6.20 [[ 9.94763816e-01 1.01187250e-01 1.43558791e-02 2.19693517e+02] [-1.01175899e-01 9.94867397e-01 -1.51668537e-03 -2.99584358e+01] [-1.44356653e-02 5.62747615e-05 9.99895799e-01 -6.19629712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34420382200003 meters 0.013015763661163837 Centerline is valid? [True, True] Translation: X:219.73, Y:-29.97, Z:-6.20 [[ 9.94728424e-01 1.01544979e-01 1.42821152e-02 2.19726226e+02] [-1.01533741e-01 9.94830948e-01 -1.51165922e-03 -2.99670803e+01] [-1.43617916e-02 5.35738133e-05 9.99896863e-01 -6.19744687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.374203822 meters 0.013093727814455452 Centerline is valid? [True, True] Translation: X:219.76, Y:-29.98, Z:-6.20 [[ 9.94696542e-01 1.01849312e-01 1.43355496e-02 2.19756778e+02] [-1.01837977e-01 9.94799837e-01 -1.52033818e-03 -2.99791831e+01] [-1.44158478e-02 5.23717464e-05 9.99896085e-01 -6.19867526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404203822 meters 0.012759985629752448 Centerline is valid? [True, True] Translation: X:219.79, Y:-29.99, Z:-6.20 [[ 9.94557627e-01 1.03347366e-01 1.32078789e-02 2.19788622e+02] [-1.03337848e-01 9.94645324e-01 -1.40292651e-03 -2.99860339e+01] [-1.32821437e-02 3.04174828e-05 9.99911788e-01 -6.20045898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.434203822 meters 0.012759985629752448 Centerline is valid? [True, True] Translation: X:219.82, Y:-29.99, Z:-6.20 [[ 9.94537422e-01 1.03541655e-01 1.32076778e-02 2.19820915e+02] [-1.03532129e-01 9.94625118e-01 -1.40481528e-03 -2.99896675e+01] [-1.32821450e-02 2.97223622e-05 9.99911788e-01 -6.20138409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.464203822 meters 0.013191604946891648 Centerline is valid? [True, True] Translation: X:219.85, Y:-29.99, Z:-6.20 [[ 9.94412668e-01 1.04782037e-01 1.28129364e-02 2.19852363e+02] [-1.04773142e-01 9.94495211e-01 -1.36539952e-03 -2.99949244e+01] [-1.28854732e-02 1.53189707e-05 9.99916979e-01 -6.20445192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.494203822 meters 0.012653586616721639 Centerline is valid? [True, True] Translation: X:219.88, Y:-30.00, Z:-6.20 [[ 9.94263060e-01 1.06136261e-01 1.32688392e-02 2.19883953e+02] [-1.06126803e-01 9.94351595e-01 -1.41684802e-03 -2.99993637e+01] [-1.33442704e-02 5.40156536e-07 9.99910961e-01 -6.20424725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.524203822 meters 0.012464327616121545 Centerline is valid? [True, True] Translation: X:219.92, Y:-30.00, Z:-6.20 [[ 9.93961371e-01 1.08849243e-01 1.38793030e-02 2.19915711e+02] [-1.08839124e-01 9.94058268e-01 -1.48456788e-03 -3.00039911e+01] [-1.39584300e-02 -3.50080541e-05 9.99902576e-01 -6.20322671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.554203822 meters 0.012704153665928504 Centerline is valid? [True, True] Translation: X:219.95, Y:-30.01, Z:-6.20 [[ 9.93839002e-01 1.09949187e-01 1.39719408e-02 2.19947664e+02] [-1.09939010e-01 9.93937208e-01 -1.49673124e-03 -3.00089783e+01] [-1.40517963e-02 -4.85514600e-05 9.99901267e-01 -6.20378663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.584203822 meters 0.012949969374081067 Centerline is valid? [True, True] Translation: X:219.98, Y:-30.02, Z:-6.20 [[ 9.93696399e-01 1.11166124e-01 1.44761720e-02 2.19979592e+02] [-1.11155289e-01 9.93801836e-01 -1.55341743e-03 -3.00164321e+01] [-1.45591337e-02 -6.54777686e-05 9.99894008e-01 -6.20471917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.614203822 meters 0.013137654134731074 Centerline is valid? [True, True] Translation: X:220.01, Y:-30.02, Z:-6.21 [[ 9.93716928e-01 1.11054509e-01 1.39127185e-02 2.20011953e+02] [-1.11044456e-01 9.93814315e-01 -1.49542390e-03 -3.00227462e+01] [-1.39927324e-02 -5.89022184e-05 9.99902095e-01 -6.20700257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.644203822 meters 0.012975097505218318 Centerline is valid? [True, True] Translation: X:220.04, Y:-30.03, Z:-6.21 [[ 9.93899173e-01 1.09519443e-01 1.30355669e-02 2.20043795e+02] [-1.09510457e-01 9.93984653e-01 -1.40330369e-03 -3.00339487e+01] [-1.31108424e-02 -3.27885049e-05 9.99914049e-01 -6.20987146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.674203822 meters 0.012434330037021697 Centerline is valid? [True, True] Translation: X:220.08, Y:-30.04, Z:-6.21 [[ 9.94043076e-01 1.08220475e-01 1.29109238e-02 2.20075614e+02] [-1.08211521e-01 9.94126918e-01 -1.39215733e-03 -3.00426171e+01] [-1.29857568e-02 -1.32463552e-05 9.99915681e-01 -6.20957919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.704203822 meters 0.012967405703939373 Centerline is valid? [True, True] Translation: X:220.11, Y:-30.05, Z:-6.21 [[ 9.94169134e-01 1.07034177e-01 1.30926925e-02 2.20106843e+02] [-1.07024828e-01 9.94255342e-01 -1.41463406e-03 -3.00512796e+01] [-1.31688936e-02 5.14235226e-06 9.99913286e-01 -6.21222671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.734203822 meters 0.013195175378789066 Centerline is valid? [True, True] Translation: X:220.14, Y:-30.06, Z:-6.21 [[ 9.94413447e-01 1.04656296e-01 1.37461654e-02 2.20138976e+02] [-1.04645726e-01 9.94508450e-01 -1.48797858e-03 -3.00632302e+01] [-1.38264040e-02 4.11884537e-05 9.99904410e-01 -6.21134112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.764203822 meters 0.013548433877237817 Centerline is valid? [True, True] Translation: X:220.17, Y:-30.07, Z:-6.21 [[ 9.94494307e-01 1.03875250e-01 1.38204621e-02 2.20171382e+02] [-1.03864452e-01 9.94590333e-01 -1.49870792e-03 -3.00727044e+01] [-1.39013767e-02 5.50017743e-05 9.99903370e-01 -6.21154037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79420382200001 meters 0.013658200620506041 Centerline is valid? [True, True] Translation: X:220.20, Y:-30.08, Z:-6.21 [[ 9.94477379e-01 1.04069653e-01 1.35738849e-02 2.20202758e+02] [-1.04059206e-01 9.94570010e-01 -1.47557362e-03 -3.00778824e+01] [-1.36537413e-02 5.49368952e-05 9.99906782e-01 -6.21298754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82420382200002 meters 0.013207485069151469 Centerline is valid? [True, True] Translation: X:220.24, Y:-30.08, Z:-6.21 [[ 9.94428748e-01 1.04541507e-01 1.35106945e-02 2.20235159e+02] [-1.04531194e-01 9.94520523e-01 -1.46918481e-03 -3.00821388e+01] [-1.35902537e-02 4.87105935e-05 9.99907647e-01 -6.21355001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85420382200002 meters 0.013038718988789808 Centerline is valid? [True, True] Translation: X:220.27, Y:-30.09, Z:-6.22 [[ 9.94219551e-01 1.06535047e-01 1.33330096e-02 2.20267103e+02] [-1.06525145e-01 9.94308948e-01 -1.45263797e-03 -3.00866912e+01] [-1.34118876e-02 2.39402850e-05 9.99910056e-01 -6.21619675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88420382200002 meters 0.012301308830796479 Centerline is valid? [True, True] Translation: X:220.30, Y:-30.09, Z:-6.22 [[ 9.94026783e-01 1.08247584e-01 1.39002240e-02 2.20299388e+02] [-1.08236948e-01 9.94123966e-01 -1.51741457e-03 -3.00890519e+01] [-1.39828023e-02 3.83290261e-06 9.99902236e-01 -6.21527332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91420382200002 meters 0.012522417377347982 Centerline is valid? [True, True] Translation: X:220.33, Y:-30.09, Z:-6.22 [[ 9.93969348e-01 1.08748871e-01 1.40932294e-02 2.20330983e+02] [-1.08737956e-01 9.94069255e-01 -1.54079870e-03 -3.00928237e+01] [-1.41772062e-02 -9.62274525e-07 9.99899498e-01 -6.21676360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94420382200002 meters 0.012267990540211259 Centerline is valid? [True, True] Translation: X:220.36, Y:-30.10, Z:-6.22 [[ 9.93922442e-01 1.09174923e-01 1.41073036e-02 2.20363870e+02] [-1.09163994e-01 9.94022553e-01 -1.54475325e-03 -3.00966729e+01] [-1.41916263e-02 -4.64467651e-06 9.99899294e-01 -6.21684855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97420382200002 meters 0.013152202686483386 Centerline is valid? [True, True] Translation: X:220.39, Y:-30.10, Z:-6.22 [[ 9.93979051e-01 1.08870707e-01 1.23618656e-02 2.20394312e+02] [-1.08862263e-01 9.94055919e-01 -1.35593992e-03 -3.01013096e+01] [-1.24360078e-02 2.03521050e-06 9.99922670e-01 -6.22162375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00420382200002 meters 0.013082208376198123 Centerline is valid? [True, True] Translation: X:220.43, Y:-30.11, Z:-6.22 [[ 9.94078763e-01 1.08023713e-01 1.17597128e-02 2.20425645e+02] [-1.08015996e-01 9.94148318e-01 -1.29124789e-03 -3.01075036e+01] [-1.18303841e-02 1.33650229e-05 9.99930018e-01 -6.22214850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03420382200002 meters 0.014384205787813742 Centerline is valid? [True, True] Translation: X:220.46, Y:-30.12, Z:-6.22 [[ 9.94321661e-01 1.05620101e-01 1.29934299e-02 2.20455922e+02] [-1.05610436e-01 9.94406553e-01 -1.42965052e-03 -3.01187745e+01] [-1.30717517e-02 4.92906821e-05 9.99914560e-01 -6.22423924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06420382200002 meters 0.014077779981459558 Centerline is valid? [True, True] Translation: X:220.49, Y:-30.12, Z:-6.22 [[ 9.94439874e-01 1.04466364e-01 1.32708949e-02 2.20488995e+02] [-1.04456158e-01 9.94528418e-01 -1.46182840e-03 -3.01249972e+01] [-1.33509940e-02 6.74737587e-05 9.99910869e-01 -6.22215436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09420382200003 meters 0.014810082263046498 Centerline is valid? [True, True] Translation: X:220.52, Y:-30.13, Z:-6.22 [[ 9.94556550e-01 1.03411970e-01 1.27762942e-02 2.20520267e+02] [-1.03402389e-01 9.94638607e-01 -1.40999843e-03 -3.01313909e+01] [-1.28536062e-02 8.12238301e-05 9.99917386e-01 -6.22364348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124203822 meters 0.014514734654460862 Centerline is valid? [True, True] Translation: X:220.55, Y:-30.14, Z:-6.22 [[ 9.94531688e-01 1.03673177e-01 1.25933734e-02 2.20553112e+02] [-1.03663868e-01 9.94611415e-01 -1.39147694e-03 -3.01353876e+01] [-1.26697718e-02 7.83901096e-05 9.99919732e-01 -6.22389682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.154203822 meters 0.014642968027604376 Centerline is valid? [True, True] Translation: X:220.58, Y:-30.14, Z:-6.23 [[ 9.94435237e-01 1.04577517e-01 1.27319328e-02 2.20584174e+02] [-1.04568035e-01 9.94516736e-01 -1.41000727e-03 -3.01394763e+01] [-1.28095753e-02 7.08077134e-05 9.99917952e-01 -6.22606273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184203822 meters 0.013734098817265613 Centerline is valid? [True, True] Translation: X:220.62, Y:-30.14, Z:-6.23 [[ 9.94285681e-01 1.06077667e-01 1.19796959e-02 2.20617190e+02] [-1.06069369e-01 9.94357846e-01 -1.32774647e-03 -3.01437219e+01] [-1.20529489e-02 4.94805216e-05 9.99927359e-01 -6.22645123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.214203822 meters 0.0138804778692506 Centerline is valid? [True, True] Translation: X:220.65, Y:-30.15, Z:-6.23 [[ 9.94177012e-01 1.07100370e-01 1.18986834e-02 2.20649214e+02] [-1.07092226e-01 9.94248213e-01 -1.32131836e-03 -3.01481247e+01] [-1.19717583e-02 3.93678459e-05 9.99928335e-01 -6.22905702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.244203822 meters 0.013527086747020385 Centerline is valid? [True, True] Translation: X:220.68, Y:-30.15, Z:-6.23 [[ 9.94096865e-01 1.07811460e-01 1.21701493e-02 2.20681339e+02] [-1.07802961e-01 9.94171357e-01 -1.35413393e-03 -3.01529299e+01] [-1.22452050e-02 3.41621631e-05 9.99925024e-01 -6.23002349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.274203822 meters 0.013297716142814067 Centerline is valid? [True, True] Translation: X:220.71, Y:-30.16, Z:-6.23 [[ 9.94067137e-01 1.08097052e-01 1.20646101e-02 2.20714246e+02] [-1.08088702e-01 9.94140345e-01 -1.34395089e-03 -3.01561784e+01] [-1.21391928e-02 3.19293650e-05 9.99926317e-01 -6.23045046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.304203822 meters 0.01357152641701097 Centerline is valid? [True, True] Translation: X:220.75, Y:-30.16, Z:-6.23 [[ 9.94047977e-01 1.08331321e-01 1.15301840e-02 2.20745587e+02] [-1.08323678e-01 9.94114845e-01 -1.28709569e-03 -3.01594605e+01] [-1.16017599e-02 3.04429146e-05 9.99932697e-01 -6.23385258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.334203822 meters 0.014242615729059714 Centerline is valid? [True, True] Translation: X:220.78, Y:-30.16, Z:-6.24 [[ 9.93994942e-01 1.08873487e-01 1.09826801e-02 2.20776599e+02] [-1.08866570e-01 9.94055614e-01 -1.22753283e-03 -3.01632105e+01] [-1.10510406e-02 2.45147194e-05 9.99938935e-01 -6.23726973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.364203822 meters 0.014030298165464004 Centerline is valid? [True, True] Translation: X:220.81, Y:-30.17, Z:-6.24 [[ 9.93903940e-01 1.09893230e-01 8.85641297e-03 2.20808815e+02] [-1.09888770e-01 9.93943398e-01 -9.90105960e-04 -3.01671587e+01] [-8.91157914e-03 1.08498856e-05 9.99960291e-01 -6.23841781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.394203822 meters 0.014893461156027729 Centerline is valid? [True, True] Translation: X:220.84, Y:-30.17, Z:-6.24 [[ 9.93860584e-01 1.10334063e-01 8.21792033e-03 2.20839623e+02] [-1.10330227e-01 9.93894559e-01 -9.20067407e-04 -3.01719629e+01] [-8.26926107e-03 7.73371402e-06 9.99965809e-01 -6.24223481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.424203822 meters 0.01466165742091786 Centerline is valid? [True, True] Translation: X:220.87, Y:-30.18, Z:-6.24 [[ 9.93811594e-01 1.10764475e-01 8.35147888e-03 2.20871931e+02] [-1.10760522e-01 9.93846684e-01 -9.35785165e-04 -3.01766757e+01] [-8.40374134e-03 4.97998473e-06 9.99964688e-01 -6.24218221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.454203822 meters 0.013940864835633322 Centerline is valid? [True, True] Translation: X:220.90, Y:-30.18, Z:-6.24 [[ 9.93789306e-01 1.10943147e-01 8.62748761e-03 2.20904623e+02] [-1.10938921e-01 9.93826755e-01 -9.68408227e-04 -3.01805357e+01] [-8.68166627e-03 5.26957600e-06 9.99962314e-01 -6.24024550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.484203822 meters 0.025047418807157426 Centerline is valid? [True, True] Translation: X:220.94, Y:-30.18, Z:-6.25 [[ 9.93737420e-01 1.11363367e-01 9.17278853e-03 2.20935364e+02] [-1.11358569e-01 9.93779755e-01 -1.03375219e-03 -3.01831887e+01] [-9.23085366e-03 5.80962682e-06 9.99957395e-01 -6.24598682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.514203822 meters 0.014018686853362742 Centerline is valid? [True, True] Translation: X:220.97, Y:-30.19, Z:-6.24 [[ 9.93789019e-01 1.10802639e-01 1.03034272e-02 2.20967134e+02] [-1.10796554e-01 9.93842430e-01 -1.16133650e-03 -3.01906337e+01] [-1.03686623e-02 1.25392327e-05 9.99946244e-01 -6.24197685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54420382200001 meters 0.013860887122570524 Centerline is valid? [True, True] Translation: X:221.00, Y:-30.20, Z:-6.24 [[ 9.93796907e-01 1.10668284e-01 1.09653489e-02 2.20998889e+02] [-1.10661360e-01 9.93857400e-01 -1.23807694e-03 -3.01959062e+01] [-1.10350090e-02 1.69566157e-05 9.99939112e-01 -6.24174640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57420382200002 meters 0.013137272157109895 Centerline is valid? [True, True] Translation: X:221.03, Y:-30.20, Z:-6.24 [[ 9.93800469e-01 1.10600916e-01 1.13166076e-02 2.21031909e+02] [-1.10593520e-01 9.93864899e-01 -1.27923168e-03 -3.02007467e+01] [-1.13886633e-02 1.97575726e-05 9.99935147e-01 -6.23978408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60420382200002 meters 0.01346761386406924 Centerline is valid? [True, True] Translation: X:221.06, Y:-30.21, Z:-6.24 [[ 9.93794319e-01 1.10646490e-01 1.14107832e-02 2.21063897e+02] [-1.10638944e-01 9.93859826e-01 -1.29241653e-03 -3.02054691e+01] [-1.14837204e-02 2.19191938e-05 9.99934060e-01 -6.24160769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63420382200002 meters 0.01330781110882959 Centerline is valid? [True, True] Translation: X:221.10, Y:-30.21, Z:-6.24 [[ 9.93787267e-01 1.10660845e-01 1.18762224e-02 2.21095614e+02] [-1.10652639e-01 9.93858228e-01 -1.34780483e-03 -3.02096333e+01] [-1.19524306e-02 2.52959189e-05 9.99928567e-01 -6.24162680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66420382200002 meters 0.013350403862463495 Centerline is valid? [True, True] Translation: X:221.13, Y:-30.21, Z:-6.24 [[ 9.93776469e-01 1.10679876e-01 1.25814997e-02 2.21126201e+02] [-1.10670623e-01 9.93856108e-01 -1.43143493e-03 -3.02135687e+01] [-1.26626314e-02 3.01239412e-05 9.99919825e-01 -6.24237729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69420382200002 meters 0.01323155676268384 Centerline is valid? [True, True] Translation: X:221.16, Y:-30.22, Z:-6.24 [[ 9.93735489e-01 1.11069542e-01 1.23828766e-02 2.21159101e+02] [-1.11060614e-01 9.93812636e-01 -1.40846093e-03 -3.02182175e+01] [-1.24626963e-02 2.43877304e-05 9.99922337e-01 -6.24285351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72420382200002 meters 0.02425891210257694 Centerline is valid? [True, True] Translation: X:221.19, Y:-30.22, Z:-6.24 [[ 9.93482006e-01 1.13240333e-01 1.30434402e-02 2.21191417e+02] [-1.13230574e-01 9.93567626e-01 -1.48665469e-03 -3.02206821e+01] [-1.31278891e-02 4.84650026e-08 9.99913826e-01 -6.24246841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75420382200002 meters 0.012458335695014712 Centerline is valid? [True, True] Translation: X:221.22, Y:-30.22, Z:-6.24 [[ 9.93359692e-01 1.14307661e-01 1.30491938e-02 2.21223889e+02] [-1.14297958e-01 9.93445398e-01 -1.48943222e-03 -3.02227392e+01] [-1.31339150e-02 -1.19542640e-05 9.99913746e-01 -6.24259060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78420382200002 meters 0.013134483860417705 Centerline is valid? [True, True] Translation: X:221.26, Y:-30.22, Z:-6.24 [[ 9.93050692e-01 1.17072739e-01 1.20123417e-02 2.21255827e+02] [-1.17064691e-01 9.93123342e-01 -1.37339345e-03 -3.02222707e+01] [-1.20905239e-02 -4.23717509e-05 9.99926906e-01 -6.24460925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81420382200002 meters 0.012965045493173583 Centerline is valid? [True, True] Translation: X:221.29, Y:-30.22, Z:-6.24 [[ 9.92866175e-01 1.18522090e-01 1.30104977e-02 2.21287703e+02] [-1.18512744e-01 9.92951414e-01 -1.48973790e-03 -3.02237963e+01] [-1.30953589e-02 -6.27994182e-05 9.99914250e-01 -6.24287907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84420382200003 meters 0.016368138408980663 Centerline is valid? [True, True] Translation: X:221.32, Y:-30.22, Z:-6.24 [[ 9.92668814e-01 1.20010342e-01 1.43577258e-02 2.21318871e+02] [-1.19999057e-01 9.92772638e-01 -1.64801972e-03 -3.02230589e+01] [-1.44517368e-02 -8.69757825e-05 9.99895564e-01 -6.24395679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.874203822 meters 0.014343119580603681 Centerline is valid? [True, True] Translation: X:221.35, Y:-30.22, Z:-6.24 [[ 9.92444985e-01 1.21691997e-01 1.56207807e-02 2.21350283e+02] [-1.21678831e-01 9.92567904e-01 -1.79406332e-03 -3.02217002e+01] [-1.57230087e-02 -1.20209189e-04 9.99876379e-01 -6.24109251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904203822 meters 0.01460359896346332 Centerline is valid? [True, True] Translation: X:221.38, Y:-30.22, Z:-6.24 [[ 9.92231567e-01 1.23354004e-01 1.61340224e-02 2.21383519e+02] [-1.23340144e-01 9.92362720e-01 -1.85511900e-03 -3.02210403e+01] [-1.62396388e-02 -1.49265023e-04 9.99868117e-01 -6.23970098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.934203822 meters 0.016152313749869435 Centerline is valid? [True, True] Translation: X:221.42, Y:-30.22, Z:-6.24 [[ 9.92064008e-01 1.24642009e-01 1.65340136e-02 2.21415703e+02] [-1.24627573e-01 9.92201764e-01 -1.90463112e-03 -3.02197182e+01] [-1.66424745e-02 -1.71078010e-04 9.99861490e-01 -6.24114827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.964203822 meters 0.017335796814138462 Centerline is valid? [True, True] Translation: X:221.45, Y:-30.22, Z:-6.24 [[ 9.91897387e-01 1.25951320e-01 1.66084110e-02 2.21447099e+02] [-1.25936881e-01 9.92036405e-01 -1.91660309e-03 -3.02190693e+01] [-1.67175471e-02 -1.90537887e-04 9.99860234e-01 -6.24257177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.994203822 meters 0.01947318849038711 Centerline is valid? [True, True] Translation: X:221.48, Y:-30.21, Z:-6.24 [[ 9.91600075e-01 1.28362558e-01 1.58853844e-02 2.21479661e+02] [-1.28349625e-01 9.91727284e-01 -1.83522826e-03 -3.02149657e+01] [-1.59895437e-02 -2.19070658e-04 9.99872135e-01 -6.24440983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.024203822 meters 0.019547934224993235 Centerline is valid? [True, True] Translation: X:221.51, Y:-30.22, Z:-6.25 [[ 9.91466169e-01 1.29563499e-01 1.44269288e-02 2.21511793e+02] [-1.29552932e-01 9.91571104e-01 -1.66860436e-03 -3.02157875e+01] [-1.45215159e-02 -2.14686145e-04 9.99894534e-01 -6.24660889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.054203822 meters 0.024316036449704072 Centerline is valid? [True, True] Translation: X:221.54, Y:-30.21, Z:-6.26 [[ 9.91271731e-01 1.31312709e-01 1.17186739e-02 2.21543403e+02] [-1.31305829e-01 9.91340978e-01 -1.35787068e-03 -3.02078215e+01] [-1.17955073e-02 -1.92711364e-04 9.99930412e-01 -6.25653855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.084203822 meters 0.030856376455349603 Centerline is valid? [True, True] Translation: X:221.58, Y:-30.21, Z:-6.26 [[ 9.91172717e-01 1.32104820e-01 1.11786117e-02 2.21575272e+02] [-1.32098616e-01 9.91235733e-01 -1.29471213e-03 -3.02100019e+01] [-1.12516771e-02 -1.93395798e-04 9.99936679e-01 -6.25921943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.114203822 meters 0.021958111454038694 Centerline is valid? [True, True] Translation: X:221.61, Y:-30.21, Z:-6.26 [[ 9.91228634e-01 1.31718343e-01 1.07736941e-02 2.21608502e+02] [-1.31712546e-01 9.91287166e-01 -1.24896718e-03 -3.02097622e+01] [-1.08443366e-02 -1.81018646e-04 9.99941182e-01 -6.25752910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.144203822 meters 0.02224108615316671 Centerline is valid? [True, True] Translation: X:221.64, Y:-30.21, Z:-6.26 [[ 9.91314693e-01 1.31081586e-01 1.06206166e-02 2.21639276e+02] [-1.31075887e-01 9.91371570e-01 -1.23386567e-03 -3.02104960e+01] [-1.06907144e-02 -1.68957577e-04 9.99942838e-01 -6.25976653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.174203822 meters 0.019953709508121954 Centerline is valid? [True, True] Translation: X:221.67, Y:-30.21, Z:-6.26 [[ 9.91633117e-01 1.28678857e-01 1.02719320e-02 2.21671050e+02] [-1.28673384e-01 9.91686308e-01 -1.19463149e-03 -3.02126083e+01] [-1.03402581e-02 -1.37088100e-04 9.99946529e-01 -6.26070970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.204203822 meters 0.01826979546690539 Centerline is valid? [True, True] Translation: X:221.70, Y:-30.22, Z:-6.26 [[ 9.91870468e-01 1.26833336e-01 1.03091704e-02 2.21702960e+02] [-1.26827706e-01 9.91924035e-01 -1.20069085e-03 -3.02173387e+01] [-1.03782015e-02 -1.16558637e-04 9.99946138e-01 -6.26196684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.234203822 meters 0.015303249608638892 Centerline is valid? [True, True] Translation: X:221.73, Y:-30.23, Z:-6.26 [[ 9.92459073e-01 1.22092628e-01 1.08801780e-02 2.21733836e+02] [-1.22086049e-01 9.92518708e-01 -1.26928994e-03 -3.02254399e+01] [-1.09537511e-02 -6.85996327e-05 9.99940004e-01 -6.26310791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.264203822 meters 0.013959556463008073 Centerline is valid? [True, True] Translation: X:221.77, Y:-30.23, Z:-6.26 [[ 9.92786471e-01 1.19342750e-01 1.15035471e-02 2.21765192e+02] [-1.19335185e-01 9.92853114e-01 -1.34422900e-03 -3.02326096e+01] [-1.15817566e-02 -3.82455639e-05 9.99932928e-01 -6.26296943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29420382200001 meters 0.013705877865225431 Centerline is valid? [True, True] Translation: X:221.80, Y:-30.24, Z:-6.26 [[ 9.93449954e-01 1.13579600e-01 1.25245374e-02 2.21796819e+02] [-1.13570144e-01 9.93528899e-01 -1.46598887e-03 -3.02415557e+01] [-1.26099962e-02 3.39730613e-05 9.99920490e-01 -6.26197503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32420382200002 meters 0.015087500009820932 Centerline is valid? [True, True] Translation: X:221.83, Y:-30.25, Z:-6.26 [[ 9.93764202e-01 1.10787132e-01 1.26064344e-02 2.21828514e+02] [-1.10777300e-01 9.93844156e-01 -1.47766951e-03 -3.02475466e+01] [-1.26925379e-02 7.19482924e-05 9.99919444e-01 -6.26326409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35420382200002 meters 0.015087500009820932 Centerline is valid? [True, True] Translation: X:221.86, Y:-30.25, Z:-6.26 [[ 9.93743338e-01 1.10974145e-01 1.26062364e-02 2.21860760e+02] [-1.10964307e-01 9.93823291e-01 -1.47935581e-03 -3.02515450e+01] [-1.26925416e-02 7.12576878e-05 9.99919444e-01 -6.26418921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38420382200002 meters 0.01777103689078962 Centerline is valid? [True, True] Translation: X:221.89, Y:-30.26, Z:-6.27 [[ 9.94046880e-01 1.08290366e-01 1.19998945e-02 2.21891514e+02] [-1.08281212e-01 9.94119302e-01 -1.41190674e-03 -3.02588899e+01] [-1.20822226e-02 1.04138368e-04 9.99927002e-01 -6.26766372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41420382200002 meters 0.02041253928262535 Centerline is valid? [True, True] Translation: X:221.92, Y:-30.27, Z:-6.27 [[ 9.94580852e-01 1.03317140e-01 1.15972929e-02 2.21922908e+02] [-1.03308233e-01 9.94648452e-01 -1.36610761e-03 -3.02689865e+01] [-1.16763717e-02 1.60608640e-04 9.99931816e-01 -6.26663604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44420382200002 meters 0.022637396984200555 Centerline is valid? [True, True] Translation: X:221.95, Y:-30.28, Z:-6.27 [[ 9.94717172e-01 1.01968021e-01 1.18436030e-02 2.21953588e+02] [-1.01958650e-01 9.94787661e-01 -1.39393663e-03 -3.02769481e+01] [-1.19240071e-02 1.79014925e-04 9.99928890e-01 -6.26842928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47420382200002 meters 0.024278387223367656 Centerline is valid? [True, True] Translation: X:221.98, Y:-30.28, Z:-6.27 [[ 9.94849912e-01 1.00831996e-01 1.03228905e-02 2.21984641e+02] [-1.00824806e-01 9.94903453e-01 -1.21588431e-03 -3.02847952e+01] [-1.03928794e-02 1.68818970e-04 9.99945978e-01 -6.27154184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50420382200002 meters 0.03172432241563579 Centerline is valid? [True, True] Translation: X:222.02, Y:-30.29, Z:-6.28 [[ 9.94794112e-01 1.01513630e-01 8.92508390e-03 2.22016161e+02] [-1.01508276e-01 9.94834139e-01 -1.05208479e-03 -3.02875155e+01] [-8.98577910e-03 1.40637876e-04 9.99959617e-01 -6.27755904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53420382200002 meters 0.02163546620767812 Centerline is valid? [True, True] Translation: X:222.05, Y:-30.28, Z:-6.28 [[ 9.94448288e-01 1.04909855e-01 8.15623811e-03 2.22048171e+02] [-1.04905488e-01 9.94481730e-01 -9.62659515e-04 -3.02848385e+01] [-8.21222226e-03 1.01680970e-04 9.99966274e-01 -6.27804217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56420382200002 meters 0.016520037968078487 Centerline is valid? [True, True] Translation: X:222.08, Y:-30.28, Z:-6.28 [[ 9.93895391e-01 1.09980949e-01 8.72599947e-03 2.22080722e+02] [-1.09976111e-01 9.93933693e-01 -1.03385788e-03 -3.02799127e+01] [-8.78676955e-03 6.78950936e-05 9.99961393e-01 -6.27513636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59420382200003 meters 0.015910129334403313 Centerline is valid? [True, True] Translation: X:222.11, Y:-30.28, Z:-6.28 [[ 9.93579623e-01 1.12718998e-01 9.69331138e-03 2.22112170e+02] [-1.12713175e-01 9.93626904e-01 -1.14663944e-03 -3.02813642e+01] [-9.76078303e-03 4.67136784e-05 9.99952361e-01 -6.27705435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624203822 meters 0.013140418575605946 Centerline is valid? [True, True] Translation: X:222.14, Y:-30.28, Z:-6.27 [[ 9.93279145e-01 1.15215881e-01 1.10381432e-02 2.22144779e+02] [-1.15208462e-01 9.93340475e-01 -1.30782422e-03 -3.02806951e+01] [-1.11153165e-02 2.73470290e-05 9.99938223e-01 -6.27118259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.654203822 meters 0.013770140969822051 Centerline is valid? [True, True] Translation: X:222.18, Y:-30.28, Z:-6.28 [[ 9.92784486e-01 1.19345866e-01 1.16417119e-02 2.22176305e+02] [-1.19337866e-01 9.92852740e-01 -1.38195454e-03 -3.02779392e+01] [-1.17234361e-02 -1.73140332e-05 9.99931278e-01 -6.27528290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684203822 meters 0.024790755634794263 Centerline is valid? [True, True] Translation: X:222.21, Y:-30.28, Z:-6.28 [[ 9.92528616e-01 1.21538949e-01 1.07345299e-02 2.22208799e+02] [-1.21532262e-01 9.92586662e-01 -1.27553426e-03 -3.02787540e+01] [-1.08099783e-02 -3.85874417e-05 9.99941570e-01 -6.27755728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.714203822 meters 0.014676454889888573 Centerline is valid? [True, True] Translation: X:222.24, Y:-30.28, Z:-6.28 [[ 9.92148559e-01 1.24610411e-01 1.06528287e-02 2.22241374e+02] [-1.24603983e-01 9.92205745e-01 -1.26765914e-03 -3.02773319e+01] [-1.07277614e-02 -6.96786960e-05 9.99942453e-01 -6.27706254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.744203822 meters 0.01681231039811508 Centerline is valid? [True, True] Translation: X:222.27, Y:-30.28, Z:-6.28 [[ 9.91940474e-01 1.26227859e-01 1.09828509e-02 2.22273168e+02] [-1.26221092e-01 9.92001270e-01 -1.30988015e-03 -3.02772074e+01] [-1.10603454e-02 -8.69442900e-05 9.99938829e-01 -6.28097255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.774203822 meters 0.01718117170536024 Centerline is valid? [True, True] Translation: X:222.31, Y:-30.28, Z:-6.28 [[ 9.91512126e-01 1.29462953e-01 1.19602325e-02 2.22305881e+02] [-1.29455151e-01 9.91584251e-01 -1.42744398e-03 -3.02760307e+01] [-1.20443793e-02 -1.32985695e-04 9.99927455e-01 -6.27688998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.804203822 meters 0.020570187191664223 Centerline is valid? [True, True] Translation: X:222.34, Y:-30.27, Z:-6.28 [[ 9.91269186e-01 1.31233536e-01 1.27734087e-02 2.22338688e+02] [-1.31224754e-01 9.91351468e-01 -1.52686328e-03 -3.02732825e+01] [-1.28633132e-02 -1.62654903e-04 9.99917251e-01 -6.27994422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.834203822 meters 0.021868840767793662 Centerline is valid? [True, True] Translation: X:222.37, Y:-30.27, Z:-6.28 [[ 9.91060779e-01 1.32778855e-01 1.29733218e-02 2.22370767e+02] [-1.32769891e-01 9.91145672e-01 -1.55363108e-03 -3.02733138e+01] [-1.30647411e-02 -1.82723695e-04 9.99914636e-01 -6.27985626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.864203822 meters 0.021895233386609616 Centerline is valid? [True, True] Translation: X:222.40, Y:-30.27, Z:-6.28 [[ 9.90788629e-01 1.34894446e-01 1.18903947e-02 2.22402660e+02] [-1.34887050e-01 9.90859956e-01 -1.42547687e-03 -3.02733917e+01] [-1.19740048e-02 -1.91513992e-04 9.99928291e-01 -6.28007156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.894203822 meters 0.024910389727262915 Centerline is valid? [True, True] Translation: X:222.43, Y:-30.27, Z:-6.29 [[ 9.90740978e-01 1.35273017e-01 1.15553386e-02 2.22433680e+02] [-1.35266038e-01 9.90808344e-01 -1.38702004e-03 -3.02716831e+01] [-1.16367523e-02 -1.88867282e-04 9.99932273e-01 -6.28588309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.924203822 meters 0.01926114259454232 Centerline is valid? [True, True] Translation: X:222.46, Y:-30.28, Z:-6.28 [[ 9.91063904e-01 1.32869680e-01 1.17467157e-02 2.22464460e+02] [-1.32862280e-01 9.91133504e-01 -1.41164633e-03 -3.02828233e+01] [-1.18301285e-02 -1.61663706e-04 9.99930009e-01 -6.28251131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.954203822 meters 0.017053461875670417 Centerline is valid? [True, True] Translation: X:222.50, Y:-30.29, Z:-6.28 [[ 9.91395353e-01 1.30367534e-01 1.18135811e-02 2.22495654e+02] [-1.30359847e-01 9.91465728e-01 -1.42171466e-03 -3.02909415e+01] [-1.18981062e-02 -1.30535316e-04 9.99929207e-01 -6.28301607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.984203822 meters 0.014161585903170145 Centerline is valid? [True, True] Translation: X:222.53, Y:-30.30, Z:-6.29 [[ 9.92198746e-01 1.24100372e-01 1.18636647e-02 2.22525867e+02] [-1.24092146e-01 9.92269668e-01 -1.42984702e-03 -3.03032136e+01] [-1.19493992e-02 -5.34952026e-05 9.99928602e-01 -6.28601344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.014203822 meters 0.013172003370247277 Centerline is valid? [True, True] Translation: X:222.56, Y:-30.31, Z:-6.29 [[ 9.92624243e-01 1.20673176e-01 1.16230964e-02 2.22558324e+02] [-1.20665027e-01 9.92692291e-01 -1.40236818e-03 -3.03129673e+01] [-1.17073864e-02 -1.04765850e-05 9.99931466e-01 -6.28565663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04420382200001 meters 0.01499350843760282 Centerline is valid? [True, True] Translation: X:222.59, Y:-30.33, Z:-6.29 [[ 9.93447269e-01 1.13760095e-01 1.10074966e-02 2.22588828e+02] [-1.13752337e-01 9.93508247e-01 -1.33032760e-03 -3.03285364e+01] [-1.10873768e-02 6.94818614e-05 9.99938531e-01 -6.28667976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07420382200002 meters 0.01679336500035352 Centerline is valid? [True, True] Translation: X:222.62, Y:-30.34, Z:-6.29 [[ 9.93756679e-01 1.11063850e-01 1.06058750e-02 2.22620427e+02] [-1.11056476e-01 9.93813268e-01 -1.28348388e-03 -3.03376933e+01] [-1.06828080e-02 9.76195726e-05 9.99942932e-01 -6.28853553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10420382200002 meters 0.022996778072207517 Centerline is valid? [True, True] Translation: X:222.65, Y:-30.35, Z:-6.29 [[ 9.94274480e-01 1.06404054e-01 9.82016640e-03 2.22649320e+02] [-1.06397476e-01 9.94322964e-01 -1.19142409e-03 -3.03540903e+01] [-9.89118932e-03 1.39761656e-04 9.99951071e-01 -6.29410999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13420382200002 meters 0.022556430601827573 Centerline is valid? [True, True] Translation: X:222.68, Y:-30.36, Z:-6.29 [[ 9.94398436e-01 1.05159460e-01 1.06413846e-02 2.22682397e+02] [-1.05151671e-01 9.94455359e-01 -1.29031608e-03 -3.03598598e+01] [-1.07180709e-02 1.64128919e-04 9.99942546e-01 -6.29069212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16420382200002 meters 0.023955476774516645 Centerline is valid? [True, True] Translation: X:222.71, Y:-30.37, Z:-6.29 [[ 9.94419266e-01 1.04825176e-01 1.19165927e-02 2.22712620e+02] [-1.04815330e-01 9.94490646e-01 -1.44954767e-03 -3.03661865e+01] [-1.20028891e-02 1.92416532e-04 9.99927944e-01 -6.29099514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19420382200002 meters 0.022536460407525865 Centerline is valid? [True, True] Translation: X:222.75, Y:-30.37, Z:-6.29 [[ 9.94261990e-01 1.06217809e-01 1.26835382e-02 2.22745214e+02] [-1.06206741e-01 9.94342869e-01 -1.54486552e-03 -3.03695057e+01] [-1.27758780e-02 1.88923800e-04 9.99918367e-01 -6.29083154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22420382200002 meters 0.019697943107383018 Centerline is valid? [True, True] Translation: X:222.78, Y:-30.37, Z:-6.29 [[ 9.94130400e-01 1.07451137e-01 1.26095630e-02 2.22777375e+02] [-1.07440312e-01 9.94210352e-01 -1.53477192e-03 -3.03717028e+01] [-1.27014710e-02 1.70988042e-04 9.99919318e-01 -6.28888864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25420382200002 meters 0.017717444922635165 Centerline is valid? [True, True] Translation: X:222.81, Y:-30.38, Z:-6.29 [[ 9.93847903e-01 1.09905082e-01 1.36827750e-02 2.22809693e+02] [-1.09892506e-01 9.93942075e-01 -1.66985255e-03 -3.03765161e+01] [-1.37834111e-02 1.55945014e-04 9.99904992e-01 -6.28776303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28420382200002 meters 0.01696488687224674 Centerline is valid? [True, True] Translation: X:222.84, Y:-30.38, Z:-6.29 [[ 9.93697781e-01 1.11227626e-01 1.38973349e-02 2.22840953e+02] [-1.11214789e-01 9.93794947e-01 -1.69550869e-03 -3.03803873e+01] [-1.39996886e-02 1.39234051e-04 9.99901990e-01 -6.28869591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31420382200002 meters 0.016345400735505496 Centerline is valid? [True, True] Translation: X:222.87, Y:-30.39, Z:-6.29 [[ 9.93464781e-01 1.13335314e-01 1.35216940e-02 2.22871435e+02] [-1.13323329e-01 9.93556790e-01 -1.65177109e-03 -3.03850302e+01] [-1.36217749e-02 1.08653021e-04 9.99907213e-01 -6.29167419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34420382200003 meters 0.016128166144632503 Centerline is valid? [True, True] Translation: X:222.90, Y:-30.39, Z:-6.29 [[ 9.93346221e-01 1.14405847e-01 1.32131738e-02 2.22903517e+02] [-1.14394475e-01 9.93434091e-01 -1.61579850e-03 -3.03891726e+01] [-1.33112741e-02 9.35332503e-05 9.99911397e-01 -6.29403271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.374203822 meters 0.014592520281208714 Centerline is valid? [True, True] Translation: X:222.94, Y:-30.39, Z:-6.29 [[ 9.93148845e-01 1.16094620e-01 1.33195702e-02 2.22935119e+02] [-1.16083181e-01 9.93238156e-01 -1.63136673e-03 -3.03949043e+01] [-1.34188982e-02 7.40119028e-05 9.99909960e-01 -6.29431147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404203822 meters 0.013898153111331864 Centerline is valid? [True, True] Translation: X:222.97, Y:-30.40, Z:-6.29 [[ 9.93051092e-01 1.16886370e-01 1.36786561e-02 2.22966692e+02] [-1.16874348e-01 9.93145292e-01 -1.67775790e-03 -3.04014351e+01] [-1.37809999e-02 6.74153027e-05 9.99905035e-01 -6.29362480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.434203822 meters 0.013664325410678116 Centerline is valid? [True, True] Translation: X:223.00, Y:-30.41, Z:-6.29 [[ 9.92947598e-01 1.17741144e-01 1.38596895e-02 2.22997201e+02] [-1.17728835e-01 9.93044319e-01 -1.70353794e-03 -3.04104571e+01] [-1.39638624e-02 5.98388090e-05 9.99902499e-01 -6.29400814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.464203822 meters 0.01350574720456588 Centerline is valid? [True, True] Translation: X:223.03, Y:-30.42, Z:-6.30 [[ 9.92825599e-01 1.18757068e-01 1.39315720e-02 2.23028778e+02] [-1.18744729e-01 9.92923339e-01 -1.71252612e-03 -3.04158389e+01] [-1.40363576e-02 4.59390324e-05 9.99901484e-01 -6.29548339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.494203822 meters 0.012959031329055055 Centerline is valid? [True, True] Translation: X:223.06, Y:-30.42, Z:-6.30 [[ 9.92504497e-01 1.21580472e-01 1.23698311e-02 2.23060554e+02] [-1.21570940e-01 9.92581578e-01 -1.52239343e-03 -3.04220943e+01] [-1.24631598e-02 7.17033361e-06 9.99922332e-01 -6.29684965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.524203822 meters 0.013326329650430901 Centerline is valid? [True, True] Translation: X:223.09, Y:-30.43, Z:-6.30 [[ 9.92311463e-01 1.23201898e-01 1.18005775e-02 2.23091820e+02] [-1.23193301e-01 9.92381626e-01 -1.45545041e-03 -3.04264227e+01] [-1.18899905e-02 -9.49197834e-06 9.99929312e-01 -6.30027421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.554203822 meters 0.014379882383199403 Centerline is valid? [True, True] Translation: X:223.12, Y:-30.43, Z:-6.30 [[ 9.91854722e-01 1.26864107e-01 1.13889408e-02 2.23122513e+02] [-1.26856329e-01 9.91920106e-01 -1.40573036e-03 -3.04281113e+01] [-1.14752561e-02 -5.04789294e-05 9.99934156e-01 -6.30313876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.584203822 meters 0.01523920000037263 Centerline is valid? [True, True] Translation: X:223.15, Y:-30.43, Z:-6.30 [[ 9.91592598e-01 1.28902656e-01 1.13236249e-02 2.23154756e+02] [-1.28895102e-01 9.91657249e-01 -1.39742140e-03 -3.04314770e+01] [-1.14092860e-02 -7.38870690e-05 9.99934909e-01 -6.30423399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.614203822 meters 0.017087161484624237 Centerline is valid? [True, True] Translation: X:223.19, Y:-30.44, Z:-6.30 [[ 9.91136499e-01 1.32297838e-01 1.20715747e-02 2.23185350e+02] [-1.32289474e-01 9.91210002e-01 -1.49226488e-03 -3.04353856e+01] [-1.21628890e-02 -1.17904085e-04 9.99926022e-01 -6.30433713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.644203822 meters 0.017728665335454172 Centerline is valid? [True, True] Translation: X:223.22, Y:-30.44, Z:-6.30 [[ 9.90945006e-01 1.33608205e-01 1.32982478e-02 2.23217819e+02] [-1.33598120e-01 9.91034221e-01 -1.64782565e-03 -3.04394139e+01] [-1.33991817e-02 -1.43716310e-04 9.99910217e-01 -6.30294397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.674203822 meters 0.01859078381377446 Centerline is valid? [True, True] Translation: X:223.25, Y:-30.44, Z:-6.30 [[ 9.90737801e-01 1.35015133e-01 1.44749471e-02 2.23249858e+02] [-1.35003344e-01 9.90843521e-01 -1.79301953e-03 -3.04429376e+01] [-1.45844923e-02 -1.77754030e-04 9.99893625e-01 -6.30170118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.704203822 meters 0.020067744428482935 Centerline is valid? [True, True] Translation: X:223.28, Y:-30.45, Z:-6.30 [[ 9.90499396e-01 1.36705819e-01 1.49152848e-02 2.23280733e+02] [-1.36693446e-01 9.90611668e-01 -1.85069448e-03 -3.04479859e+01] [-1.50282558e-02 -2.05709906e-04 9.99887048e-01 -6.30095674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.734203822 meters 0.02103501130210931 Centerline is valid? [True, True] Translation: X:223.31, Y:-30.45, Z:-6.30 [[ 9.90385564e-01 1.37588730e-01 1.43448895e-02 2.23313025e+02] [-1.37577351e-01 9.90489423e-01 -1.78178438e-03 -3.04516235e+01] [-1.44536148e-02 -2.08878370e-04 9.99895519e-01 -6.30262123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.764203822 meters 0.022929172556159762 Centerline is valid? [True, True] Translation: X:223.35, Y:-30.45, Z:-6.31 [[ 9.90220944e-01 1.38999571e-01 1.18996675e-02 2.23345178e+02] [-1.38991806e-01 9.90292424e-01 -1.48110630e-03 -3.04549618e+01] [-1.19900237e-02 -1.87333783e-04 9.99928100e-01 -6.30868764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79420382200001 meters 0.023618015292915743 Centerline is valid? [True, True] Translation: X:223.38, Y:-30.46, Z:-6.31 [[ 9.90139835e-01 1.39649826e-01 1.10015218e-02 2.23377110e+02] [-1.39643246e-01 9.90200936e-01 -1.36774519e-03 -3.04602422e+01] [-1.10847225e-02 -1.82029218e-04 9.99938546e-01 -6.31267096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82420382200002 meters 0.024074812787185117 Centerline is valid? [True, True] Translation: X:223.41, Y:-30.47, Z:-6.32 [[ 9.90138229e-01 1.39721635e-01 1.02055419e-02 2.23407955e+02] [-1.39715949e-01 9.90190808e-01 -1.27143612e-03 -3.04658675e+01] [-1.02830809e-02 -1.66979473e-04 9.99947114e-01 -6.31581282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85420382200002 meters 0.022366319895361114 Centerline is valid? [True, True] Translation: X:223.44, Y:-30.47, Z:-6.31 [[ 9.90144507e-01 1.39546374e-01 1.18602452e-02 2.23439022e+02] [-1.39538681e-01 9.90215518e-01 -1.47775452e-03 -3.04743606e+01] [-1.19504142e-02 -1.91772457e-04 9.99928573e-01 -6.31325412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88420382200002 meters 0.021830015994576686 Centerline is valid? [True, True] Translation: X:223.47, Y:-30.48, Z:-6.31 [[ 9.90145388e-01 1.39442432e-01 1.29583375e-02 2.23471026e+02] [-1.39433206e-01 9.90230158e-01 -1.61715539e-03 -3.04798637e+01] [-1.30572367e-02 -2.05603590e-04 9.99914730e-01 -6.31198149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91420382200002 meters 0.021808092906384923 Centerline is valid? [True, True] Translation: X:223.50, Y:-30.49, Z:-6.31 [[ 9.90124493e-01 1.39435012e-01 1.45384399e-02 2.23501727e+02] [-1.39423351e-01 9.90231198e-01 -1.81749768e-03 -3.04851211e+01] [-1.46498395e-02 -2.27449041e-04 9.99892659e-01 -6.30909423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94420382200002 meters 0.02203116803167246 Centerline is valid? [True, True] Translation: X:223.53, Y:-30.49, Z:-6.31 [[ 9.90064191e-01 1.39897997e-01 1.41932667e-02 2.23533827e+02] [-1.39886904e-01 9.90165895e-01 -1.77624050e-03 -3.04893209e+01] [-1.43021811e-02 -2.26860016e-04 9.99897693e-01 -6.30976356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97420382200002 meters 0.0235470915127387 Centerline is valid? [True, True] Translation: X:223.57, Y:-30.49, Z:-6.31 [[ 9.89904825e-01 1.41195526e-01 1.23394232e-02 2.23566149e+02] [-1.41187225e-01 9.89981706e-01 -1.54568640e-03 -3.04921629e+01] [-1.24340472e-02 -2.12086495e-04 9.99922672e-01 -6.31410382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00420382200002 meters 0.02511161683617264 Centerline is valid? [True, True] Translation: X:223.60, Y:-30.49, Z:-6.32 [[ 9.89748448e-01 1.42311173e-01 1.20640116e-02 2.23597155e+02] [-1.42303296e-01 9.89821945e-01 -1.51322759e-03 -3.04940059e+01] [-1.21565726e-02 -2.19033947e-04 9.99926082e-01 -6.31665372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03420382200002 meters 0.023813477853341633 Centerline is valid? [True, True] Translation: X:223.63, Y:-30.50, Z:-6.32 [[ 9.89563931e-01 1.43584940e-01 1.21075318e-02 2.23629283e+02] [-1.43577083e-01 9.89637969e-01 -1.52017862e-03 -3.04992343e+01] [-1.22003480e-02 -2.34050167e-04 9.99925546e-01 -6.31501938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06420382200002 meters 0.025321520129888427 Centerline is valid? [True, True] Translation: X:223.66, Y:-30.50, Z:-6.31 [[ 9.89138866e-01 1.46359191e-01 1.35384963e-02 2.23662167e+02] [-1.46349588e-01 9.89231469e-01 -1.70269672e-03 -3.04992612e+01] [-1.36419118e-02 -2.97149852e-04 9.99906901e-01 -6.31380899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09420382200003 meters 0.028177952655204452 Centerline is valid? [True, True] Translation: X:223.69, Y:-30.50, Z:-6.32 [[ 9.88941235e-01 1.47634928e-01 1.41124392e-02 2.23693470e+02] [-1.47624583e-01 9.89041871e-01 -1.77773808e-03 -3.04984077e+01] [-1.42202495e-02 -3.25264457e-04 9.99898834e-01 -6.31538915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124203822 meters 0.028282545102838823 Centerline is valid? [True, True] Translation: X:223.73, Y:-30.50, Z:-6.32 [[ 9.88766466e-01 1.48834316e-01 1.37558284e-02 2.23725424e+02] [-1.48824576e-01 9.88862092e-01 -1.73477459e-03 -3.05001704e+01] [-1.38608113e-02 -3.31918388e-04 9.99903879e-01 -6.31552038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.154203822 meters 0.028243471593778234 Centerline is valid? [True, True] Translation: X:223.76, Y:-30.50, Z:-6.32 [[ 9.88801523e-01 1.48636083e-01 1.33739884e-02 2.23757818e+02] [-1.48626834e-01 9.88891912e-01 -1.68840102e-03 -3.05035803e+01] [-1.34763863e-02 -3.18240063e-04 9.99909139e-01 -6.31756458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184203822 meters 0.03091921422656181 Centerline is valid? [True, True] Translation: X:223.79, Y:-30.50, Z:-6.32 [[ 9.88955706e-01 1.47654404e-01 1.28370227e-02 2.23789040e+02] [-1.47645764e-01 9.89038974e-01 -1.62343596e-03 -3.05037420e+01] [-1.29360232e-02 -2.89825760e-04 9.99916284e-01 -6.32260335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.214203822 meters 0.03167627037917344 Centerline is valid? [True, True] Translation: X:223.82, Y:-30.51, Z:-6.32 [[ 9.89418993e-01 1.44473880e-01 1.33174366e-02 2.23819745e+02] [-1.44464239e-01 9.89508582e-01 -1.68821103e-03 -3.05140647e+01] [-1.34216202e-02 -2.53545281e-04 9.99909894e-01 -6.32371439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.244203822 meters 0.03167627037917344 Centerline is valid? [True, True] Translation: X:223.85, Y:-30.52, Z:-6.32 [[ 9.89391441e-01 1.44662422e-01 1.33176693e-02 2.23851958e+02] [-1.44652822e-01 9.89481034e-01 -1.68637850e-03 -3.05183376e+01] [-1.34215368e-02 -2.57949994e-04 9.99909894e-01 -6.32463926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.274203822 meters 0.022821642484605786 Centerline is valid? [True, True] Translation: X:223.88, Y:-30.52, Z:-6.32 [[ 9.89584080e-01 1.43302835e-01 1.36983740e-02 2.23882582e+02] [-1.43292502e-01 9.89678856e-01 -1.73793763e-03 -3.05226769e+01] [-1.38060425e-02 -2.43038877e-04 9.99904663e-01 -6.32073347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.304203822 meters 0.019805331548760564 Centerline is valid? [True, True] Translation: X:223.91, Y:-30.53, Z:-6.32 [[ 9.89889219e-01 1.41196542e-01 1.35229584e-02 2.23913864e+02] [-1.41186251e-01 9.89981562e-01 -1.71747997e-03 -3.05304188e+01] [-1.36299817e-02 -2.09140891e-04 9.99907086e-01 -6.32024741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.334203822 meters 0.020064520855246546 Centerline is valid? [True, True] Translation: X:223.95, Y:-30.53, Z:-6.32 [[ 9.89920633e-01 1.40986019e-01 1.34194920e-02 2.23946068e+02] [-1.40975824e-01 9.90011567e-01 -1.70738017e-03 -3.05335067e+01] [-1.35261690e-02 -2.01653086e-04 9.99908497e-01 -6.32205700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.364203822 meters 0.021107653112952176 Centerline is valid? [True, True] Translation: X:223.98, Y:-30.53, Z:-6.32 [[ 9.89890017e-01 1.41179112e-01 1.36459655e-02 2.23977916e+02] [-1.41168576e-01 9.89984048e-01 -1.73711272e-03 -3.05341563e+01] [-1.37545322e-02 -2.06830982e-04 9.99905381e-01 -6.32456461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.394203822 meters 0.02102149358039255 Centerline is valid? [True, True] Translation: X:224.01, Y:-30.53, Z:-6.32 [[ 9.89830812e-01 1.41508882e-01 1.44982551e-02 2.24010409e+02] [-1.41496978e-01 9.89936961e-01 -1.84878073e-03 -3.05338459e+01] [-1.46139775e-02 -2.21479147e-04 9.99893186e-01 -6.32416928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.424203822 meters 0.020553078998349048 Centerline is valid? [True, True] Translation: X:224.04, Y:-30.54, Z:-6.32 [[ 9.89837436e-01 1.41346265e-01 1.55911392e-02 2.24042927e+02] [-1.41332411e-01 9.89960191e-01 -1.99242738e-03 -3.05370701e+01] [-1.57162293e-02 -2.31354075e-04 9.99876466e-01 -6.32273274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.454203822 meters 0.01818679332473485 Centerline is valid? [True, True] Translation: X:224.08, Y:-30.54, Z:-6.32 [[ 9.89927992e-01 1.40625074e-01 1.63449834e-02 2.24075085e+02] [-1.40609754e-01 9.90062895e-01 -2.08843408e-03 -3.05402501e+01] [-1.64762478e-02 -2.30864749e-04 9.99864231e-01 -6.32027293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.484203822 meters 0.01840034762643846 Centerline is valid? [True, True] Translation: X:224.11, Y:-30.54, Z:-6.32 [[ 9.89972345e-01 1.40420050e-01 1.53936723e-02 2.24106855e+02] [-1.40406403e-01 9.90091998e-01 -1.96914392e-03 -3.05412835e+01] [-1.55176590e-02 -2.11972115e-04 9.99879571e-01 -6.32324173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.514203822 meters 0.020431980644247706 Centerline is valid? [True, True] Translation: X:224.14, Y:-30.54, Z:-6.33 [[ 9.90009289e-01 1.40248321e-01 1.45607905e-02 2.24138640e+02] [-1.40236056e-01 9.90116342e-01 -1.86508370e-03 -3.05404248e+01] [-1.46784515e-02 -1.95497632e-04 9.99892247e-01 -6.32902472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54420382200001 meters 0.017631725988460713 Centerline is valid? [True, True] Translation: X:224.17, Y:-30.55, Z:-6.33 [[ 9.90235414e-01 1.38857185e-01 1.23494034e-02 2.24170380e+02] [-1.38848233e-01 9.90312406e-01 -1.58348916e-03 -3.05464004e+01] [-1.24496462e-02 -1.46665794e-04 9.99922489e-01 -6.33145357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57420382200002 meters 0.025429275862380262 Centerline is valid? [True, True] Translation: X:224.20, Y:-30.55, Z:-6.34 [[ 9.90350985e-01 1.38055224e-01 1.20698924e-02 2.24202242e+02] [-1.38046590e-01 9.90424524e-01 -1.54962992e-03 -3.05503712e+01] [-1.21682520e-02 -1.31529965e-04 9.99925955e-01 -6.33730110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60420382200002 meters 0.016818014809495824 Centerline is valid? [True, True] Translation: X:224.23, Y:-30.55, Z:-6.34 [[ 9.90508543e-01 1.36896844e-01 1.23321136e-02 2.24232969e+02] [-1.36887709e-01 9.90585302e-01 -1.58576096e-03 -3.05536006e+01] [-1.24330962e-02 -1.17405013e-04 9.99922699e-01 -6.33528437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63420382200002 meters 0.01466159046139643 Centerline is valid? [True, True] Translation: X:224.26, Y:-30.56, Z:-6.33 [[ 9.90867946e-01 1.34169188e-01 1.33918636e-02 2.24264936e+02] [-1.34158134e-01 9.90958436e-01 -1.72447171e-03 -3.05596585e+01] [-1.35021511e-02 -8.79036761e-05 9.99908838e-01 -6.33342968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66420382200002 meters 0.021918776718125522 Centerline is valid? [True, True] Translation: X:224.30, Y:-30.57, Z:-6.34 [[ 9.91016912e-01 1.33016271e-01 1.38619063e-02 2.24296895e+02] [-1.33004280e-01 9.91113851e-01 -1.78748181e-03 -3.05651844e+01] [-1.39764916e-02 -7.22681651e-05 9.99902321e-01 -6.33772075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69420382200002 meters 0.012752068488222535 Centerline is valid? [True, True] Translation: X:224.33, Y:-30.57, Z:-6.33 [[ 9.91202316e-01 1.31670355e-01 1.34493827e-02 2.24329844e+02] [-1.31658922e-01 9.91293557e-01 -1.73584603e-03 -3.05718162e+01] [-1.35608458e-02 -5.01566120e-05 9.99908046e-01 -6.33152335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72420382200002 meters 0.013355829200037198 Centerline is valid? [True, True] Translation: X:224.36, Y:-30.58, Z:-6.34 [[ 9.91486304e-01 1.29623776e-01 1.23525273e-02 2.24360793e+02] [-1.29613939e-01 9.91563249e-01 -1.59695859e-03 -3.05753289e+01] [-1.24553159e-02 -1.76971600e-05 9.99922429e-01 -6.33712605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75420382200002 meters 0.013491730548524615 Centerline is valid? [True, True] Translation: X:224.39, Y:-30.58, Z:-6.34 [[ 9.91620063e-01 1.28703045e-01 1.11882837e-02 2.24392706e+02] [-1.28694903e-01 9.91683178e-01 -1.44770440e-03 -3.05798848e+01] [-1.12815567e-02 -4.30235304e-06 9.99936361e-01 -6.33911971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78420382200002 meters 0.013736541476540597 Centerline is valid? [True, True] Translation: X:224.42, Y:-30.58, Z:-6.34 [[ 9.91697808e-01 1.28042609e-01 1.18552609e-02 2.24423327e+02] [-1.28033389e-01 9.91768668e-01 -1.53656634e-03 -3.05835927e+01] [-1.19544223e-02 5.94024897e-06 9.99928543e-01 -6.34122723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81420382200002 meters 0.012973412128458746 Centerline is valid? [True, True] Translation: X:224.46, Y:-30.59, Z:-6.34 [[ 9.91626352e-01 1.28452451e-01 1.33096475e-02 2.24455746e+02] [-1.28440832e-01 9.91715669e-01 -1.72765020e-03 -3.05861919e+01] [-1.34213069e-02 3.68126612e-06 9.99909930e-01 -6.33899643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84420382200003 meters 0.012696262497274992 Centerline is valid? [True, True] Translation: X:224.49, Y:-30.59, Z:-6.34 [[ 9.91525882e-01 1.29092963e-01 1.45407311e-02 2.24486783e+02] [-1.29079119e-01 9.91632496e-01 -1.89052671e-03 -3.05880040e+01] [-1.46631152e-02 -2.39859914e-06 9.99892491e-01 -6.33814224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.874203822 meters 0.013145543464065643 Centerline is valid? [True, True] Translation: X:224.52, Y:-30.59, Z:-6.34 [[ 9.91233512e-01 1.31314566e-01 1.45811323e-02 2.24518592e+02] [-1.31300856e-01 9.91340751e-01 -1.89776009e-03 -3.05875101e+01] [-1.47040741e-02 -3.33917498e-05 9.99891889e-01 -6.33962889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904203822 meters 0.013017408694983213 Centerline is valid? [True, True] Translation: X:224.55, Y:-30.59, Z:-6.34 [[ 9.91086031e-01 1.32516238e-01 1.37085845e-02 2.24550240e+02] [-1.32504201e-01 9.91180833e-01 -1.78659258e-03 -3.05898669e+01] [-1.38244388e-02 -4.57780971e-05 9.99904437e-01 -6.33953076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.934203822 meters 0.020897273185321127 Centerline is valid? [True, True] Translation: X:224.58, Y:-30.59, Z:-6.35 [[ 9.90800607e-01 1.34686935e-01 1.31752434e-02 2.24581611e+02] [-1.34675983e-01 9.90888200e-01 -1.71902989e-03 -3.05873909e+01] [-1.32867241e-02 -7.11730025e-05 9.99911725e-01 -6.34709031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.964203822 meters 0.013746821219526983 Centerline is valid? [True, True] Translation: X:224.61, Y:-30.59, Z:-6.34 [[ 9.90679404e-01 1.35565038e-01 1.32830022e-02 2.24614897e+02] [-1.35553965e-01 9.90768446e-01 -1.73458535e-03 -3.05906309e+01] [-1.33955285e-02 -8.21456269e-05 9.99910273e-01 -6.34149851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.994203822 meters 0.014394870857990853 Centerline is valid? [True, True] Translation: X:224.65, Y:-30.59, Z:-6.34 [[ 9.90513039e-01 1.36736786e-01 1.36737581e-02 2.24647091e+02] [-1.36725121e-01 9.90607410e-01 -1.78877209e-03 -3.05925410e+01] [-1.37899170e-02 -9.77441481e-05 9.99904910e-01 -6.34286384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.024203822 meters 0.01604463356392895 Centerline is valid? [True, True] Translation: X:224.68, Y:-30.59, Z:-6.34 [[ 9.90302799e-01 1.38201155e-01 1.41706109e-02 2.24678975e+02] [-1.38188733e-01 9.90404173e-01 -1.85674979e-03 -3.05929538e+01] [-1.42912371e-02 -1.19474253e-04 9.99897868e-01 -6.34487825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.054203822 meters 0.016302117879480615 Centerline is valid? [True, True] Translation: X:224.71, Y:-30.60, Z:-6.35 [[ 9.90194667e-01 1.39006837e-01 1.38427234e-02 2.24710989e+02] [-1.38995025e-01 9.90291413e-01 -1.81648976e-03 -3.05977402e+01] [-1.39608346e-02 -1.25391213e-04 9.99902535e-01 -6.34503791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.084203822 meters 0.015699821757522544 Centerline is valid? [True, True] Translation: X:224.74, Y:-30.60, Z:-6.35 [[ 9.90170435e-01 1.39221741e-01 1.34095642e-02 2.24743589e+02] [-1.39210654e-01 9.90261224e-01 -1.76128203e-03 -3.06019892e+01] [-1.35241802e-02 -1.22784816e-04 9.99908537e-01 -6.34502212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.114203822 meters 0.016387789116529893 Centerline is valid? [True, True] Translation: X:224.78, Y:-30.60, Z:-6.35 [[ 9.90079624e-01 1.39836868e-01 1.37108582e-02 2.24775908e+02] [-1.39825294e-01 9.90174547e-01 -1.80389629e-03 -3.06037244e+01] [-1.38283940e-02 -1.31123809e-04 9.99904375e-01 -6.34664300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.144203822 meters 0.0166210129439841 Centerline is valid? [True, True] Translation: X:224.81, Y:-30.61, Z:-6.35 [[ 9.89985551e-01 1.40488278e-01 1.38438704e-02 2.24808748e+02] [-1.40476507e-01 9.90082332e-01 -1.82387851e-03 -3.06066776e+01] [-1.39628050e-02 -1.39125182e-04 9.99902506e-01 -6.34727959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.174203822 meters 0.017396109616905565 Centerline is valid? [True, True] Translation: X:224.84, Y:-30.61, Z:-6.35 [[ 9.89820401e-01 1.41573663e-01 1.45763786e-02 2.24841312e+02] [-1.41560683e-01 9.89927711e-01 -1.92368613e-03 -3.06078985e+01] [-1.47019044e-02 -1.59338337e-04 9.99891908e-01 -6.34747298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.204203822 meters 0.017984608795012992 Centerline is valid? [True, True] Translation: X:224.87, Y:-30.61, Z:-6.35 [[ 9.89714788e-01 1.42332570e-01 1.43554181e-02 2.24873094e+02] [-1.42320021e-01 9.89818878e-01 -1.89724722e-03 -3.06101145e+01] [-1.44793039e-02 -1.65329773e-04 9.99895156e-01 -6.34895344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.234203822 meters 0.01982370349681774 Centerline is valid? [True, True] Translation: X:224.90, Y:-30.61, Z:-6.35 [[ 9.89436026e-01 1.44327822e-01 1.36319822e-02 2.24904935e+02] [-1.44316664e-01 9.89529912e-01 -1.80384591e-03 -3.06106086e+01] [-1.37495993e-02 -1.82532075e-04 9.99905453e-01 -6.35173988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.264203822 meters 0.020609087937868975 Centerline is valid? [True, True] Translation: X:224.94, Y:-30.61, Z:-6.35 [[ 9.89329375e-01 1.45089963e-01 1.32774167e-02 2.24936686e+02] [-1.45079423e-01 9.89418449e-01 -1.75870161e-03 -3.06136450e+01] [-1.33920910e-02 -1.86344805e-04 9.99910305e-01 -6.35356086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29420382200001 meters 0.0199441340469517 Centerline is valid? [True, True] Translation: X:224.97, Y:-30.62, Z:-6.35 [[ 9.89066458e-01 1.46761035e-01 1.44478198e-02 2.24969964e+02] [-1.46748700e-01 9.89171951e-01 -1.91606080e-03 -3.06165080e+01] [-1.45725811e-02 -2.25087298e-04 9.99893789e-01 -6.34926599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32420382200002 meters 0.021759999631210197 Centerline is valid? [True, True] Translation: X:225.00, Y:-30.62, Z:-6.35 [[ 9.88871891e-01 1.47938485e-01 1.57031093e-02 2.25002597e+02] [-1.47924000e-01 9.88996530e-01 -2.08636316e-03 -3.06167311e+01] [-1.58389740e-02 -2.59720859e-04 9.99874522e-01 -6.34927243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35420382200002 meters 0.02187731713275244 Centerline is valid? [True, True] Translation: X:225.03, Y:-30.62, Z:-6.35 [[ 9.88661651e-01 1.49292860e-01 1.61177255e-02 2.25034688e+02] [-1.49277726e-01 9.88792982e-01 -2.14477027e-03 -3.06187799e+01] [-1.62572928e-02 -2.85565300e-04 9.99867801e-01 -6.34828905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38420382200002 meters 0.02454460979238408 Centerline is valid? [True, True] Translation: X:225.07, Y:-30.61, Z:-6.35 [[ 9.88184627e-01 1.52445928e-01 1.58550115e-02 2.25067930e+02] [-1.52431622e-01 9.88311758e-01 -2.11399589e-03 -3.06143038e+01] [-1.59919644e-02 -3.27786880e-04 9.99872067e-01 -6.34935048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41420382200002 meters 0.02778128935086356 Centerline is valid? [True, True] Translation: X:225.10, Y:-30.61, Z:-6.35 [[ 9.87965233e-01 1.53924030e-01 1.52345601e-02 2.25099084e+02] [-1.53910982e-01 9.88082628e-01 -2.03229473e-03 -3.06118675e+01] [-1.53658232e-02 -3.36929567e-04 9.99881882e-01 -6.35273226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44420382200002 meters 0.02809538295568265 Centerline is valid? [True, True] Translation: X:225.13, Y:-30.61, Z:-6.35 [[ 9.87651669e-01 1.55926090e-01 1.52064445e-02 2.25130342e+02] [-1.55913317e-01 9.87768657e-01 -2.02924043e-03 -3.06111758e+01] [-1.53368608e-02 -3.66704507e-04 9.99882316e-01 -6.35321997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47420382200002 meters 0.028445509997457923 Centerline is valid? [True, True] Translation: X:225.16, Y:-30.61, Z:-6.35 [[ 9.87564257e-01 1.56414971e-01 1.58491241e-02 2.25160819e+02] [-1.56401158e-01 9.87691351e-01 -2.11500350e-03 -3.06120450e+01] [-1.59848610e-02 -3.90119504e-04 9.99872158e-01 -6.35314147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50420382200002 meters 0.028919361741077957 Centerline is valid? [True, True] Translation: X:225.19, Y:-30.61, Z:-6.35 [[ 9.87546141e-01 1.56516707e-01 1.59731055e-02 2.25190489e+02] [-1.56502687e-01 9.87675232e-01 -2.13169864e-03 -3.06124875e+01] [-1.61098872e-02 -3.94683168e-04 9.99870149e-01 -6.35401631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53420382200002 meters 0.029574315111549208 Centerline is valid? [True, True] Translation: X:225.22, Y:-30.61, Z:-6.36 [[ 9.87672547e-01 1.55827837e-01 1.48534508e-02 2.25220014e+02] [-1.55815639e-01 9.87784166e-01 -1.98211540e-03 -3.06105466e+01] [-1.49808723e-02 -3.56718958e-04 9.99887717e-01 -6.35732175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56420382200002 meters 0.02819375749048176 Centerline is valid? [True, True] Translation: X:225.25, Y:-30.61, Z:-6.36 [[ 9.87761951e-01 1.55252875e-01 1.49289479e-02 2.25249234e+02] [-1.55240487e-01 9.87874700e-01 -1.99216700e-03 -3.06132634e+01] [-1.50572196e-02 -3.49790396e-04 9.99886572e-01 -6.35739784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59420382200003 meters 0.028319910902704314 Centerline is valid? [True, True] Translation: X:225.28, Y:-30.61, Z:-6.36 [[ 9.87910387e-01 1.54275542e-01 1.52356372e-02 2.25278275e+02] [-1.54262531e-01 9.88027803e-01 -2.03265628e-03 -3.06106849e+01] [-1.53668223e-02 -3.42205696e-04 9.99881865e-01 -6.35805983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624203822 meters 0.028131682324901645 Centerline is valid? [True, True] Translation: X:225.31, Y:-30.61, Z:-6.36 [[ 9.88009091e-01 1.53590240e-01 1.57503796e-02 2.25307201e+02] [-1.53576249e-01 9.88134566e-01 -2.10117715e-03 -3.06119009e+01] [-1.58862148e-02 -3.42902098e-04 9.99873747e-01 -6.35878007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.654203822 meters 0.025336613277625982 Centerline is valid? [True, True] Translation: X:225.34, Y:-30.62, Z:-6.36 [[ 9.88105238e-01 1.52879640e-01 1.66088439e-02 2.25336518e+02] [-1.52863996e-01 9.88244754e-01 -2.21492694e-03 -3.06169001e+01] [-1.67522200e-02 -3.50313327e-04 9.99859610e-01 -6.35688142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684203822 meters 0.02534200488455453 Centerline is valid? [True, True] Translation: X:225.37, Y:-30.62, Z:-6.36 [[ 9.88336639e-01 1.51321756e-01 1.71001370e-02 2.25365651e+02] [-1.51304944e-01 9.88484504e-01 -2.28013435e-03 -3.06154453e+01] [-1.72482544e-02 -3.33794956e-04 9.99851182e-01 -6.35854723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.714203822 meters 0.024846939278565426 Centerline is valid? [True, True] Translation: X:225.40, Y:-30.62, Z:-6.36 [[ 9.88488838e-01 1.50434004e-01 1.61067498e-02 2.25395675e+02] [-1.50418983e-01 9.88620008e-01 -2.14697612e-03 -3.06172029e+01] [-1.62464334e-02 -3.00498998e-04 9.99867973e-01 -6.36179086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.744203822 meters 0.02190474057332913 Centerline is valid? [True, True] Translation: X:225.43, Y:-30.62, Z:-6.36 [[ 9.88729525e-01 1.49017265e-01 1.44146012e-02 2.25425608e+02] [-1.49005088e-01 9.88834563e-01 -1.92116559e-03 -3.06183142e+01] [-1.45399428e-02 -2.48335785e-04 9.99894259e-01 -6.36392970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.774203822 meters 0.023427793127335922 Centerline is valid? [True, True] Translation: X:225.45, Y:-30.62, Z:-6.37 [[ 9.88863497e-01 1.48167865e-01 1.39738219e-02 2.25454643e+02] [-1.48156340e-01 9.88962199e-01 -1.86209539e-03 -3.06172908e+01] [-1.40954843e-02 -2.28952147e-04 9.99900628e-01 -6.36812998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.804203822 meters 0.022299110052623843 Centerline is valid? [True, True] Translation: X:225.48, Y:-30.62, Z:-6.37 [[ 9.89041846e-01 1.47028309e-01 1.33754807e-02 2.25483131e+02] [-1.47017646e-01 9.89132264e-01 -1.78238325e-03 -3.06199365e+01] [-1.34921803e-02 -2.03580068e-04 9.99908956e-01 -6.36957321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.834203822 meters 0.019583621103674963 Centerline is valid? [True, True] Translation: X:225.51, Y:-30.62, Z:-6.37 [[ 9.89470449e-01 1.44163543e-01 1.28492639e-02 2.25512158e+02] [-1.44153468e-01 9.89553863e-01 -1.71171211e-03 -3.06226305e+01] [-1.29618052e-02 -1.58577399e-04 9.99915980e-01 -6.37143221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.864203822 meters 0.020981780375603522 Centerline is valid? [True, True] Translation: X:225.54, Y:-30.63, Z:-6.37 [[ 9.89752735e-01 1.42225174e-01 1.27091710e-02 2.25540938e+02] [-1.42215169e-01 9.89834321e-01 -1.69209794e-03 -3.06279860e+01] [-1.28206326e-02 -1.32678348e-04 9.99917804e-01 -6.37356527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.894203822 meters 0.015664181331249975 Centerline is valid? [True, True] Translation: X:225.57, Y:-30.63, Z:-6.37 [[ 9.90084813e-01 1.39819439e-01 1.35125303e-02 2.25568973e+02] [-1.39807909e-01 9.90177011e-01 -1.79885349e-03 -3.06324076e+01] [-1.36313116e-02 -1.08141086e-04 9.99907084e-01 -6.37171937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.924203822 meters 0.01275514257039715 Centerline is valid? [True, True] Translation: X:225.60, Y:-30.64, Z:-6.37 [[ 9.90851572e-01 1.34202082e-01 1.42465079e-02 2.25598320e+02] [-1.34188695e-01 9.90953985e-01 -1.89579251e-03 -3.06392176e+01] [-1.43720530e-02 -3.32713106e-05 9.99896716e-01 -6.37069980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.954203822 meters 0.013028428956780618 Centerline is valid? [True, True] Translation: X:225.63, Y:-30.65, Z:-6.37 [[ 9.91247680e-01 1.31276396e-01 1.39479391e-02 2.25627198e+02] [-1.31263282e-01 9.91345806e-01 -1.85555036e-03 -3.06451118e+01] [-1.40708209e-02 8.45772457e-06 9.99901001e-01 -6.37352360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.984203822 meters 0.014682272273792563 Centerline is valid? [True, True] Translation: X:225.66, Y:-30.66, Z:-6.37 [[ 9.92050681e-01 1.25148615e-01 1.31632450e-02 2.25657707e+02] [-1.25136405e-01 9.92138003e-01 -1.75045278e-03 -3.06551680e+01] [-1.32788223e-02 8.93367194e-05 9.99911829e-01 -6.37434080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.014203822 meters 0.017651482541837762 Centerline is valid? [True, True] Translation: X:225.69, Y:-30.66, Z:-6.38 [[ 9.92365511e-01 1.22626828e-01 1.31663852e-02 2.25687488e+02] [-1.22614391e-01 9.92452843e-01 -1.75079462e-03 -3.06638999e+01] [-1.32817108e-02 1.23039890e-04 9.99911787e-01 -6.37811076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04420382200001 meters 0.02672240427284137 Centerline is valid? [True, True] Translation: X:225.72, Y:-30.67, Z:-6.38 [[ 9.92800331e-01 1.18947427e-01 1.41071788e-02 2.25718292e+02] [-1.18932760e-01 9.92900536e-01 -1.87712127e-03 -3.06703036e+01] [-1.42303041e-02 1.85800912e-04 9.99898727e-01 -6.37817247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07420382200002 meters 0.025020237387019483 Centerline is valid? [True, True] Translation: X:225.75, Y:-30.68, Z:-6.38 [[ 9.92884004e-01 1.18169454e-01 1.47422504e-02 2.25748387e+02] [-1.18153359e-01 9.92993423e-01 -1.96105687e-03 -3.06770958e+01] [-1.48706947e-02 2.05255595e-04 9.99889404e-01 -6.37811459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10420382200002 meters 0.021216490386417687 Centerline is valid? [True, True] Translation: X:225.78, Y:-30.68, Z:-6.37 [[ 9.92948975e-01 1.17532611e-01 1.54408081e-02 2.25778785e+02] [-1.17514863e-01 9.93068998e-01 -2.05486832e-03 -3.06825751e+01] [-1.55753019e-02 2.25854936e-04 9.99878672e-01 -6.37497258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13420382200002 meters 0.026556588774725175 Centerline is valid? [True, True] Translation: X:225.81, Y:-30.68, Z:-6.38 [[ 9.92878815e-01 1.18219809e-01 1.46879398e-02 2.25811151e+02] [-1.18203798e-01 9.92987429e-01 -1.95650755e-03 -3.06830159e+01] [-1.48162375e-02 2.06404632e-04 9.99890212e-01 -6.37901319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16420382200002 meters 0.026556588774725175 Centerline is valid? [True, True] Translation: X:225.84, Y:-30.69, Z:-6.38 [[ 9.92858828e-01 1.18387591e-01 1.46876072e-02 2.25842528e+02] [-1.18371562e-01 9.92967439e-01 -1.95899953e-03 -3.06873445e+01] [-1.48162369e-02 2.06414974e-04 9.99890212e-01 -6.37991464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19420382200002 meters 0.019819029711528303 Centerline is valid? [True, True] Translation: X:225.87, Y:-30.69, Z:-6.38 [[ 9.92816776e-01 1.18717380e-01 1.48671995e-02 2.25874368e+02] [-1.18700954e-01 9.92928064e-01 -1.98557885e-03 -3.06908979e+01] [-1.49977824e-02 2.06565222e-04 9.99887506e-01 -6.37736074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22420382200002 meters 0.018420155055313667 Centerline is valid? [True, True] Translation: X:225.91, Y:-30.69, Z:-6.38 [[ 9.92678771e-01 1.19828759e-01 1.51633301e-02 2.25905814e+02] [-1.19811732e-01 9.92794555e-01 -2.02973018e-03 -3.06931596e+01] [-1.52972916e-02 1.98125227e-04 9.99882970e-01 -6.37787947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25420382200002 meters 0.019002199350501597 Centerline is valid? [True, True] Translation: X:225.94, Y:-30.70, Z:-6.38 [[ 9.92547178e-01 1.20957025e-01 1.48154307e-02 2.25936272e+02] [-1.20940917e-01 9.92657729e-01 -1.98170201e-03 -3.06982447e+01] [-1.49463526e-02 1.75140967e-04 9.99888282e-01 -6.38127429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28420382200002 meters 0.015902159831355702 Centerline is valid? [True, True] Translation: X:225.97, Y:-30.70, Z:-6.38 [[ 9.92096075e-01 1.24704844e-01 1.39312361e-02 2.25967674e+02] [-1.24690913e-01 9.92193877e-01 -1.86750782e-03 -3.06973668e+01] [-1.40553744e-02 1.15648628e-04 9.99901212e-01 -6.38279516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31420382200002 meters 0.01461963285016599 Centerline is valid? [True, True] Translation: X:226.00, Y:-30.70, Z:-6.38 [[ 9.91806038e-01 1.26972861e-01 1.40952500e-02 2.25997105e+02] [-1.26958828e-01 9.91906188e-01 -1.88959226e-03 -3.06983032e+01] [-1.42210926e-02 8.45925907e-05 9.99898872e-01 -6.38399530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34420382200003 meters 0.013575314831631132 Centerline is valid? [True, True] Translation: X:226.03, Y:-30.70, Z:-6.38 [[ 9.91521791e-01 1.29150897e-01 1.43032634e-02 2.26026450e+02] [-1.29136669e-01 9.91624951e-01 -1.91774979e-03 -3.06991132e+01] [-1.44311520e-02 5.44149167e-05 9.99895864e-01 -6.38462457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.374203822 meters 0.012732937019173184 Centerline is valid? [True, True] Translation: X:226.06, Y:-30.70, Z:-6.39 [[ 9.90928024e-01 1.33706437e-01 1.35735305e-02 2.26056934e+02] [-1.33694040e-01 9.91020983e-01 -1.82070740e-03 -3.06954303e+01] [-1.36950939e-02 -1.05101434e-05 9.99906218e-01 -6.38501427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404203822 meters 0.012935054291258949 Centerline is valid? [True, True] Translation: X:226.09, Y:-30.70, Z:-6.39 [[ 9.90663338e-01 1.35647994e-01 1.36298102e-02 2.26086314e+02] [-1.35635677e-01 9.90757095e-01 -1.82828719e-03 -3.06962193e+01] [-1.37518346e-02 -3.74714458e-05 9.99905438e-01 -6.38533177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.434203822 meters 0.01422445348312334 Centerline is valid? [True, True] Translation: X:226.11, Y:-30.70, Z:-6.39 [[ 9.90190270e-01 1.38985339e-01 1.43633410e-02 2.26114170e+02] [-1.38972021e-01 9.90294435e-01 -1.92605332e-03 -3.06953020e+01] [-1.44916298e-02 -8.89432652e-05 9.99894987e-01 -6.38544677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.464203822 meters 0.02570477796443589 Centerline is valid? [True, True] Translation: X:226.14, Y:-30.70, Z:-6.39 [[ 9.90014642e-01 1.40239752e-01 1.42765534e-02 2.26143289e+02] [-1.40226740e-01 9.90117569e-01 -1.91335610e-03 -3.06971325e+01] [-1.44037949e-02 -1.07703988e-04 9.99896254e-01 -6.39007171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.494203822 meters 0.016439779612717167 Centerline is valid? [True, True] Translation: X:226.17, Y:-30.70, Z:-6.39 [[ 9.89877863e-01 1.41218009e-01 1.41169952e-02 2.26171634e+02] [-1.41205392e-01 9.89978515e-01 -1.89154603e-03 -3.06983459e+01] [-1.42426423e-02 -1.20996292e-04 9.99898561e-01 -6.38847296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.524203822 meters 0.016019591397856293 Centerline is valid? [True, True] Translation: X:226.20, Y:-30.70, Z:-6.39 [[ 9.89866475e-01 1.41363703e-01 1.34411573e-02 2.26200114e+02] [-1.41352294e-01 9.89957721e-01 -1.79989617e-03 -3.07023881e+01] [-1.35606174e-02 -1.18281538e-04 9.99908044e-01 -6.38925263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.554203822 meters 0.017427602592184625 Centerline is valid? [True, True] Translation: X:226.23, Y:-30.70, Z:-6.39 [[ 9.89757930e-01 1.42192867e-01 1.26660603e-02 2.26227644e+02] [-1.42182812e-01 9.89838963e-01 -1.69548576e-03 -3.07022133e+01] [-1.27784460e-02 -1.22775586e-04 9.99918345e-01 -6.39222893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.584203822 meters 0.01819727000966013 Centerline is valid? [True, True] Translation: X:226.26, Y:-30.70, Z:-6.39 [[ 9.89680444e-01 1.42728426e-01 1.26970426e-02 2.26255339e+02] [-1.42718368e-01 9.89761880e-01 -1.69937994e-03 -3.07034989e+01] [-1.28095986e-02 -1.30258111e-04 9.99917945e-01 -6.39365569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.614203822 meters 0.01921793428414963 Centerline is valid? [True, True] Translation: X:226.28, Y:-30.70, Z:-6.39 [[ 9.89552976e-01 1.43578969e-01 1.30378939e-02 2.26283322e+02] [-1.43568451e-01 9.89638852e-01 -1.74398038e-03 -3.07039702e+01] [-1.31532053e-02 -1.46069271e-04 9.99913482e-01 -6.39413778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.644203822 meters 0.019523422508502433 Centerline is valid? [True, True] Translation: X:226.31, Y:-30.71, Z:-6.40 [[ 9.89520240e-01 1.43822779e-01 1.28336712e-02 2.26311589e+02] [-1.43812621e-01 9.89603449e-01 -1.71572539e-03 -3.07065089e+01] [-1.29470056e-02 -1.47898876e-04 9.99916173e-01 -6.39529174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.674203822 meters 0.018232523301463823 Centerline is valid? [True, True] Translation: X:226.34, Y:-30.71, Z:-6.39 [[ 9.89545884e-01 1.43686755e-01 1.23717429e-02 2.26339969e+02] [-1.43677310e-01 9.89623209e-01 -1.65347170e-03 -3.07108425e+01] [-1.24809459e-02 -1.41352629e-04 9.99922100e-01 -6.39395289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.704203822 meters 0.017788342899373498 Centerline is valid? [True, True] Translation: X:226.37, Y:-30.71, Z:-6.39 [[ 9.89727341e-01 1.42309939e-01 1.36993414e-02 2.26367482e+02] [-1.42298236e-01 9.89822137e-01 -1.83024431e-03 -3.07125244e+01] [-1.38203733e-02 -1.37949280e-04 9.99904485e-01 -6.39427264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.734203822 meters 0.016381040837227096 Centerline is valid? [True, True] Translation: X:226.40, Y:-30.72, Z:-6.39 [[ 9.89960377e-01 1.40635493e-01 1.41460623e-02 2.26395846e+02] [-1.40622859e-01 9.90061434e-01 -1.88879558e-03 -3.07177036e+01] [-1.42711024e-02 -1.19426933e-04 9.99898156e-01 -6.39394620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.764203822 meters 0.013591567892307956 Centerline is valid? [True, True] Translation: X:226.42, Y:-30.73, Z:-6.39 [[ 9.90474383e-01 1.36950061e-01 1.43240027e-02 2.26424210e+02] [-1.36936732e-01 9.90577951e-01 -1.91187615e-03 -3.07261628e+01] [-1.44508728e-02 -6.78177689e-05 9.99895578e-01 -6.39244020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79420382200001 meters 0.013569397760856142 Centerline is valid? [True, True] Translation: X:226.45, Y:-30.73, Z:-6.40 [[ 9.90750620e-01 1.34883445e-01 1.48210866e-02 2.26452349e+02] [-1.34868960e-01 9.90861471e-01 -1.97708141e-03 -3.07315383e+01] [-1.49523192e-02 -4.01099052e-05 9.99888207e-01 -6.39516323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82420382200002 meters 0.012514294737209766 Centerline is valid? [True, True] Translation: X:226.48, Y:-30.74, Z:-6.39 [[ 9.91246725e-01 1.31251653e-01 1.42454940e-02 2.26480996e+02] [-1.31237900e-01 9.91349083e-01 -1.90000644e-03 -3.07395169e+01] [-1.43716364e-02 1.38264436e-05 9.99896723e-01 -6.39255082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85420382200002 meters 0.013255224997850696 Centerline is valid? [True, True] Translation: X:226.51, Y:-30.75, Z:-6.40 [[ 9.91470010e-01 1.29571436e-01 1.40876985e-02 2.26509353e+02] [-1.29557821e-01 9.91570089e-01 -1.87864403e-03 -3.07452334e+01] [-1.42123590e-02 3.74476909e-05 9.99898999e-01 -6.39598643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88420382200002 meters 0.013491504201235797 Centerline is valid? [True, True] Translation: X:226.54, Y:-30.75, Z:-6.40 [[ 9.91654856e-01 1.28153155e-01 1.40504618e-02 2.26538812e+02] [-1.28139476e-01 9.91754388e-01 -1.87323910e-03 -3.07499477e+01] [-1.41746686e-02 5.71878373e-05 9.99899533e-01 -6.39618632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91420382200002 meters 0.0142738327158909 Centerline is valid? [True, True] Translation: X:226.57, Y:-30.76, Z:-6.40 [[ 9.91921276e-01 1.26101950e-01 1.38014457e-02 2.26568203e+02] [-1.26088561e-01 9.92017284e-01 -1.83953857e-03 -3.07568165e+01] [-1.39232421e-02 8.44730211e-05 9.99903063e-01 -6.39643229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94420382200002 meters 0.014790361062796971 Centerline is valid? [True, True] Translation: X:226.60, Y:-30.76, Z:-6.40 [[ 9.92038394e-01 1.25187085e-01 1.37119998e-02 2.26596167e+02] [-1.25173778e-01 9.92133149e-01 -1.82780732e-03 -3.07632339e+01] [-1.38329474e-02 9.68722062e-05 9.99904316e-01 -6.39760571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97420382200002 meters 0.01566845808550596 Centerline is valid? [True, True] Translation: X:226.62, Y:-30.77, Z:-6.40 [[ 9.92074315e-01 1.24892936e-01 1.37952321e-02 2.26624482e+02] [-1.24879446e-01 9.92170219e-01 -1.83837731e-03 -3.07686960e+01] [-1.39168188e-02 1.01065972e-04 9.99903151e-01 -6.39965461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00420382200002 meters 0.023446870388630654 Centerline is valid? [True, True] Translation: X:226.65, Y:-30.77, Z:-6.40 [[ 9.91989344e-01 1.25606018e-01 1.34264851e-02 2.26653846e+02] [-1.25593314e-01 9.92080199e-01 -1.78857138e-03 -3.07709279e+01] [-1.35448053e-02 8.79669886e-05 9.99908261e-01 -6.40472023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03420382200002 meters 0.014476663785631411 Centerline is valid? [True, True] Translation: X:226.68, Y:-30.77, Z:-6.40 [[ 9.91881082e-01 1.26477524e-01 1.32421764e-02 2.26683587e+02] [-1.26465248e-01 9.91969470e-01 -1.76372689e-03 -3.07736541e+01] [-1.33589066e-02 7.47321984e-05 9.99910763e-01 -6.40034163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06420382200002 meters 0.014235246645246877 Centerline is valid? [True, True] Translation: X:226.71, Y:-30.78, Z:-6.40 [[ 9.91768881e-01 1.27315499e-01 1.36106890e-02 2.26711784e+02] [-1.27302612e-01 9.91862268e-01 -1.81263174e-03 -3.07771413e+01] [-1.37307049e-02 6.50354972e-05 9.99905727e-01 -6.40103030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09420382200003 meters 0.013821817292135505 Centerline is valid? [True, True] Translation: X:226.74, Y:-30.78, Z:-6.40 [[ 9.91580773e-01 1.28917236e-01 1.21620977e-02 2.26741739e+02] [-1.28907073e-01 9.91655356e-01 -1.61918954e-03 -3.07795702e+01] [-1.22693508e-02 3.77767982e-05 9.99924728e-01 -6.40227315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124203822 meters 0.013971737954365132 Centerline is valid? [True, True] Translation: X:226.77, Y:-30.78, Z:-6.41 [[ 9.91496614e-01 1.29578534e-01 1.19944826e-02 2.26769569e+02] [-1.29568692e-01 9.91569162e-01 -1.59726997e-03 -3.07835338e+01] [-1.21003309e-02 2.95783423e-05 9.99926788e-01 -6.40506003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.154203822 meters 0.013719919784666305 Centerline is valid? [True, True] Translation: X:226.80, Y:-30.79, Z:-6.41 [[ 9.91436270e-01 1.30054687e-01 1.18279453e-02 2.26797952e+02] [-1.30045163e-01 9.91506822e-01 -1.57403966e-03 -3.07878473e+01] [-1.19321997e-02 2.23929231e-05 9.99928809e-01 -6.40567353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184203822 meters 0.013396005885298701 Centerline is valid? [True, True] Translation: X:226.83, Y:-30.79, Z:-6.41 [[ 9.91350440e-01 1.30693912e-01 1.19752637e-02 2.26826617e+02] [-1.30684206e-01 9.91422766e-01 -1.59284945e-03 -3.07916513e+01] [-1.20807247e-02 1.40941772e-05 9.99927025e-01 -6.40544406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.214203822 meters 0.013957062760361153 Centerline is valid? [True, True] Translation: X:226.85, Y:-30.79, Z:-6.41 [[ 9.91090175e-01 1.32677705e-01 1.17000465e-02 2.26854481e+02] [-1.32668579e-01 9.91159234e-01 -1.55624072e-03 -3.07936637e+01] [-1.18030875e-02 -9.85364718e-06 9.99930341e-01 -6.40835263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.244203822 meters 0.014715941688687945 Centerline is valid? [True, True] Translation: X:226.88, Y:-30.80, Z:-6.41 [[ 9.90752754e-01 1.35360167e-01 9.30617240e-03 2.26883620e+02] [-1.35354520e-01 9.90796459e-01 -1.23689338e-03 -3.07967387e+01] [-9.38794876e-03 -3.41769819e-05 9.99955932e-01 -6.41058432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.274203822 meters 0.01644874069974549 Centerline is valid? [True, True] Translation: X:226.91, Y:-30.80, Z:-6.42 [[ 9.90572339e-01 1.36719774e-01 8.61068794e-03 2.26911180e+02] [-1.36714985e-01 9.90609762e-01 -1.14520333e-03 -3.07992091e+01] [-8.68640347e-03 -4.28033294e-05 9.99962272e-01 -6.41564591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.304203822 meters 0.017019943745702516 Centerline is valid? [True, True] Translation: X:226.94, Y:-30.80, Z:-6.42 [[ 9.90392007e-01 1.38030429e-01 8.44233657e-03 2.26939883e+02] [-1.38025881e-01 9.90427987e-01 -1.12178379e-03 -3.08015815e+01] [-8.51636672e-03 -5.42552500e-05 9.99963734e-01 -6.41636862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.334203822 meters 0.016822478873059477 Centerline is valid? [True, True] Translation: X:226.97, Y:-30.80, Z:-6.41 [[ 9.90069756e-01 1.40172161e-01 1.06603520e-02 2.26969240e+02] [-1.40165042e-01 9.90127142e-01 -1.41566171e-03 -3.08034392e+01] [-1.07535402e-02 -9.26048406e-05 9.99942175e-01 -6.41182954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.364203822 meters 0.017823762462703476 Centerline is valid? [True, True] Translation: X:227.00, Y:-30.81, Z:-6.41 [[ 9.90001871e-01 1.40592475e-01 1.14040253e-02 2.26996744e+02] [-1.40584362e-01 9.90067546e-01 -1.51395252e-03 -3.08058727e+01] [-1.15036057e-02 -1.04411801e-04 9.99933826e-01 -6.41315496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.394203822 meters 0.018012120626739153 Centerline is valid? [True, True] Translation: X:227.03, Y:-30.81, Z:-6.42 [[ 9.90052135e-01 1.40327314e-01 1.02477001e-02 2.27025294e+02] [-1.40320756e-01 9.90105164e-01 -1.35972606e-03 -3.08117525e+01] [-1.03371075e-02 -9.17653400e-05 9.99946566e-01 -6.41599604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.424203822 meters 0.018289928492339465 Centerline is valid? [True, True] Translation: X:227.05, Y:-30.82, Z:-6.42 [[ 9.90041490e-01 1.40443100e-01 9.67383321e-03 2.27053315e+02] [-1.40437265e-01 9.90088748e-01 -1.28319689e-03 -3.08164142e+01] [-9.75816956e-03 -8.81485236e-05 9.99952384e-01 -6.41824353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.454203822 meters 0.01696813174827435 Centerline is valid? [True, True] Translation: X:227.08, Y:-30.82, Z:-6.42 [[ 9.90008309e-01 1.40737720e-01 8.74312087e-03 2.27081215e+02] [-1.40732967e-01 9.90046912e-01 -1.15952653e-03 -3.08228385e+01] [-8.81928894e-03 -8.25044441e-05 9.99961106e-01 -6.41637594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.484203822 meters 0.019546438487372114 Centerline is valid? [True, True] Translation: X:227.11, Y:-30.82, Z:-6.42 [[ 9.89684667e-01 1.43039234e-01 8.00235985e-03 2.27109142e+02] [-1.43035328e-01 9.89717014e-01 -1.06125266e-03 -3.08218555e+01] [-8.07187247e-03 -9.43146851e-05 9.99967417e-01 -6.41890438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.514203822 meters 0.019982367770628135 Centerline is valid? [True, True] Translation: X:227.14, Y:-30.82, Z:-6.42 [[ 9.89473270e-01 1.44466021e-01 8.49805388e-03 2.27137584e+02] [-1.44461675e-01 9.89509755e-01 -1.12629704e-03 -3.08231796e+01] [-8.57161886e-03 -1.13202284e-04 9.99963257e-01 -6.41841383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54420382200001 meters 0.023519996083798598 Centerline is valid? [True, True] Translation: X:227.17, Y:-30.82, Z:-6.42 [[ 9.89244080e-01 1.45985168e-01 9.19136060e-03 2.27165306e+02] [-1.45980156e-01 9.89286769e-01 -1.21743979e-03 -3.08227246e+01] [-9.27061958e-03 -1.37411152e-04 9.99957017e-01 -6.42121968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57420382200002 meters 0.024139240769549247 Centerline is valid? [True, True] Translation: X:227.19, Y:-30.83, Z:-6.42 [[ 9.89170121e-01 1.46471723e-01 9.40777096e-03 2.27193677e+02] [-1.46466504e-01 9.89214847e-01 -1.24515855e-03 -3.08256220e+01] [-9.48868722e-03 -1.46249689e-04 9.99954971e-01 -6.42173479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60420382200002 meters 0.023256573505774893 Centerline is valid? [True, True] Translation: X:227.22, Y:-30.83, Z:-6.42 [[ 9.89193641e-01 1.46278413e-01 9.92808237e-03 2.27222528e+02] [-1.46272596e-01 9.89243450e-01 -1.31349069e-03 -3.08294986e+01] [-1.00134258e-02 -1.52909741e-04 9.99949853e-01 -6.42069384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63420382200002 meters 0.01996796115811973 Centerline is valid? [True, True] Translation: X:227.25, Y:-30.84, Z:-6.42 [[ 9.89426910e-01 1.44655775e-01 1.04449730e-02 2.27250848e+02] [-1.44649251e-01 9.89482029e-01 -1.38134862e-03 -3.08366669e+01] [-1.05349331e-02 -1.44114024e-04 9.99944496e-01 -6.41728825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66420382200002 meters 0.01796409574470585 Centerline is valid? [True, True] Translation: X:227.28, Y:-30.84, Z:-6.42 [[ 9.89916657e-01 1.41290702e-01 1.00970540e-02 2.27277541e+02] [-1.41284433e-01 9.89968144e-01 -1.33509753e-03 -3.08439501e+01] [-1.01843986e-02 -1.04921259e-04 9.99948132e-01 -6.41875903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69420382200002 meters 0.02103770591625327 Centerline is valid? [True, True] Translation: X:227.31, Y:-30.85, Z:-6.42 [[ 9.90181893e-01 1.39408556e-01 1.02505244e-02 2.27305915e+02] [-1.39402003e-01 9.90234945e-01 -1.35448584e-03 -3.08495935e+01] [-1.03392544e-02 -8.77562863e-05 9.99946545e-01 -6.42262443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72420382200002 meters 0.01600558827336655 Centerline is valid? [True, True] Translation: X:227.33, Y:-30.86, Z:-6.42 [[ 9.90469088e-01 1.37364964e-01 1.00921822e-02 2.27333513e+02] [-1.37358509e-01 9.90520501e-01 -1.33329795e-03 -3.08566063e+01] [-1.01796618e-02 -6.56566920e-05 9.99948184e-01 -6.42201661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75420382200002 meters 0.015184537007930599 Centerline is valid? [True, True] Translation: X:227.36, Y:-30.87, Z:-6.42 [[ 9.90866442e-01 1.34564293e-01 8.72613687e-03 2.27361860e+02] [-1.34559367e-01 9.90904864e-01 -1.15179093e-03 -3.08675390e+01] [-8.80176141e-03 -3.29124751e-05 9.99961263e-01 -6.42437673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78420382200002 meters 0.014901457807028283 Centerline is valid? [True, True] Translation: X:227.39, Y:-30.87, Z:-6.42 [[ 9.90935923e-01 1.34028370e-01 9.07701793e-03 2.27390527e+02] [-1.34023016e-01 9.90977495e-01 -1.19832723e-03 -3.08731409e+01] [-9.15573034e-03 -2.90638193e-05 9.99958085e-01 -6.42441857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81420382200002 meters 0.01505232765833734 Centerline is valid? [True, True] Translation: X:227.42, Y:-30.87, Z:-6.42 [[ 9.90760281e-01 1.35268718e-01 9.82034424e-03 2.27419684e+02] [-1.35262519e-01 9.90808948e-01 -1.29584871e-03 -3.08730752e+01] [-9.90537274e-03 -4.44490673e-05 9.99950940e-01 -6.42366073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84420382200003 meters 0.01569217622950324 Centerline is valid? [True, True] Translation: X:227.45, Y:-30.87, Z:-6.42 [[ 9.90579732e-01 1.36596568e-01 9.65256360e-03 2.27449176e+02] [-1.36590645e-01 9.90626758e-01 -1.27325520e-03 -3.08729384e+01] [-9.73601009e-03 -5.71890927e-05 9.99952602e-01 -6.42456774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.874203822 meters 0.016631938239667667 Centerline is valid? [True, True] Translation: X:227.48, Y:-30.87, Z:-6.43 [[ 9.90351524e-01 1.38282063e-01 9.05156488e-03 2.27478595e+02] [-1.38276929e-01 9.90392885e-01 -1.19361980e-03 -3.08729668e+01] [-9.12966166e-03 -6.95194076e-05 9.99958321e-01 -6.42544175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904203822 meters 0.01978577405414557 Centerline is valid? [True, True] Translation: X:227.51, Y:-30.87, Z:-6.43 [[ 9.89817002e-01 1.42119980e-01 8.01330553e-03 2.27507716e+02] [-1.42116086e-01 9.89849434e-01 -1.05620726e-03 -3.08687674e+01] [-8.08207410e-03 -9.33677172e-05 9.99967335e-01 -6.42740675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.934203822 meters 0.021172127991307556 Centerline is valid? [True, True] Translation: X:227.54, Y:-30.87, Z:-6.43 [[ 9.89516592e-01 1.44212945e-01 7.71627383e-03 2.27536580e+02] [-1.44209398e-01 9.89546672e-01 -1.01706434e-03 -3.08686080e+01] [-7.78228693e-03 -1.06357163e-04 9.99969712e-01 -6.42848075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.964203822 meters 0.024155653975167075 Centerline is valid? [True, True] Translation: X:227.56, Y:-30.87, Z:-6.43 [[ 9.89068106e-01 1.47267350e-01 7.52387268e-03 2.27564470e+02] [-1.47264065e-01 9.89096715e-01 -9.91869123e-04 -3.08651034e+01] [-7.58790769e-03 -1.26969957e-04 9.99971203e-01 -6.43080585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.994203822 meters 0.02587068275679904 Centerline is valid? [True, True] Translation: X:227.59, Y:-30.86, Z:-6.43 [[ 9.89008566e-01 1.47652164e-01 7.80348839e-03 2.27592123e+02] [-1.47648646e-01 9.89039342e-01 -1.02814550e-03 -3.08646823e+01] [-7.86976493e-03 -1.35329785e-04 9.99969024e-01 -6.43302664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.024203822 meters 0.02539014111837397 Centerline is valid? [True, True] Translation: X:227.62, Y:-30.86, Z:-6.43 [[ 9.89055049e-01 1.47248896e-01 9.37404116e-03 2.27621321e+02] [-1.47243818e-01 9.89099458e-01 -1.23330558e-03 -3.08647144e+01] [-9.45346191e-03 -1.60462500e-04 9.99955302e-01 -6.43163645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.054203822 meters 0.024646290691790907 Centerline is valid? [True, True] Translation: X:227.65, Y:-30.87, Z:-6.43 [[ 9.89146888e-01 1.46618631e-01 9.56088870e-03 2.27649623e+02] [-1.46613325e-01 9.89193081e-01 -1.25740955e-03 -3.08679446e+01] [-9.64192462e-03 -1.57990930e-04 9.99953503e-01 -6.43143690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.084203822 meters 0.024646290691790907 Centerline is valid? [True, True] Translation: X:227.68, Y:-30.87, Z:-6.43 [[ 9.89157204e-01 1.46549017e-01 9.56089054e-03 2.27676895e+02] [-1.46543707e-01 9.89203397e-01 -1.25739589e-03 -3.08713881e+01] [-9.64193554e-03 -1.57326144e-04 9.99953503e-01 -6.43221925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.114203822 meters 0.02309918049088138 Centerline is valid? [True, True] Translation: X:227.71, Y:-30.88, Z:-6.43 [[ 9.89476427e-01 1.44422035e-01 8.86991825e-03 2.27705395e+02] [-1.44417388e-01 9.89516174e-01 -1.16556829e-03 -3.08763476e+01] [-8.94526132e-03 -1.27668083e-04 9.99959982e-01 -6.43486908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.144203822 meters 0.02171362212623937 Centerline is valid? [True, True] Translation: X:227.73, Y:-30.88, Z:-6.44 [[ 9.89716066e-01 1.42837725e-01 7.71313115e-03 2.27734011e+02] [-1.42834164e-01 9.89746116e-01 -1.01338078e-03 -3.08820050e+01] [-7.77879060e-03 -9.87394042e-05 9.99969740e-01 -6.43655603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.174203822 meters 0.019891343050144294 Centerline is valid? [True, True] Translation: X:227.76, Y:-30.89, Z:-6.44 [[ 9.90112245e-01 1.40098349e-01 7.08485147e-03 2.27762270e+02] [-1.40095276e-01 9.90137590e-01 -9.30601293e-04 -3.08872634e+01] [-7.14535347e-03 -7.11544878e-05 9.99974469e-01 -6.43844294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.204203822 meters 0.01919528923675891 Centerline is valid? [True, True] Translation: X:227.79, Y:-30.89, Z:-6.44 [[ 9.90240651e-01 1.39160057e-01 7.61122319e-03 2.27791368e+02] [-1.39156489e-01 9.90269899e-01 -9.99021400e-04 -3.08906234e+01] [-7.67618910e-03 -6.98794917e-05 9.99970535e-01 -6.43860722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.234203822 meters 0.017342808439829858 Centerline is valid? [True, True] Translation: X:227.82, Y:-30.89, Z:-6.43 [[ 9.90329310e-01 1.38477795e-01 8.47103375e-03 2.27820353e+02] [-1.38473351e-01 9.90365536e-01 -1.11174122e-03 -3.08947231e+01] [-8.54337135e-03 -7.20225158e-05 9.99963502e-01 -6.43438887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.264203822 meters 0.016974188452945613 Centerline is valid? [True, True] Translation: X:227.85, Y:-30.90, Z:-6.43 [[ 9.90452387e-01 1.37495995e-01 9.94590215e-03 2.27848025e+02] [-1.37489824e-01 9.90502320e-01 -1.30477952e-03 -3.08955597e+01] [-1.00308411e-02 -7.51383455e-05 9.99949687e-01 -6.43369442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29420382200001 meters 0.015494353026500754 Centerline is valid? [True, True] Translation: X:227.88, Y:-30.90, Z:-6.43 [[ 9.90596971e-01 1.36381756e-01 1.08469958e-02 2.27876663e+02] [-1.36374361e-01 9.90656354e-01 -1.42195122e-03 -3.08991498e+01] [-1.09395735e-02 -7.06715428e-05 9.99940159e-01 -6.43059273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32420382200002 meters 0.015824829035460824 Centerline is valid? [True, True] Translation: X:227.90, Y:-30.90, Z:-6.43 [[ 9.90602958e-01 1.36275700e-01 1.16066466e-02 2.27904032e+02] [-1.36267231e-01 9.90670948e-01 -1.52105582e-03 -3.09012799e+01] [-1.17056505e-02 -7.48431978e-05 9.99931484e-01 -6.43155357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35420382200002 meters 0.015165502554844409 Centerline is valid? [True, True] Translation: X:227.93, Y:-30.90, Z:-6.43 [[ 9.90579419e-01 1.36418123e-01 1.19378065e-02 2.27932332e+02] [-1.36409187e-01 9.90651346e-01 -1.56346075e-03 -3.09043676e+01] [-1.20394885e-02 -7.96944362e-05 9.99927520e-01 -6.42999000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38420382200002 meters 0.015865473130087702 Centerline is valid? [True, True] Translation: X:227.96, Y:-30.90, Z:-6.43 [[ 9.90600044e-01 1.36292767e-01 1.16547846e-02 2.27959925e+02] [-1.36284243e-01 9.90668600e-01 -1.52625302e-03 -3.09033972e+01] [-1.17540464e-02 -7.64571793e-05 9.99930916e-01 -6.43355370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41420382200002 meters 0.015378331107040002 Centerline is valid? [True, True] Translation: X:227.99, Y:-30.91, Z:-6.43 [[ 9.90664534e-01 1.35833368e-01 1.15359437e-02 2.27988200e+02] [-1.35825000e-01 9.90731695e-01 -1.50942464e-03 -3.09060183e+01] [-1.16340552e-02 -7.15360964e-05 9.99932320e-01 -6.43435749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44420382200002 meters 0.014958806534271432 Centerline is valid? [True, True] Translation: X:228.02, Y:-30.91, Z:-6.44 [[ 9.90866261e-01 1.34275479e-01 1.24156747e-02 2.28016119e+02] [-1.34265670e-01 9.90944041e-01 -1.62400195e-03 -3.09091966e+01] [-1.25213025e-02 -5.78301410e-05 9.99921604e-01 -6.43644256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47420382200002 meters 0.014552497596875942 Centerline is valid? [True, True] Translation: X:228.04, Y:-30.91, Z:-6.44 [[ 9.90939639e-01 1.33729102e-01 1.24562751e-02 2.28044370e+02] [-1.33719198e-01 9.91017924e-01 -1.62833590e-03 -3.09134224e+01] [-1.25621478e-02 -5.20605284e-05 9.99921092e-01 -6.43644526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50420382200002 meters 0.014491345507023874 Centerline is valid? [True, True] Translation: X:228.07, Y:-30.92, Z:-6.44 [[ 9.90990999e-01 1.33326062e-01 1.26886482e-02 2.28072155e+02] [-1.33315757e-01 9.91072227e-01 -1.65832296e-03 -3.09152347e+01] [-1.27964645e-02 -4.82136211e-05 9.99918121e-01 -6.43630476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53420382200002 meters 0.014385330160491662 Centerline is valid? [True, True] Translation: X:228.10, Y:-30.92, Z:-6.44 [[ 9.91094659e-01 1.32602744e-01 1.21609938e-02 2.28101061e+02] [-1.32593236e-01 9.91169264e-01 -1.58840961e-03 -3.09180258e+01] [-1.22642307e-02 -3.82012259e-05 9.99924791e-01 -6.43702529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56420382200002 meters 0.014165178931052567 Centerline is valid? [True, True] Translation: X:228.13, Y:-30.92, Z:-6.44 [[ 9.91223739e-01 1.31695120e-01 1.14845505e-02 2.28129896e+02] [-1.31686585e-01 9.91290268e-01 -1.49959805e-03 -3.09216759e+01] [-1.15820129e-02 -2.59240483e-05 9.99932926e-01 -6.43828244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59420382200003 meters 0.014345459037585053 Centerline is valid? [True, True] Translation: X:228.16, Y:-30.93, Z:-6.44 [[ 9.91432332e-01 1.30162382e-01 1.09400719e-02 2.28157571e+02] [-1.30154546e-01 9.91492690e-01 -1.42824091e-03 -3.09261428e+01] [-1.10329046e-02 -7.89588005e-06 9.99939136e-01 -6.44162546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624203822 meters 0.01452759448119333 Centerline is valid? [True, True] Translation: X:228.19, Y:-30.93, Z:-6.44 [[ 9.91855913e-01 1.26931969e-01 1.04939597e-02 2.28185571e+02] [-1.26924587e-01 9.91911425e-01 -1.36922541e-03 -3.09344554e+01] [-1.05828770e-02 2.61328171e-05 9.99943999e-01 -6.44347150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.654203822 meters 0.014490781046706078 Centerline is valid? [True, True] Translation: X:228.21, Y:-30.94, Z:-6.44 [[ 9.92083563e-01 1.25119001e-01 1.07442992e-02 2.28213787e+02] [-1.25111162e-01 9.92141741e-01 -1.40136328e-03 -3.09404041e+01] [-1.08352049e-02 4.60377131e-05 9.99941296e-01 -6.44243462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.684203822 meters 0.015716950095922926 Centerline is valid? [True, True] Translation: X:228.24, Y:-30.95, Z:-6.44 [[ 9.92475602e-01 1.21927633e-01 1.12174359e-02 2.28241460e+02] [-1.21918887e-01 9.92538989e-01 -1.46277567e-03 -3.09467262e+01] [-1.13120952e-02 8.41518678e-05 9.99936013e-01 -6.44322983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.714203822 meters 0.016785755386996084 Centerline is valid? [True, True] Translation: X:228.27, Y:-30.95, Z:-6.44 [[ 9.92685995e-01 1.20194289e-01 1.13070066e-02 2.28269829e+02] [-1.20185303e-01 9.92750383e-01 -1.47333722e-03 -3.09519787e+01] [-1.14021218e-02 1.03625215e-04 9.99934988e-01 -6.44375198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.744203822 meters 0.01845827533139181 Centerline is valid? [True, True] Translation: X:228.30, Y:-30.96, Z:-6.45 [[ 9.92870563e-01 1.18636978e-01 1.15461242e-02 2.28296595e+02] [-1.18627508e-01 9.92937688e-01 -1.50409863e-03 -3.09584821e+01] [-1.16430236e-02 1.23687310e-04 9.99932210e-01 -6.44574064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.774203822 meters 0.020712402834722084 Centerline is valid? [True, True] Translation: X:228.33, Y:-30.97, Z:-6.45 [[ 9.93201680e-01 1.15894252e-01 1.09061636e-02 2.28325656e+02] [-1.15885650e-01 9.93261547e-01 -1.41952331e-03 -3.09665179e+01] [-1.09971875e-02 1.46005086e-04 9.99939518e-01 -6.44715505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.804203822 meters 0.021877370754600424 Centerline is valid? [True, True] Translation: X:228.35, Y:-30.97, Z:-6.45 [[ 9.93318827e-01 1.14944432e-01 1.02705633e-02 2.28353383e+02] [-1.14936751e-01 9.93371912e-01 -1.33700904e-03 -3.09710890e+01] [-1.03561708e-02 1.47611077e-04 9.99946363e-01 -6.44911494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.834203822 meters 0.0212471709363472 Centerline is valid? [True, True] Translation: X:228.38, Y:-30.97, Z:-6.45 [[ 9.93418770e-01 1.14086760e-01 1.01665080e-02 2.28382005e+02] [-1.14079193e-01 9.93470778e-01 -1.32303023e-03 -3.09740136e+01] [-1.02510689e-02 1.54536034e-04 9.99947444e-01 -6.44816973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.864203822 meters 0.024079995984326474 Centerline is valid? [True, True] Translation: X:228.41, Y:-30.98, Z:-6.45 [[ 9.93423955e-01 1.13981573e-01 1.08188045e-02 2.28409591e+02] [-1.13973007e-01 9.93482850e-01 -1.40708164e-03 -3.09819995e+01] [-1.09086781e-02 1.64776931e-04 9.99940485e-01 -6.45211709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.894203822 meters 0.020400433948225185 Centerline is valid? [True, True] Translation: X:228.44, Y:-30.98, Z:-6.45 [[ 9.93362805e-01 1.14460197e-01 1.13666381e-02 2.28438732e+02] [-1.14450776e-01 9.93427821e-01 -1.47807903e-03 -3.09813920e+01] [-1.14611158e-02 1.67348178e-04 9.99934305e-01 -6.44700009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.924203822 meters 0.019102873840750895 Centerline is valid? [True, True] Translation: X:228.47, Y:-30.98, Z:-6.45 [[ 9.93127117e-01 1.16475214e-01 1.14915011e-02 2.28467499e+02] [-1.16465728e-01 9.93193588e-01 -1.49352095e-03 -3.09822826e+01] [-1.15872434e-02 1.44890110e-04 9.99932855e-01 -6.44768349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.954203822 meters 0.016712473057355258 Centerline is valid? [True, True] Translation: X:228.50, Y:-30.98, Z:-6.45 [[ 9.92806987e-01 1.19180077e-01 1.14191455e-02 2.28496368e+02] [-1.19170891e-01 9.92872649e-01 -1.48391948e-03 -3.09819027e+01] [-1.15146108e-02 1.12415890e-04 9.99933698e-01 -6.44729570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.984203822 meters 0.015932811432744033 Centerline is valid? [True, True] Translation: X:228.52, Y:-30.98, Z:-6.45 [[ 9.92653364e-01 1.20430082e-01 1.16573923e-02 2.28524591e+02] [-1.20420600e-01 9.92721807e-01 -1.51447239e-03 -3.09834192e+01] [-1.17549356e-02 9.95559264e-05 9.99930903e-01 -6.44791956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.014203822 meters 0.01531898649933894 Centerline is valid? [True, True] Translation: X:228.55, Y:-30.99, Z:-6.45 [[ 9.92520468e-01 1.21505802e-01 1.18093377e-02 2.28553646e+02] [-1.21496159e-01 9.92590717e-01 -1.53323858e-03 -3.09859485e+01] [-1.19081364e-02 8.69815001e-05 9.99929092e-01 -6.44870448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04420382200001 meters 0.015042492610977556 Centerline is valid? [True, True] Translation: X:228.58, Y:-30.99, Z:-6.45 [[ 9.92402703e-01 1.22511907e-01 1.13007727e-02 2.28582447e+02] [-1.22503148e-01 9.92467041e-01 -1.46671416e-03 -3.09887740e+01] [-1.13953344e-02 7.11908721e-05 9.99935069e-01 -6.45122419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07420382200002 meters 0.015154897706912277 Centerline is valid? [True, True] Translation: X:228.61, Y:-30.99, Z:-6.45 [[ 9.92372761e-01 1.22724265e-01 1.16214132e-02 2.28609987e+02] [-1.22715021e-01 9.92440804e-01 -1.50791460e-03 -3.09928936e+01] [-1.17186223e-02 7.02914165e-05 9.99931332e-01 -6.45291115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10420382200002 meters 0.015147499781517717 Centerline is valid? [True, True] Translation: X:228.64, Y:-31.00, Z:-6.45 [[ 9.92329119e-01 1.23005195e-01 1.23548601e-02 2.28637510e+02] [-1.22994780e-01 9.92406024e-01 -1.60218746e-03 -3.09979333e+01] [-1.24581150e-02 7.03139623e-05 9.99922392e-01 -6.45358391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13420382200002 meters 0.015035782659058167 Centerline is valid? [True, True] Translation: X:228.67, Y:-31.00, Z:-6.45 [[ 9.92363610e-01 1.22762179e-01 1.19964035e-02 2.28666491e+02] [-1.22752353e-01 9.92436115e-01 -1.55483328e-03 -3.10021540e+01] [-1.20965388e-02 7.03732092e-05 9.99926832e-01 -6.45441842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16420382200002 meters 0.01558741820859181 Centerline is valid? [True, True] Translation: X:228.69, Y:-31.01, Z:-6.46 [[ 9.92401387e-01 1.22529058e-01 1.12302000e-02 2.28693874e+02] [-1.22520433e-01 9.92464924e-01 -1.45539282e-03 -3.10068188e+01] [-1.13239075e-02 6.84048837e-05 9.99935880e-01 -6.45638701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19420382200002 meters 0.016334273163041285 Centerline is valid? [True, True] Translation: X:228.72, Y:-31.02, Z:-6.46 [[ 9.92521104e-01 1.21619757e-01 1.05115288e-02 2.28722130e+02] [-1.21612160e-01 9.92576763e-01 -1.36132497e-03 -3.10159568e+01] [-1.05990632e-02 7.28140460e-05 9.99943826e-01 -6.45995195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22420382200002 meters 0.017105612682926652 Centerline is valid? [True, True] Translation: X:228.75, Y:-31.03, Z:-6.46 [[ 9.92697648e-01 1.20190865e-01 1.02730968e-02 2.28750988e+02] [-1.20183541e-01 9.92750799e-01 -1.32956313e-03 -3.10266771e+01] [-1.03584264e-02 8.51970434e-05 9.99946346e-01 -6.46041801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25420382200002 meters 0.017465321488106752 Centerline is valid? [True, True] Translation: X:228.78, Y:-31.03, Z:-6.46 [[ 9.92736777e-01 1.19831615e-01 1.06806692e-02 2.28777896e+02] [-1.19823674e-01 9.92794226e-01 -1.38265261e-03 -3.10322739e+01] [-1.07693922e-02 9.28130755e-05 9.99942004e-01 -6.46109023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28420382200002 meters 0.017368585181358642 Centerline is valid? [True, True] Translation: X:228.81, Y:-31.04, Z:-6.46 [[ 9.92735104e-01 1.19854925e-01 1.05740595e-02 2.28806101e+02] [-1.19847152e-01 9.92791412e-01 -1.36802871e-03 -3.10374107e+01] [-1.06618005e-02 9.08192015e-05 9.99943157e-01 -6.46154293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31420382200002 meters 0.01603063195859758 Centerline is valid? [True, True] Translation: X:228.83, Y:-31.04, Z:-6.46 [[ 9.92616214e-01 1.20815414e-01 1.08022135e-02 2.28834833e+02] [-1.20807364e-01 9.92674987e-01 -1.39703432e-03 -3.10422645e+01] [-1.08918704e-02 8.17319821e-05 9.99940678e-01 -6.45975932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34420382200003 meters 0.015235439236456781 Centerline is valid? [True, True] Translation: X:228.86, Y:-31.05, Z:-6.46 [[ 9.92507359e-01 1.21700418e-01 1.08696691e-02 2.28863454e+02] [-1.21692327e-01 9.92566876e-01 -1.40522462e-03 -3.10454772e+01] [-1.09598899e-02 7.19404538e-05 9.99939936e-01 -6.45962448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.374203822 meters 0.014411552492293946 Centerline is valid? [True, True] Translation: X:228.89, Y:-31.05, Z:-6.46 [[ 9.92200739e-01 1.24188904e-01 1.07148974e-02 2.28891490e+02] [-1.24181189e-01 9.92258592e-01 -1.38498881e-03 -3.10485299e+01] [-1.08039492e-02 4.35982193e-05 9.99941635e-01 -6.46140259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404203822 meters 0.013921355754140184 Centerline is valid? [True, True] Translation: X:228.92, Y:-31.05, Z:-6.46 [[ 9.92012418e-01 1.25686298e-01 1.06919046e-02 2.28920064e+02] [-1.25678708e-01 9.92070035e-01 -1.38158126e-03 -3.10517448e+01] [-1.07807640e-02 2.68010109e-05 9.99941886e-01 -6.46197659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.434203822 meters 0.013387705771564656 Centerline is valid? [True, True] Translation: X:228.95, Y:-31.05, Z:-6.46 [[ 9.91792149e-01 1.27383579e-01 1.10343955e-02 2.28949178e+02] [-1.27375616e-01 9.91853529e-01 -1.42433652e-03 -3.10541683e+01] [-1.11259412e-02 7.13284806e-06 9.99938105e-01 -6.46092488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.464203822 meters 0.013461737597283644 Centerline is valid? [True, True] Translation: X:228.98, Y:-31.05, Z:-6.46 [[ 9.91241931e-01 1.31419741e-01 1.29725418e-02 2.28978210e+02] [-1.31409094e-01 9.91326813e-01 -1.67340953e-03 -3.10527682e+01] [-1.30799476e-02 -4.59562773e-05 9.99914453e-01 -6.45853037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.494203822 meters 0.016078918962750082 Centerline is valid? [True, True] Translation: X:229.01, Y:-31.05, Z:-6.46 [[ 9.90705764e-01 1.35376293e-01 1.32419083e-02 2.29006553e+02] [-1.35365555e-01 9.90794252e-01 -1.70801268e-03 -3.10508009e+01] [-1.33512310e-02 -1.00360247e-04 9.99910863e-01 -6.46092262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.524203822 meters 0.01773669346091802 Centerline is valid? [True, True] Translation: X:229.04, Y:-31.05, Z:-6.46 [[ 9.90464422e-01 1.37199320e-01 1.25129955e-02 2.29035554e+02] [-1.37189889e-01 9.90543453e-01 -1.61307309e-03 -3.10518552e+01] [-1.26159783e-02 -1.18964952e-04 9.99920408e-01 -6.46292308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.554203822 meters 0.019241692673613572 Centerline is valid? [True, True] Translation: X:229.06, Y:-31.05, Z:-6.46 [[ 9.90217173e-01 1.38990279e-01 1.23147571e-02 2.29064556e+02] [-1.38981290e-01 9.90293736e-01 -1.58695452e-03 -3.10530013e+01] [-1.24157981e-02 -1.40091203e-04 9.99922911e-01 -6.46427937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.584203822 meters 0.031477018464983075 Centerline is valid? [True, True] Translation: X:229.09, Y:-31.05, Z:-6.47 [[ 9.89811857e-01 1.41755755e-01 1.33339187e-02 2.29092997e+02] [-1.41745474e-01 9.89901647e-01 -1.71774923e-03 -3.10535911e+01] [-1.34427689e-02 -1.89774073e-04 9.99909624e-01 -6.46521180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.614203822 meters 0.02127383793002459 Centerline is valid? [True, True] Translation: X:229.12, Y:-31.06, Z:-6.46 [[ 9.89755422e-01 1.42065887e-01 1.41946303e-02 2.29120384e+02] [-1.42054282e-01 9.89857182e-01 -1.82763315e-03 -3.10556936e+01] [-1.43103011e-02 -2.07498194e-04 9.99897581e-01 -6.46278619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.644203822 meters 0.024444272541792225 Centerline is valid? [True, True] Translation: X:229.15, Y:-31.05, Z:-6.47 [[ 9.89659975e-01 1.42695878e-01 1.45265227e-02 2.29148548e+02] [-1.42683804e-01 9.89766557e-01 -1.86949896e-03 -3.10540001e+01] [-1.46446362e-02 -2.22531232e-04 9.99892737e-01 -6.46524522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.674203822 meters 0.02216615346168649 Centerline is valid? [True, True] Translation: X:229.18, Y:-31.06, Z:-6.46 [[ 9.89656460e-01 1.42815236e-01 1.35609487e-02 2.29177010e+02] [-1.42804740e-01 9.89749344e-01 -1.74419762e-03 -3.10598182e+01] [-1.36710381e-02 -2.10411309e-04 9.99906525e-01 -6.46398432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.704203822 meters 0.02243929411233415 Centerline is valid? [True, True] Translation: X:229.21, Y:-31.06, Z:-6.47 [[ 9.89570450e-01 1.43637156e-01 1.08946093e-02 2.29205398e+02] [-1.43630432e-01 9.89630404e-01 -1.40122815e-03 -3.10603867e+01] [-1.09829050e-02 -1.78183468e-04 9.99939670e-01 -6.46794684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.734203822 meters 0.02507814963289053 Centerline is valid? [True, True] Translation: X:229.23, Y:-31.06, Z:-6.47 [[ 9.89471946e-01 1.44351427e-01 1.03890688e-02 2.29233452e+02] [-1.44345357e-01 9.89526470e-01 -1.33564839e-03 -3.10588229e+01] [-1.04730613e-02 -1.78027231e-04 9.99945140e-01 -6.47197384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.764203822 meters 0.02379454058926675 Centerline is valid? [True, True] Translation: X:229.26, Y:-31.06, Z:-6.47 [[ 9.89394123e-01 1.44841217e-01 1.09677513e-02 2.29261620e+02] [-1.44834488e-01 9.89454893e-01 -1.40947988e-03 -3.10602664e+01] [-1.10562459e-02 -1.93977537e-04 9.99938859e-01 -6.47026166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79420382200001 meters 0.025587244082397025 Centerline is valid? [True, True] Translation: X:229.29, Y:-31.06, Z:-6.47 [[ 9.89428255e-01 1.44585029e-01 1.12649268e-02 2.29289195e+02] [-1.44577927e-01 9.89492360e-01 -1.44655463e-03 -3.10596747e+01] [-1.13557092e-02 -1.97397746e-04 9.99935502e-01 -6.47315964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82420382200002 meters 0.02457711079904197 Centerline is valid? [True, True] Translation: X:229.32, Y:-31.06, Z:-6.47 [[ 9.89552265e-01 1.43764202e-01 1.08705807e-02 2.29318033e+02] [-1.43757549e-01 9.89611955e-01 -1.39504507e-03 -3.10628702e+01] [-1.09582142e-02 -1.82258029e-04 9.99939940e-01 -6.47396516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85420382200002 meters 0.02125340804732575 Centerline is valid? [True, True] Translation: X:229.35, Y:-31.07, Z:-6.47 [[ 9.89884882e-01 1.41508613e-01 1.01603529e-02 2.29346129e+02] [-1.41502685e-01 9.89937014e-01 -1.30353981e-03 -3.10685055e+01] [-1.02425715e-02 -1.47362867e-04 9.99947533e-01 -6.47479130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88420382200002 meters 0.02035127103019926 Centerline is valid? [True, True] Translation: X:229.37, Y:-31.07, Z:-6.48 [[ 9.90089980e-01 1.40067869e-01 1.01401584e-02 2.29373440e+02] [-1.40061893e-01 9.90141896e-01 -1.30066571e-03 -3.10712988e+01] [-1.02223771e-02 -1.32473696e-04 9.99947741e-01 -6.47577725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91420382200002 meters 0.018894576553077295 Centerline is valid? [True, True] Translation: X:229.40, Y:-31.07, Z:-6.48 [[ 9.90490871e-01 1.37139557e-01 1.09807040e-02 2.29401361e+02] [-1.37132378e-01 9.90551730e-01 -1.40765616e-03 -3.10712987e+01] [-1.10700007e-02 -1.11539471e-04 9.99938719e-01 -6.47659034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94420382200002 meters 0.01667105985918956 Centerline is valid? [True, True] Translation: X:229.43, Y:-31.08, Z:-6.47 [[ 9.90718334e-01 1.35433697e-01 1.16145231e-02 2.29429906e+02] [-1.35425560e-01 9.90786407e-01 -1.48788316e-03 -3.10761667e+01] [-1.17090211e-02 -9.88301610e-05 9.99931442e-01 -6.47480749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97420382200002 meters 0.01667105985918956 Centerline is valid? [True, True] Translation: X:229.46, Y:-31.08, Z:-6.48 [[ 9.90724814e-01 1.35386280e-01 1.16145945e-02 2.29458008e+02] [-1.35378146e-01 9.90792887e-01 -1.48732475e-03 -3.10796725e+01] [-1.17090210e-02 -9.88327439e-05 9.99931442e-01 -6.47561353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00420382200002 meters 0.013571157670098113 Centerline is valid? [True, True] Translation: X:229.49, Y:-31.09, Z:-6.47 [[ 9.91279508e-01 1.31187995e-01 1.24357037e-02 2.29486755e+02] [-1.31178351e-01 9.91357507e-01 -1.59159857e-03 -3.10866450e+01] [-1.25370269e-02 -5.35760597e-05 9.99921407e-01 -6.47367771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03420382200002 meters 0.013237381476498162 Centerline is valid? [True, True] Translation: X:229.51, Y:-31.09, Z:-6.48 [[ 9.91562865e-01 1.29037467e-01 1.23457210e-02 2.29513821e+02] [-1.29027795e-01 9.91639719e-01 -1.58010627e-03 -3.10910156e+01] [-1.24464002e-02 -2.61664683e-05 9.99922540e-01 -6.47525710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06420382200002 meters 0.013348790590526556 Centerline is valid? [True, True] Translation: X:229.54, Y:-31.10, Z:-6.48 [[ 9.91817118e-01 1.27081331e-01 1.22122557e-02 2.29541529e+02] [-1.27071730e-01 9.91892300e-01 -1.56209818e-03 -3.10956274e+01] [-1.23117559e-02 -2.51673703e-06 9.99924207e-01 -6.47789616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09420382200003 meters 0.025814152722070542 Centerline is valid? [True, True] Translation: X:229.57, Y:-31.10, Z:-6.48 [[ 9.92334306e-01 1.23026263e-01 1.17116903e-02 2.29569238e+02] [-1.23017160e-01 9.92403414e-01 -1.49724418e-03 -3.11026562e+01] [-1.18069218e-02 4.50278985e-05 9.99930295e-01 -6.48115392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124203822 meters 0.01440333134653354 Centerline is valid? [True, True] Translation: X:229.60, Y:-31.11, Z:-6.48 [[ 9.92569065e-01 1.21145967e-01 1.14151270e-02 2.29596899e+02] [-1.21137199e-01 9.92634701e-01 -1.45900182e-03 -3.11081276e+01] [-1.15078033e-02 6.53635712e-05 9.99933781e-01 -6.47897909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.154203822 meters 0.025248394285795225 Centerline is valid? [True, True] Translation: X:229.62, Y:-31.11, Z:-6.49 [[ 9.92866190e-01 1.18859838e-01 9.43755099e-03 2.29624883e+02] [-1.18853749e-01 9.92911040e-01 -1.20548884e-03 -3.11120119e+01] [-9.51393278e-03 7.52008012e-05 9.99954739e-01 -6.48737841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.184203822 meters 0.016412110685737728 Centerline is valid? [True, True] Translation: X:229.65, Y:-31.12, Z:-6.48 [[ 9.92966662e-01 1.17990874e-01 9.76535528e-03 2.29653460e+02] [-1.17984314e-01 9.93014676e-01 -1.24720568e-03 -3.11152138e+01] [-9.84430000e-03 8.62749181e-05 9.99951540e-01 -6.48340036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.214203822 meters 0.01753617193208197 Centerline is valid? [True, True] Translation: X:229.68, Y:-31.12, Z:-6.49 [[ 9.92956809e-01 1.18052747e-01 1.00162285e-02 2.29681148e+02] [-1.18045852e-01 9.93007322e-01 -1.27893166e-03 -3.11198305e+01] [-1.00971696e-02 8.75496808e-05 9.99949018e-01 -6.48704473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.244203822 meters 0.015357341036660354 Centerline is valid? [True, True] Translation: X:229.71, Y:-31.12, Z:-6.48 [[ 9.92719059e-01 1.20009945e-01 1.03190708e-02 2.29710254e+02] [-1.20002742e-01 9.92772687e-01 -1.31668053e-03 -3.11194849e+01] [-1.04025064e-02 6.87770594e-05 9.99945890e-01 -6.48463684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.274203822 meters 0.015032518371305073 Centerline is valid? [True, True] Translation: X:229.74, Y:-31.12, Z:-6.49 [[ 9.92532226e-01 1.21570182e-01 1.00234891e-02 2.29737816e+02] [-1.21563468e-01 9.92582837e-01 -1.27873197e-03 -3.11193666e+01] [-1.01045989e-02 5.06925993e-05 9.99948946e-01 -6.48617096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.304203822 meters 0.013555738855391932 Centerline is valid? [True, True] Translation: X:229.77, Y:-31.11, Z:-6.49 [[ 9.92101808e-01 1.25041754e-01 9.92786911e-03 2.29767192e+02] [-1.25035349e-01 9.92151480e-01 -1.26575173e-03 -3.11149664e+01] [-1.00082219e-02 1.44199992e-05 9.99949916e-01 -6.48509569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.334203822 meters 0.014225752019823094 Centerline is valid? [True, True] Translation: X:229.79, Y:-31.12, Z:-6.49 [[ 9.91888007e-01 1.26690071e-01 1.03830884e-02 2.29794710e+02] [-1.26683158e-01 9.91942350e-01 -1.32342406e-03 -3.11154422e+01] [-1.04670898e-02 -2.67397369e-06 9.99945219e-01 -6.48865338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.364203822 meters 0.013485645414714833 Centerline is valid? [True, True] Translation: X:229.82, Y:-31.12, Z:-6.49 [[ 9.91694161e-01 1.28171363e-01 1.07141098e-02 2.29823424e+02] [-1.28164100e-01 9.91752036e-01 -1.36467488e-03 -3.11159057e+01] [-1.08006525e-02 -1.98241284e-05 9.99941671e-01 -6.48618157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.394203822 meters 0.014491043369577206 Centerline is valid? [True, True] Translation: X:229.85, Y:-31.11, Z:-6.49 [[ 9.91255632e-01 1.31503467e-01 1.09137574e-02 2.29852542e+02] [-1.31496136e-01 9.91315709e-01 -1.38974804e-03 -3.11113038e+01] [-1.10017358e-02 -5.75213575e-05 9.99939477e-01 -6.48694982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.424203822 meters 0.028036291974806355 Centerline is valid? [True, True] Translation: X:229.88, Y:-31.11, Z:-6.49 [[ 9.91044417e-01 1.33134380e-01 1.03053435e-02 2.29881385e+02] [-1.33127940e-01 9.91097993e-01 -1.31151113e-03 -3.11107717e+01] [-1.03882125e-02 -7.21633733e-05 9.99946038e-01 -6.49180705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.454203822 meters 0.017107764842477814 Centerline is valid? [True, True] Translation: X:229.91, Y:-31.11, Z:-6.49 [[ 9.90818008e-01 1.34709835e-01 1.15297211e-02 2.29909385e+02] [-1.34701886e-01 9.90885084e-01 -1.46679107e-03 -3.11081775e+01] [-1.16222198e-02 -9.97521725e-05 9.99932455e-01 -6.48959178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.484203822 meters 0.0168106778576252 Centerline is valid? [True, True] Translation: X:229.94, Y:-31.11, Z:-6.49 [[ 9.90795302e-01 1.34857616e-01 1.17512790e-02 2.29937414e+02] [-1.34849376e-01 9.90864982e-01 -1.49438040e-03 -3.11101327e+01] [-1.18454595e-02 -1.04027566e-04 9.99929835e-01 -6.48941521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.514203822 meters 0.016273090544617105 Centerline is valid? [True, True] Translation: X:229.97, Y:-31.11, Z:-6.49 [[ 9.90809814e-01 1.34775261e-01 1.14691183e-02 2.29965731e+02] [-1.34767411e-01 9.90876187e-01 -1.45814951e-03 -3.11127210e+01] [-1.15609987e-02 -1.00914534e-04 9.99933164e-01 -6.48882719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54420382200001 meters 0.015741830225811798 Centerline is valid? [True, True] Translation: X:229.99, Y:-31.12, Z:-6.49 [[ 9.90993701e-01 1.33402811e-01 1.16264822e-02 2.29993215e+02] [-1.33394665e-01 9.91061896e-01 -1.47677988e-03 -3.11151286e+01] [-1.17195700e-02 -8.74311329e-05 9.99931320e-01 -6.49090158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57420382200002 meters 0.013856148792548087 Centerline is valid? [True, True] Translation: X:230.02, Y:-31.12, Z:-6.49 [[ 9.91445561e-01 1.29963655e-01 1.20477478e-02 2.30021339e+02] [-1.29954675e-01 9.91518757e-01 -1.52853377e-03 -3.11220451e+01] [-1.21442217e-02 -5.02031303e-05 9.99926255e-01 -6.49103772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60420382200002 meters 0.013224587231395052 Centerline is valid? [True, True] Translation: X:230.05, Y:-31.13, Z:-6.49 [[ 9.91721675e-01 1.27873625e-01 1.16814009e-02 2.30048569e+02] [-1.27865039e-01 9.91790470e-01 -1.48193756e-03 -3.11269800e+01] [-1.17750028e-02 -2.39731835e-05 9.99930672e-01 -6.49180310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63420382200002 meters 0.012922602173322851 Centerline is valid? [True, True] Translation: X:230.08, Y:-31.13, Z:-6.49 [[ 9.91983305e-01 1.25837119e-01 1.15819441e-02 2.30077159e+02] [-1.25828556e-01 9.92050916e-01 -1.46807228e-03 -3.11312237e+01] [-1.16746163e-02 -1.03610521e-06 9.99931849e-01 -6.49169330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66420382200002 meters 0.013072402689725916 Centerline is valid? [True, True] Translation: X:230.10, Y:-31.14, Z:-6.49 [[ 9.92352419e-01 1.22818611e-01 1.23395562e-02 2.30104725e+02] [-1.22808664e-01 9.92429135e-01 -1.56358065e-03 -3.11355122e+01] [-1.24381719e-02 3.62186326e-05 9.99922642e-01 -6.49155703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69420382200002 meters 0.01338497888721238 Centerline is valid? [True, True] Translation: X:230.13, Y:-31.14, Z:-6.49 [[ 9.92493651e-01 1.21663192e-01 1.24266042e-02 2.30133223e+02] [-1.21653025e-01 9.92571441e-01 -1.57360827e-03 -3.11397286e+01] [-1.25257426e-02 5.00622269e-05 9.99921549e-01 -6.49248690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72420382200002 meters 0.014783379313711377 Centerline is valid? [True, True] Translation: X:230.16, Y:-31.14, Z:-6.50 [[ 9.92681303e-01 1.20168981e-01 1.19685468e-02 2.30160143e+02] [-1.20159449e-01 9.92753450e-01 -1.51496701e-03 -3.11441188e+01] [-1.20638682e-02 6.57454303e-05 9.99927227e-01 -6.49666197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75420382200002 meters 0.014399819116949306 Centerline is valid? [True, True] Translation: X:230.19, Y:-31.15, Z:-6.50 [[ 9.92804344e-01 1.19145794e-01 1.19922740e-02 2.30189043e+02] [-1.19136154e-01 9.92876767e-01 -1.51754876e-03 -3.11477561e+01] [-1.20876598e-02 7.79156001e-05 9.99926939e-01 -6.49516150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78420382200002 meters 0.015110820058820962 Centerline is valid? [True, True] Translation: X:230.22, Y:-31.15, Z:-6.50 [[ 9.92954052e-01 1.17825954e-01 1.26212193e-02 2.30216035e+02] [-1.17815177e-01 9.93034257e-01 -1.59661979e-03 -3.11522485e+01] [-1.27214263e-02 9.83989134e-05 9.99919075e-01 -6.49541024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81420382200002 meters 0.016372839522238693 Centerline is valid? [True, True] Translation: X:230.24, Y:-31.16, Z:-6.49 [[ 9.93120264e-01 1.16252480e-01 1.40535598e-02 2.30243957e+02] [-1.16238976e-01 9.93219686e-01 -1.77672151e-03 -3.11557335e+01] [-1.41648205e-02 1.30926736e-04 9.99899665e-01 -6.49421467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84420382200003 meters 0.016073968577670156 Centerline is valid? [True, True] Translation: X:230.27, Y:-31.16, Z:-6.49 [[ 9.93203504e-01 1.15519804e-01 1.42118041e-02 2.30273305e+02] [-1.15505934e-01 9.93305167e-01 -1.79567615e-03 -3.11575893e+01] [-1.43240946e-02 1.41924130e-04 9.99897395e-01 -6.49329457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.874203822 meters 0.017793580714882056 Centerline is valid? [True, True] Translation: X:230.30, Y:-31.16, Z:-6.50 [[ 9.93400554e-01 1.13959118e-01 1.29868867e-02 2.30300646e+02] [-1.13947407e-01 9.93485429e-01 -1.64057055e-03 -3.11624789e+01] [-1.30892406e-02 1.49921625e-04 9.99914321e-01 -6.49679547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904203822 meters 0.019625916454681723 Centerline is valid? [True, True] Translation: X:230.33, Y:-31.17, Z:-6.50 [[ 9.93534586e-01 1.12761608e-01 1.31850708e-02 2.30327632e+02] [-1.12749443e-01 9.93622057e-01 -1.66475481e-03 -3.11696071e+01] [-1.32886976e-02 1.67382084e-04 9.99911687e-01 -6.49929984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.934203822 meters 0.02105008760545321 Centerline is valid? [True, True] Translation: X:230.36, Y:-31.18, Z:-6.50 [[ 9.93932237e-01 1.08952799e-01 1.50995037e-02 2.30355913e+02] [-1.08936425e-01 9.94046893e-01 -1.90516788e-03 -3.11781946e+01] [-1.52171881e-02 2.48721825e-04 9.99884181e-01 -6.49526509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.964203822 meters 0.02312860390262813 Centerline is valid? [True, True] Translation: X:230.38, Y:-31.19, Z:-6.50 [[ 9.94169575e-01 1.06686030e-01 1.56507610e-02 2.30384996e+02] [-1.06668175e-01 9.94292716e-01 -1.97360287e-03 -3.11866498e+01] [-1.57719935e-02 2.92657815e-04 9.99875572e-01 -6.49529024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.994203822 meters 0.024438340161642376 Centerline is valid? [True, True] Translation: X:230.41, Y:-31.19, Z:-6.50 [[ 9.94436123e-01 1.04260051e-01 1.50545661e-02 2.30413816e+02] [-1.04243257e-01 9.94550019e-01 -1.89808999e-03 -3.11940828e+01] [-1.51704139e-02 3.18192253e-04 9.99884872e-01 -6.49561956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.024203822 meters 0.03246547425066524 Centerline is valid? [True, True] Translation: X:230.44, Y:-31.21, Z:-6.50 [[ 9.94864177e-01 1.00536627e-01 1.17326986e-02 2.30441035e+02] [-1.00526170e-01 9.94933315e-01 -1.47912808e-03 -3.12072285e+01] [-1.18219593e-02 2.92088281e-04 9.99930076e-01 -6.50365786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.054203822 meters 0.03226093194821001 Centerline is valid? [True, True] Translation: X:230.47, Y:-31.22, Z:-6.50 [[ 9.95204570e-01 9.71610245e-02 1.12960076e-02 2.30470342e+02] [-9.71511217e-02 9.95268624e-01 -1.42340755e-03 -3.12187975e+01] [-1.13808617e-02 3.19161886e-04 9.99935185e-01 -6.50425518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.084203822 meters 0.03476257592238901 Centerline is valid? [True, True] Translation: X:230.50, Y:-31.23, Z:-6.51 [[ 9.95304789e-01 9.61902278e-02 1.07618329e-02 2.30499319e+02] [-9.61811805e-02 9.95362919e-01 -1.35630776e-03 -3.12269903e+01] [-1.08423930e-02 3.14853810e-04 9.99941170e-01 -6.50751677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.114203822 meters 0.03436909865180752 Centerline is valid? [True, True] Translation: X:230.53, Y:-31.23, Z:-6.51 [[ 9.95372956e-01 9.53642419e-02 1.17617750e-02 2.30527983e+02] [-9.53533772e-02 9.95442382e-01 -1.48235619e-03 -3.12346198e+01] [-1.18495331e-02 3.53972297e-04 9.99929729e-01 -6.50547516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.144203822 meters 0.03429994288300568 Centerline is valid? [True, True] Translation: X:230.56, Y:-31.24, Z:-6.50 [[ 9.95341392e-01 9.55240183e-02 1.30642465e-02 2.30556721e+02] [-9.55106354e-02 9.95427049e-01 -1.64593001e-03 -3.12427394e+01] [-1.31617302e-02 3.90487787e-04 9.99913304e-01 -6.50369625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.174203822 meters 0.03453623068169018 Centerline is valid? [True, True] Translation: X:230.59, Y:-31.25, Z:-6.50 [[ 9.95227418e-01 9.66298794e-02 1.36034151e-02 2.30586165e+02] [-9.66154770e-02 9.95320307e-01 -1.71350428e-03 -3.12493372e+01] [-1.37053310e-02 3.91026004e-04 9.99906001e-01 -6.50452691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.204203822 meters 0.029567028378519464 Centerline is valid? [True, True] Translation: X:230.62, Y:-31.25, Z:-6.50 [[ 9.94990342e-01 9.91879420e-02 1.24888451e-02 2.30616537e+02] [-9.91760044e-02 9.95068664e-01 -1.57311157e-03 -3.12509515e+01] [-1.25832921e-02 3.26637055e-04 9.99920774e-01 -6.50400964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.234203822 meters 0.02819513862072234 Centerline is valid? [True, True] Translation: X:230.65, Y:-31.25, Z:-6.50 [[ 9.94828683e-01 1.00801212e-01 1.24501961e-02 2.30646485e+02] [-1.00789474e-01 9.94906540e-01 -1.56824328e-03 -3.12547641e+01] [-1.25448623e-02 3.05284682e-04 9.99921264e-01 -6.50495139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.264203822 meters 0.02720511364294339 Centerline is valid? [True, True] Translation: X:230.68, Y:-31.26, Z:-6.51 [[ 9.94408523e-01 1.04887337e-01 1.22611868e-02 2.30675630e+02] [-1.04876264e-01 9.94484079e-01 -1.54443542e-03 -3.12604184e+01] [-1.23555468e-02 2.49892282e-04 9.99923636e-01 -6.50905310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29420382200001 meters 0.022619491977852315 Centerline is valid? [True, True] Translation: X:230.71, Y:-31.26, Z:-6.51 [[ 9.94176351e-01 1.07063203e-01 1.22822391e-02 2.30705644e+02] [-1.07052253e-01 9.94252192e-01 -1.54748342e-03 -3.12593096e+01] [-1.23773216e-02 2.23630060e-04 9.99923373e-01 -6.50724287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32420382200002 meters 0.03159178753292459 Centerline is valid? [True, True] Translation: X:230.73, Y:-31.26, Z:-6.51 [[ 9.93886305e-01 1.09789014e-01 1.16783953e-02 2.30734614e+02] [-1.09779305e-01 9.93954898e-01 -1.47114437e-03 -3.12621146e+01] [-1.17693137e-02 1.80104128e-04 9.99930723e-01 -6.51287103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35420382200002 meters 0.01751871138101214 Centerline is valid? [True, True] Translation: X:230.76, Y:-31.26, Z:-6.51 [[ 9.93365468e-01 1.14373716e-01 1.19875249e-02 2.30764333e+02] [-1.14363818e-01 9.93437787e-01 -1.51015857e-03 -3.12588902e+01] [-1.20815826e-02 1.29200252e-04 9.99927007e-01 -6.51025349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38420382200002 meters 0.015936744679949832 Centerline is valid? [True, True] Translation: X:230.79, Y:-31.26, Z:-6.51 [[ 9.93091908e-01 1.16814666e-01 1.10813470e-02 2.30793587e+02] [-1.16806368e-01 9.93153727e-01 -1.39536525e-03 -3.12607304e+01] [-1.11684802e-02 9.13540437e-05 9.99937626e-01 -6.51238052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41420382200002 meters 0.03017480648647654 Centerline is valid? [True, True] Translation: X:230.82, Y:-31.26, Z:-6.52 [[ 9.92620941e-01 1.20878425e-01 9.59548066e-03 2.30822351e+02] [-1.20872395e-01 9.92667318e-01 -1.20806141e-03 -3.12623265e+01] [-9.67114862e-03 3.93183297e-05 9.99953233e-01 -6.51811385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44420382200002 meters 0.014428973429019878 Centerline is valid? [True, True] Translation: X:230.85, Y:-31.27, Z:-6.52 [[ 9.92526642e-01 1.21576525e-01 1.04887343e-02 2.30849935e+02] [-1.21569359e-01 9.92582061e-01 -1.32047322e-03 -3.12657943e+01] [-1.05714680e-02 3.54961555e-05 9.99944120e-01 -6.51764185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47420382200002 meters 0.0246755952869099 Centerline is valid? [True, True] Translation: X:230.88, Y:-31.27, Z:-6.52 [[ 9.92436512e-01 1.22423560e-01 9.06875695e-03 2.30878338e+02] [-1.22418237e-01 9.92477945e-01 -1.14190402e-03 -3.12697763e+01] [-9.14033722e-03 2.30860042e-05 9.99958226e-01 -6.52033316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50420382200002 meters 0.014658840319711583 Centerline is valid? [True, True] Translation: X:230.91, Y:-31.28, Z:-6.52 [[ 9.92558182e-01 1.21345271e-01 1.01774175e-02 2.30905835e+02] [-1.21338527e-01 9.92610359e-01 -1.27982735e-03 -3.12760116e+01] [-1.02575111e-02 3.53902516e-05 9.99947390e-01 -6.51977002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53420382200002 meters 0.014305109461022454 Centerline is valid? [True, True] Translation: X:230.93, Y:-31.28, Z:-6.52 [[ 9.92679760e-01 1.20307591e-01 1.06290810e-02 2.30933824e+02] [-1.20300187e-01 9.92736663e-01 -1.33558782e-03 -3.12821026e+01] [-1.07125598e-02 4.71305597e-05 9.99942618e-01 -6.51787329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56420382200002 meters 0.015880428599733824 Centerline is valid? [True, True] Translation: X:230.96, Y:-31.29, Z:-6.52 [[ 9.92984469e-01 1.17555291e-01 1.27513819e-02 2.30961227e+02] [-1.17544425e-01 9.93066335e-01 -1.60093940e-03 -3.12928196e+01] [-1.28511669e-02 9.08541105e-05 9.99917416e-01 -6.51760302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59420382200003 meters 0.016054265237643386 Centerline is valid? [True, True] Translation: X:230.99, Y:-31.30, Z:-6.52 [[ 9.93163804e-01 1.16029995e-01 1.27553064e-02 2.30990433e+02] [-1.16019000e-01 9.93245704e-01 -1.60116654e-03 -3.12994105e+01] [-1.28549366e-02 1.10362772e-04 9.99917366e-01 -6.51648404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62420382200003 meters 0.023755803083819943 Centerline is valid? [True, True] Translation: X:231.02, Y:-31.31, Z:-6.52 [[ 9.93295014e-01 1.14993649e-01 1.18943559e-02 2.31019025e+02] [-1.14984016e-01 9.93366220e-01 -1.49285467e-03 -3.13063424e+01] [-1.19871202e-02 1.15184289e-04 9.99928145e-01 -6.51987056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.654203822 meters 0.02449636971119805 Centerline is valid? [True, True] Translation: X:231.05, Y:-31.32, Z:-6.52 [[ 9.93505670e-01 1.13109097e-01 1.23619003e-02 2.31047917e+02] [-1.13098550e-01 9.93582564e-01 -1.55120395e-03 -3.13165208e+01] [-1.24580239e-02 1.43016915e-04 9.99922386e-01 -6.52048160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.684203822 meters 0.02358155542918792 Centerline is valid? [True, True] Translation: X:231.08, Y:-31.32, Z:-6.52 [[ 9.93580765e-01 1.12440654e-01 1.24243144e-02 2.31075757e+02] [-1.12429950e-01 9.93658430e-01 -1.55891503e-03 -3.13219494e+01] [-1.25208101e-02 1.52042942e-04 9.99921600e-01 -6.52089820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.714203822 meters 0.018804425048760204 Centerline is valid? [True, True] Translation: X:231.11, Y:-31.33, Z:-6.52 [[ 9.93655179e-01 1.11690418e-01 1.32149493e-02 2.31105391e+02] [-1.11678252e-01 9.93743036e-01 -1.65737430e-03 -3.13254595e+01] [-1.33173766e-02 1.71036132e-04 9.99911305e-01 -6.51845797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.744203822 meters 0.017942540917413805 Centerline is valid? [True, True] Translation: X:231.14, Y:-31.33, Z:-6.52 [[ 9.93630783e-01 1.11853150e-01 1.36652961e-02 2.31135587e+02] [-1.11840166e-01 9.93724732e-01 -1.71313743e-03 -3.13288232e+01] [-1.37711625e-02 1.73897111e-04 9.99905158e-01 -6.51792458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.774203822 meters 0.01765905102419255 Centerline is valid? [True, True] Translation: X:231.16, Y:-31.33, Z:-6.52 [[ 9.93502584e-01 1.12967693e-01 1.38172362e-02 2.31164655e+02] [-1.12954523e-01 9.93598649e-01 -1.73236585e-03 -3.13338016e+01] [-1.39244886e-02 1.60390621e-04 9.99903037e-01 -6.51973649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.804203822 meters 0.017933470851683845 Centerline is valid? [True, True] Translation: X:231.19, Y:-31.34, Z:-6.52 [[ 9.93413685e-01 1.13829235e-01 1.31208070e-02 2.31194038e+02] [-1.13817436e-01 9.93500320e-01 -1.64489740e-03 -3.13375823e+01] [-1.32227634e-02 1.40686978e-04 9.99912566e-01 -6.52254576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.834203822 meters 0.017069374836406925 Centerline is valid? [True, True] Translation: X:231.22, Y:-31.34, Z:-6.53 [[ 9.93284931e-01 1.15061065e-01 1.20829441e-02 2.31223698e+02] [-1.15051150e-01 9.93358414e-01 -1.51485647e-03 -3.13407783e+01] [-1.21769952e-02 1.14527489e-04 9.99925851e-01 -6.52502657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.864203822 meters 0.01647781355961842 Centerline is valid? [True, True] Translation: X:231.25, Y:-31.34, Z:-6.53 [[ 9.93284863e-01 1.15145476e-01 1.12560887e-02 2.31252651e+02] [-1.15136876e-01 9.93348634e-01 -1.41119703e-03 -3.13440163e+01] [-1.13437133e-02 1.05729766e-04 9.99935652e-01 -6.52589118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.894203822 meters 0.01647781355961842 Centerline is valid? [True, True] Translation: X:231.28, Y:-31.35, Z:-6.53 [[ 9.93287708e-01 1.15120926e-01 1.12561667e-02 2.31281588e+02] [-1.15112332e-01 9.93351479e-01 -1.41057429e-03 -3.13475980e+01] [-1.13437164e-02 1.05382508e-04 9.99935652e-01 -6.52672100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.924203822 meters 0.01735923494650513 Centerline is valid? [True, True] Translation: X:231.31, Y:-31.35, Z:-6.53 [[ 9.93343223e-01 1.14760873e-01 9.95910129e-03 2.31309671e+02] [-1.14754127e-01 9.93393141e-01 -1.24808883e-03 -3.13517804e+01] [-1.00365347e-02 9.69326063e-05 9.99949628e-01 -6.53026318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.954203822 meters 0.018189379042412718 Centerline is valid? [True, True] Translation: X:231.34, Y:-31.36, Z:-6.53 [[ 9.93526112e-01 1.13172732e-01 9.88926975e-03 2.31339182e+02] [-1.13166007e-01 9.93575322e-01 -1.23874408e-03 -3.13560366e+01] [-9.96592642e-03 1.11595424e-04 9.99950333e-01 -6.53135317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.984203822 meters 0.019155584589110777 Centerline is valid? [True, True] Translation: X:231.37, Y:-31.36, Z:-6.53 [[ 9.93630367e-01 1.12147425e-01 1.10294353e-02 2.31367560e+02] [-1.12138999e-01 9.93691570e-01 -1.38141499e-03 -3.13621970e+01] [-1.11147790e-02 1.35786041e-04 9.99938220e-01 -6.53177423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.014203822 meters 0.02329572460686264 Centerline is valid? [True, True] Translation: X:231.40, Y:-31.37, Z:-6.53 [[ 9.93975030e-01 1.08993220e-01 1.15809177e-02 2.31395466e+02] [-1.08983727e-01 9.94042477e-01 -1.44959552e-03 -3.13742579e+01] [-1.16699202e-02 1.78730176e-04 9.99931888e-01 -6.53422920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04420382200001 meters 0.022517612152394735 Centerline is valid? [True, True] Translation: X:231.43, Y:-31.38, Z:-6.53 [[ 9.94105317e-01 1.07817678e-01 1.14003324e-02 2.31425703e+02] [-1.07808405e-01 9.94170666e-01 -1.42665341e-03 -3.13778947e+01] [-1.14876945e-02 1.89192088e-04 9.99933996e-01 -6.53293592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07420382200002 meters 0.022957991711032705 Centerline is valid? [True, True] Translation: X:231.46, Y:-31.38, Z:-6.53 [[ 9.94248042e-01 1.06487688e-01 1.14544405e-02 2.31456374e+02] [-1.06478243e-01 9.94314000e-01 -1.43300994e-03 -3.13829634e+01] [-1.15419085e-02 2.05118629e-04 9.99933369e-01 -6.53262355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10420382200002 meters 0.02535015048623837 Centerline is valid? [True, True] Translation: X:231.49, Y:-31.39, Z:-6.53 [[ 9.94510478e-01 1.03849777e-01 1.28114637e-02 2.31485607e+02] [-1.03837743e-01 9.94592959e-01 -1.60274457e-03 -3.13921943e+01] [-1.29086362e-02 2.63632795e-04 9.99916645e-01 -6.53140469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13420382200002 meters 0.028529479128981163 Centerline is valid? [True, True] Translation: X:231.52, Y:-31.40, Z:-6.53 [[ 9.94736118e-01 1.01763774e-01 1.20078764e-02 2.31515027e+02] [-1.01753039e-01 9.94808554e-01 -1.50321773e-03 -3.14029641e+01] [-1.20985113e-02 2.73467058e-04 9.99926773e-01 -6.53382965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16420382200002 meters 0.029993729622709065 Centerline is valid? [True, True] Translation: X:231.55, Y:-31.41, Z:-6.54 [[ 9.94782399e-01 1.01378312e-01 1.14199809e-02 2.31545377e+02] [-1.01368598e-01 9.94847912e-01 -1.42767741e-03 -3.14104203e+01] [-1.15058797e-02 2.62600898e-04 9.99933771e-01 -6.53680549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19420382200002 meters 0.027228142807457577 Centerline is valid? [True, True] Translation: X:231.58, Y:-31.41, Z:-6.54 [[ 9.94742132e-01 1.01770378e-01 1.14403449e-02 2.31577410e+02] [-1.01760640e-01 9.94807882e-01 -1.43167541e-03 -3.14129251e+01] [-1.15266474e-02 2.59971033e-04 9.99933532e-01 -6.53523687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22420382200002 meters 0.027062176871618947 Centerline is valid? [True, True] Translation: X:231.61, Y:-31.41, Z:-6.53 [[ 9.94444312e-01 1.04477674e-01 1.28423737e-02 2.31608727e+02] [-1.04465561e-01 9.94527198e-01 -1.61226625e-03 -3.14134944e+01] [-1.29405357e-02 2.61723230e-04 9.99916234e-01 -6.53446134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25420382200002 meters 0.02478142656847692 Centerline is valid? [True, True] Translation: X:231.64, Y:-31.42, Z:-6.53 [[ 9.94198866e-01 1.06563683e-01 1.45875028e-02 2.31638978e+02] [-1.06548282e-01 9.94305844e-01 -1.83115668e-03 -3.14174520e+01] [-1.46995741e-02 2.66260526e-04 9.99891920e-01 -6.53320585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28420382200002 meters 0.019340423564982424 Centerline is valid? [True, True] Translation: X:231.67, Y:-31.41, Z:-6.53 [[ 9.93694281e-01 1.11239687e-01 1.40501995e-02 2.31671601e+02] [-1.11225845e-01 9.93793588e-01 -1.76518951e-03 -3.14135453e+01] [-1.41593573e-02 1.91313410e-04 9.99899733e-01 -6.53353584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31420382200002 meters 0.017886469378901714 Centerline is valid? [True, True] Translation: X:231.70, Y:-31.42, Z:-6.54 [[ 9.93469887e-01 1.13421235e-01 1.23777186e-02 2.31702152e+02] [-1.13410651e-01 9.93546981e-01 -1.55598904e-03 -3.14150491e+01] [-1.24743272e-02 1.42063126e-04 9.99922182e-01 -6.53706244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34420382200003 meters 0.01599537440767217 Centerline is valid? [True, True] Translation: X:231.73, Y:-31.41, Z:-6.54 [[ 9.93035889e-01 1.17366889e-01 1.02341265e-02 2.31731726e+02] [-1.17359858e-01 9.93088620e-01 -1.28696635e-03 -3.14133495e+01] [-1.03144418e-02 7.69281484e-05 9.99946802e-01 -6.54263010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37420382200003 meters 0.015347094135225208 Centerline is valid? [True, True] Translation: X:231.76, Y:-31.41, Z:-6.54 [[ 9.92789375e-01 1.19428927e-01 1.02950458e-02 2.31760270e+02] [-1.19421924e-01 9.92842751e-01 -1.29458753e-03 -3.14139688e+01] [-1.03759728e-02 5.57985668e-05 9.99946167e-01 -6.54458591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404203822 meters 0.014058107353595587 Centerline is valid? [True, True] Translation: X:231.79, Y:-31.41, Z:-6.54 [[ 9.92541737e-01 1.21395885e-01 1.11328038e-02 2.31789989e+02] [-1.21387827e-01 9.92604170e-01 -1.39922909e-03 -3.14137139e+01] [-1.12203281e-02 3.74064220e-05 9.99937049e-01 -6.54272855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.434203822 meters 0.013451497838135144 Centerline is valid? [True, True] Translation: X:231.82, Y:-31.41, Z:-6.54 [[ 9.92140565e-01 1.24549199e-01 1.20248122e-02 2.31818386e+02] [-1.24540026e-01 9.92213433e-01 -1.51162715e-03 -3.14077588e+01] [-1.21194521e-02 2.17619229e-06 9.99926557e-01 -6.54180285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.464203822 meters 0.013984487608645891 Centerline is valid? [True, True] Translation: X:231.85, Y:-31.40, Z:-6.54 [[ 9.91851272e-01 1.26847851e-01 1.18607123e-02 2.31846514e+02] [-1.26839099e-01 9.91922185e-01 -1.49030292e-03 -3.14039487e+01] [-1.19539454e-02 -2.62432196e-05 9.99928549e-01 -6.54329045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.494203822 meters 0.01396700666732774 Centerline is valid? [True, True] Translation: X:231.88, Y:-31.41, Z:-6.54 [[ 9.91803246e-01 1.27213162e-01 1.19637734e-02 2.31875671e+02] [-1.27204297e-01 9.91875401e-01 -1.50213399e-03 -3.14060969e+01] [-1.20576637e-02 -3.20220144e-05 9.99927303e-01 -6.54396827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.524203822 meters 0.014048937252416844 Centerline is valid? [True, True] Translation: X:231.90, Y:-31.41, Z:-6.55 [[ 9.91782811e-01 1.27320877e-01 1.25000451e-02 2.31903332e+02] [-1.27311214e-01 9.91861580e-01 -1.56897972e-03 -3.14080267e+01] [-1.25980784e-02 -3.53088027e-05 9.99920640e-01 -6.54549840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.554203822 meters 0.013031704359477477 Centerline is valid? [True, True] Translation: X:231.93, Y:-31.41, Z:-6.54 [[ 9.92030103e-01 1.25205715e-01 1.41351565e-02 2.31931930e+02] [-1.25193162e-01 9.92130802e-01 -1.77295237e-03 -3.14098344e+01] [-1.42459080e-02 -1.08028244e-05 9.99898522e-01 -6.54392281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.584203822 meters 0.012632312660630782 Centerline is valid? [True, True] Translation: X:231.96, Y:-31.41, Z:-6.54 [[ 9.92272300e-01 1.23146252e-01 1.51882804e-02 2.31961050e+02] [-1.23131535e-01 9.92388533e-01 -1.90390578e-03 -3.14142881e+01] [-1.53071342e-02 1.90366783e-05 9.99882839e-01 -6.54282512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.614203822 meters 0.013022776839513556 Centerline is valid? [True, True] Translation: X:231.99, Y:-31.42, Z:-6.54 [[ 9.92527558e-01 1.20972590e-01 1.59586573e-02 2.31988851e+02] [-1.20956059e-01 9.92655846e-01 -2.00054520e-03 -3.14193024e+01] [-1.60834656e-02 5.52999429e-05 9.99870651e-01 -6.54289961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.644203822 meters 0.016025772799826067 Centerline is valid? [True, True] Translation: X:232.02, Y:-31.43, Z:-6.55 [[ 9.93130404e-01 1.16088853e-01 1.46757738e-02 2.32018641e+02] [-1.16074365e-01 9.93238825e-01 -1.83806938e-03 -3.14273212e+01] [-1.47899277e-02 1.21961456e-04 9.99890616e-01 -6.54609619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.674203822 meters 0.018269042464491646 Centerline is valid? [True, True] Translation: X:232.05, Y:-31.43, Z:-6.55 [[ 9.93423224e-01 1.13702589e-01 1.34914321e-02 2.32048648e+02] [-1.13690125e-01 9.93514821e-01 -1.68973633e-03 -3.14338753e+01] [-1.35960651e-02 1.44780717e-04 9.99907559e-01 -6.54944769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.704203822 meters 0.026297465634269424 Centerline is valid? [True, True] Translation: X:232.08, Y:-31.44, Z:-6.55 [[ 9.93896446e-01 1.09564436e-01 1.28642528e-02 2.32077984e+02] [-1.09552755e-01 9.93979677e-01 -1.61137448e-03 -3.14398961e+01] [-1.29633551e-02 1.92225036e-04 9.99915954e-01 -6.55235081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.734203822 meters 0.02395457990282646 Centerline is valid? [True, True] Translation: X:232.11, Y:-31.45, Z:-6.55 [[ 9.94142329e-01 1.07232818e-01 1.34964034e-02 2.32107176e+02] [-1.07219748e-01 9.94233910e-01 -1.69037247e-03 -3.14475191e+01] [-1.35998453e-02 2.33389844e-04 9.99907491e-01 -6.55121587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.764203822 meters 0.03504687314946261 Centerline is valid? [True, True] Translation: X:232.14, Y:-31.45, Z:-6.55 [[ 9.94630161e-01 1.02670976e-01 1.30197534e-02 2.32138072e+02] [-1.02658432e-01 9.94715331e-01 -1.62996648e-03 -3.14524807e+01] [-1.31182986e-02 2.84626360e-04 9.99913911e-01 -6.55366544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79420382200001 meters 0.035424021878720874 Centerline is valid? [True, True] Translation: X:232.17, Y:-31.46, Z:-6.55 [[ 9.94905986e-01 9.99182214e-02 1.33577163e-02 2.32168894e+02] [-9.99047645e-02 9.94995598e-01 -1.67261719e-03 -3.14589144e+01] [-1.34579939e-02 3.29597349e-04 9.99909383e-01 -6.55366174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82420382200002 meters 0.04045643027442002 Centerline is valid? [True, True] Translation: X:232.20, Y:-31.48, Z:-6.55 [[ 9.95456509e-01 9.40612205e-02 1.47927335e-02 2.32196496e+02] [-9.40440584e-02 9.95566312e-01 -1.85309143e-03 -3.14808229e+01] [-1.49014511e-02 4.53503239e-04 9.99888864e-01 -6.55478887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85420382200002 meters 0.035605790801406204 Centerline is valid? [True, True] Translation: X:232.23, Y:-31.48, Z:-6.55 [[ 9.95668873e-01 9.17344497e-02 1.51091118e-02 2.32229117e+02] [-9.17162878e-02 9.95783381e-01 -1.89207413e-03 -3.14822552e+01] [-1.52189708e-02 4.98127670e-04 9.99884061e-01 -6.54975457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88420382200002 meters 0.038534861590444516 Centerline is valid? [True, True] Translation: X:232.26, Y:-31.49, Z:-6.55 [[ 9.95838747e-01 8.99413463e-02 1.46882647e-02 2.32258711e+02] [-8.99239844e-02 9.95946933e-01 -1.83956896e-03 -3.14920492e+01] [-1.47941855e-02 5.11086759e-04 9.99890429e-01 -6.55186803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91420382200002 meters 0.040408918398674686 Centerline is valid? [True, True] Translation: X:232.29, Y:-31.50, Z:-6.55 [[ 9.96044448e-01 8.77694037e-02 1.38560168e-02 2.32288764e+02] [-8.77537188e-02 9.96140686e-01 -1.73712471e-03 -3.15011605e+01] [-1.39550084e-02 5.14336424e-04 9.99902492e-01 -6.55404256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94420382200002 meters 0.045361942389620345 Centerline is valid? [True, True] Translation: X:232.32, Y:-31.51, Z:-6.56 [[ 9.96088338e-01 8.73505676e-02 1.33379302e-02 2.32319797e+02] [-8.73360152e-02 9.96177509e-01 -1.67076769e-03 -3.15078723e+01] [-1.34328885e-02 4.99350546e-04 9.99909650e-01 -6.55846183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97420382200002 meters 0.04670286067158896 Centerline is valid? [True, True] Translation: X:232.35, Y:-31.52, Z:-6.56 [[ 9.96142508e-01 8.64882149e-02 1.48287598e-02 2.32349372e+02] [-8.64700892e-02 9.96252710e-01 -1.86036958e-03 -3.15239198e+01] [-1.49340922e-02 5.70949036e-04 9.99888317e-01 -6.55625037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00420382200002 meters 0.040681484756366605 Centerline is valid? [True, True] Translation: X:232.38, Y:-31.52, Z:-6.55 [[ 9.96151456e-01 8.64332790e-02 1.45452445e-02 2.32381224e+02] [-8.64157893e-02 9.96257482e-01 -1.82784805e-03 -3.15247854e+01] [-1.46487955e-02 5.63874718e-04 9.99892542e-01 -6.55483375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03420382200002 meters 0.0426861848732809 Centerline is valid? [True, True] Translation: X:232.41, Y:-31.54, Z:-6.56 [[ 9.96109010e-01 8.69869172e-02 1.41462593e-02 2.32410743e+02] [-8.69704244e-02 9.96209307e-01 -1.77808188e-03 -3.15365725e+01] [-1.42473050e-02 5.40857204e-04 9.99898356e-01 -6.55797527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06420382200002 meters 0.045126613022794075 Centerline is valid? [True, True] Translation: X:232.44, Y:-31.55, Z:-6.56 [[ 9.95812536e-01 9.04425031e-02 1.33246393e-02 2.32439796e+02] [-9.04281222e-02 9.95901569e-01 -1.67906895e-03 -3.15451357e+01] [-1.34218883e-02 4.67115807e-04 9.99909813e-01 -6.56275641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09420382200003 meters 0.033104491610350735 Centerline is valid? [True, True] Translation: X:232.47, Y:-31.54, Z:-6.56 [[ 9.95033096e-01 9.84827554e-02 1.45011859e-02 2.32469711e+02] [-9.84665723e-02 9.95138681e-01 -1.82750495e-03 -3.15443050e+01] [-1.46106687e-02 3.90545838e-04 9.99893182e-01 -6.55977575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12420382200003 meters 0.027666682730633572 Centerline is valid? [True, True] Translation: X:232.50, Y:-31.54, Z:-6.56 [[ 9.94474904e-01 1.04016036e-01 1.41537738e-02 2.32500770e+02] [-1.04001184e-01 9.94575574e-01 -1.78336795e-03 -3.15419063e+01] [-1.42624965e-02 3.01505438e-04 9.99898240e-01 -6.56097680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.154203822 meters 0.020597839691774394 Centerline is valid? [True, True] Translation: X:232.53, Y:-31.54, Z:-6.56 [[ 9.93814977e-01 1.10234419e-01 1.34225263e-02 2.32533216e+02] [-1.10221634e-01 9.93905595e-01 -1.69086624e-03 -3.15360653e+01] [-1.35271157e-02 2.00955410e-04 9.99908484e-01 -6.56154787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.184203822 meters 0.013901899547398603 Centerline is valid? [True, True] Translation: X:232.56, Y:-31.52, Z:-6.57 [[ 9.92309077e-01 1.23194902e-01 1.20711221e-02 2.32564326e+02] [-1.23185506e-01 9.92382495e-01 -1.52164796e-03 -3.15218961e+01] [-1.21666295e-02 2.29577970e-05 9.99925984e-01 -6.56678087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.214203822 meters 0.01421492730233035 Centerline is valid? [True, True] Translation: X:232.59, Y:-31.52, Z:-6.57 [[ 9.91569385e-01 1.29047194e-01 1.17037107e-02 2.32594364e+02] [-1.29038770e-01 9.91638452e-01 -1.47527444e-03 -3.15171410e+01] [-1.17962296e-02 -4.73954632e-05 9.99930421e-01 -6.56674211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.244203822 meters 0.020254532146759412 Centerline is valid? [True, True] Translation: X:232.63, Y:-31.51, Z:-6.56 [[ 9.90209961e-01 1.38945510e-01 1.33558282e-02 2.32625674e+02] [-1.38935450e-01 9.90300010e-01 -1.68270396e-03 -3.15067262e+01] [-1.34600810e-02 -1.89367778e-04 9.99909391e-01 -6.56474731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.274203822 meters 0.025033900692853214 Centerline is valid? [True, True] Translation: X:232.65, Y:-31.50, Z:-6.57 [[ 9.89696019e-01 1.42507543e-01 1.39065003e-02 2.32654435e+02] [-1.42496985e-01 9.89793685e-01 -1.75223739e-03 -3.15017272e+01] [-1.40142732e-02 -2.47451997e-04 9.99901765e-01 -6.56654276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.304203822 meters 0.027903351118446492 Centerline is valid? [True, True] Translation: X:232.68, Y:-31.50, Z:-6.57 [[ 9.89291667e-01 1.45315279e-01 1.36185998e-02 2.32684391e+02] [-1.45305438e-01 9.89385360e-01 -1.71460523e-03 -3.14996238e+01] [-1.37232016e-02 -2.82611946e-04 9.99905793e-01 -6.56776646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.334203822 meters 0.027817197336244173 Centerline is valid? [True, True] Translation: X:232.71, Y:-31.50, Z:-6.57 [[ 9.89029016e-01 1.47243232e-01 1.18758638e-02 2.32714089e+02] [-1.47235889e-01 9.89100277e-01 -1.49501479e-03 -3.15004593e+01] [-1.19665510e-02 -2.69940365e-04 9.99928362e-01 -6.57021251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.364203822 meters 0.028722037604679094 Centerline is valid? [True, True] Translation: X:232.74, Y:-31.50, Z:-6.57 [[ 9.89149744e-01 1.46416292e-01 1.20438013e-02 2.32742198e+02] [-1.46408676e-01 9.89223028e-01 -1.51644814e-03 -3.15014997e+01] [-1.21360383e-02 -2.63322706e-04 9.99926321e-01 -6.57313445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.394203822 meters 0.022837323853472518 Centerline is valid? [True, True] Translation: X:232.77, Y:-31.51, Z:-6.57 [[ 9.89779153e-01 1.41885192e-01 1.43464385e-02 2.32770917e+02] [-1.41873934e-01 9.89883089e-01 -1.80462733e-03 -3.15102243e+01] [-1.44573468e-02 -2.49203167e-04 9.99895456e-01 -6.56974676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.424203822 meters 0.021134443142134366 Centerline is valid? [True, True] Translation: X:232.80, Y:-31.52, Z:-6.57 [[ 9.90235827e-01 1.38568264e-01 1.52264204e-02 2.32798146e+02] [-1.38555190e-01 9.90352862e-01 -1.91531019e-03 -3.15155920e+01] [-1.53449303e-02 -2.13090808e-04 9.99882237e-01 -6.57088245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.454203822 meters 0.017586757802929762 Centerline is valid? [True, True] Translation: X:232.83, Y:-31.52, Z:-6.57 [[ 9.90754824e-01 1.34749807e-01 1.57279202e-02 2.32826290e+02] [-1.34735393e-01 9.90879642e-01 -1.97734097e-03 -3.15242117e+01] [-1.58509223e-02 -1.60047401e-04 9.99874353e-01 -6.57022631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.484203822 meters 0.012212469351306458 Centerline is valid? [True, True] Translation: X:232.85, Y:-31.54, Z:-6.57 [[ 9.91864616e-01 1.26170801e-01 1.68971238e-02 2.32854139e+02] [-1.26152939e-01 9.92008532e-01 -2.12316296e-03 -3.15402465e+01] [-1.70299722e-02 -2.57316064e-05 9.99854979e-01 -6.56847769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.514203822 meters 0.012318061064614064 Centerline is valid? [True, True] Translation: X:232.88, Y:-31.55, Z:-6.57 [[ 9.92431324e-01 1.21638933e-01 1.68533751e-02 2.32883542e+02] [-1.21620520e-01 9.92574414e-01 -2.11699750e-03 -3.15507210e+01] [-1.69857383e-02 5.12583703e-05 9.99855731e-01 -6.56862905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54420382200001 meters 0.01660388433533298 Centerline is valid? [True, True] Translation: X:232.91, Y:-31.57, Z:-6.57 [[ 9.93385407e-01 1.13661181e-01 1.63269432e-02 2.32913511e+02] [-1.13642832e-01 9.93519553e-01 -2.05027659e-03 -3.15679638e+01] [-1.64541742e-02 1.81274780e-04 9.99864604e-01 -6.57007619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57420382200002 meters 0.019263959247886306 Centerline is valid? [True, True] Translation: X:232.94, Y:-31.58, Z:-6.57 [[ 9.93746883e-01 1.10420819e-01 1.65642829e-02 2.32944212e+02] [-1.10401490e-01 9.93884896e-01 -2.07962618e-03 -3.15779396e+01] [-1.66926247e-02 2.37900509e-04 9.99860640e-01 -6.57034917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60420382200002 meters 0.026677316823279697 Centerline is valid? [True, True] Translation: X:232.97, Y:-31.59, Z:-6.57 [[ 9.94246129e-01 1.05760925e-01 1.70077063e-02 2.32973488e+02] [-1.05739816e-01 9.94391532e-01 -2.13817789e-03 -3.15944359e+01] [-1.71384548e-02 3.27483360e-04 9.99853072e-01 -6.57339243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63420382200002 meters 0.02421192227240813 Centerline is valid? [True, True] Translation: X:233.01, Y:-31.60, Z:-6.57 [[ 9.94386907e-01 1.04544713e-01 1.62813408e-02 2.33006038e+02] [-1.04525169e-01 9.94520131e-01 -2.04911692e-03 -3.15970209e+01] [-1.64063456e-02 3.35805131e-04 9.99865350e-01 -6.57197100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66420382200002 meters 0.034741165622766086 Centerline is valid? [True, True] Translation: X:233.04, Y:-31.60, Z:-6.58 [[ 9.94403274e-01 1.04669374e-01 1.43684264e-02 2.33036304e+02] [-1.04654122e-01 9.94507030e-01 -1.81142673e-03 -3.16043879e+01] [-1.44791020e-02 2.97573621e-04 9.99895128e-01 -6.57996802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69420382200002 meters 0.025928021452831452 Centerline is valid? [True, True] Translation: X:233.07, Y:-31.61, Z:-6.58 [[ 9.94266553e-01 1.05916289e-01 1.46887957e-02 2.33067620e+02] [-1.05900479e-01 9.94375009e-01 -1.85219055e-03 -3.16099536e+01] [-1.48023485e-02 2.86020612e-04 9.99890398e-01 -6.57874561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72420382200002 meters 0.023723924707389394 Centerline is valid? [True, True] Translation: X:233.10, Y:-31.61, Z:-6.58 [[ 9.94049144e-01 1.07868295e-01 1.51897911e-02 2.33100113e+02] [-1.07851572e-01 9.94165157e-01 -1.91823215e-03 -3.16122594e+01] [-1.53080775e-02 2.68574169e-04 9.99882788e-01 -6.57818782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75420382200002 meters 0.01816739282424664 Centerline is valid? [True, True] Translation: X:233.13, Y:-31.61, Z:-6.58 [[ 9.93448175e-01 1.13232724e-01 1.54620255e-02 2.33132583e+02] [-1.13215978e-01 9.93568474e-01 -1.95692975e-03 -3.16098996e+01] [-1.55841695e-02 1.93559945e-04 9.99878541e-01 -6.57732154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78420382200002 meters 0.01816739282424664 Centerline is valid? [True, True] Translation: X:233.16, Y:-31.61, Z:-6.58 [[ 9.93426381e-01 1.13423747e-01 1.54622073e-02 2.33164812e+02] [-1.13407046e-01 9.93546686e-01 -1.95549565e-03 -3.16141675e+01] [-1.55842245e-02 1.89117713e-04 9.99878541e-01 -6.57824673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81420382200002 meters 0.013908729604501655 Centerline is valid? [True, True] Translation: X:233.20, Y:-31.61, Z:-6.58 [[ 9.92705129e-01 1.19671610e-01 1.46708441e-02 2.33196663e+02] [-1.19657184e-01 9.92813526e-01 -1.86031140e-03 -3.16092584e+01] [-1.47880389e-02 9.12687671e-05 9.99890647e-01 -6.57987745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84420382200003 meters 0.012904682485615484 Centerline is valid? [True, True] Translation: X:233.23, Y:-31.61, Z:-6.58 [[ 9.92372002e-01 1.22409305e-01 1.46209241e-02 2.33226779e+02] [-1.22395264e-01 9.92479702e-01 -1.85467684e-03 -3.16098007e+01] [-1.47380001e-02 5.09974968e-05 9.99891388e-01 -6.58181323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87420382200003 meters 0.012108912078286961 Centerline is valid? [True, True] Translation: X:233.26, Y:-31.61, Z:-6.58 [[ 9.92059930e-01 1.24821255e-01 1.53866754e-02 2.33257479e+02] [-1.24805995e-01 9.92179245e-01 -1.95181305e-03 -3.16105346e+01] [-1.55099677e-02 1.59661809e-05 9.99879713e-01 -6.58172123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904203822 meters 0.012254479830913316 Centerline is valid? [True, True] Translation: X:233.29, Y:-31.61, Z:-6.58 [[ 9.91526973e-01 1.28789339e-01 1.69578619e-02 2.33287423e+02] [-1.28771375e-01 9.91671974e-01 -2.15153752e-03 -3.16055449e+01] [-1.70937315e-02 -5.03797164e-05 9.99853890e-01 -6.58032464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.934203822 meters 0.01300018209997019 Centerline is valid? [True, True] Translation: X:233.32, Y:-31.60, Z:-6.58 [[ 9.91306124e-01 1.30445932e-01 1.72054729e-02 2.33317878e+02] [-1.30427704e-01 9.91455421e-01 -2.18215592e-03 -3.16048960e+01] [-1.73431128e-02 -8.08857920e-05 9.99849594e-01 -6.58093338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.964203822 meters 0.014083585215788303 Centerline is valid? [True, True] Translation: X:233.35, Y:-31.61, Z:-6.58 [[ 9.91131684e-01 1.32006296e-01 1.52421376e-02 2.33347327e+02] [-1.31992180e-01 9.91248873e-01 -1.93286612e-03 -3.16058247e+01] [-1.53639023e-02 -9.61181175e-05 9.99881964e-01 -6.58464364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.994203822 meters 0.014606694408050111 Centerline is valid? [True, True] Translation: X:233.38, Y:-31.61, Z:-6.59 [[ 9.91185242e-01 1.31669344e-01 1.46628988e-02 2.33375774e+02] [-1.31656246e-01 9.91293688e-01 -1.85924179e-03 -3.16093982e+01] [-1.47800442e-02 -8.76091932e-05 9.99890765e-01 -6.58852242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.024203822 meters 0.013415622223048838 Centerline is valid? [True, True] Translation: X:233.40, Y:-31.62, Z:-6.59 [[ 9.91385264e-01 1.30079041e-01 1.53199564e-02 2.33404676e+02] [-1.30064565e-01 9.91503625e-01 -1.94177539e-03 -3.16151477e+01] [-1.54423766e-02 -6.75359606e-05 9.99880757e-01 -6.58850585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.054203822 meters 0.012482184154883235 Centerline is valid? [True, True] Translation: X:233.43, Y:-31.62, Z:-6.59 [[ 9.91555740e-01 1.28695210e-01 1.59610894e-02 2.33433856e+02] [-1.28679324e-01 9.91684194e-01 -2.02263207e-03 -3.16204275e+01] [-1.60886631e-02 -4.83097555e-05 9.99870568e-01 -6.58800213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.084203822 meters 0.01211893458865216 Centerline is valid? [True, True] Translation: X:233.46, Y:-31.63, Z:-6.59 [[ 9.91743725e-01 1.27204531e-01 1.62293532e-02 2.33462584e+02] [-1.27187915e-01 9.91876508e-01 -2.05606977e-03 -3.16253174e+01] [-1.63590556e-02 -2.50833098e-05 9.99866181e-01 -6.58865810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.114203822 meters 0.02591267618701858 Centerline is valid? [True, True] Translation: X:233.49, Y:-31.63, Z:-6.59 [[ 9.92239682e-01 1.23275921e-01 1.62314773e-02 2.33490752e+02] [-1.23258779e-01 9.92372433e-01 -2.05613918e-03 -3.16341101e+01] [-1.63611430e-02 3.95108163e-05 9.99866147e-01 -6.59417041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.144203822 meters 0.013809752483338935 Centerline is valid? [True, True] Translation: X:233.52, Y:-31.64, Z:-6.59 [[ 9.92539346e-01 1.20899381e-01 1.57793079e-02 2.33520089e+02] [-1.20882888e-01 9.92664764e-01 -1.99838025e-03 -3.16425436e+01] [-1.59051659e-02 7.60227183e-05 9.99873502e-01 -6.59330927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.174203822 meters 0.017369900476176085 Centerline is valid? [True, True] Translation: X:233.55, Y:-31.66, Z:-6.60 [[ 9.93070533e-01 1.16460932e-01 1.57406717e-02 2.33550001e+02] [-1.16443986e-01 9.93195263e-01 -1.99194795e-03 -3.16566550e+01] [-1.58655447e-02 1.45238258e-04 9.99874124e-01 -6.59523751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.204203822 meters 0.017299959979513817 Centerline is valid? [True, True] Translation: X:233.58, Y:-31.66, Z:-6.59 [[ 9.93294104e-01 1.14548905e-01 1.56643511e-02 2.33581622e+02] [-1.14531853e-01 9.93417595e-01 -1.98434557e-03 -3.16621182e+01] [-1.57885466e-02 1.76971607e-04 9.99875337e-01 -6.59271151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.234203822 meters 0.018629888221262825 Centerline is valid? [True, True] Translation: X:233.61, Y:-31.67, Z:-6.59 [[ 9.93462192e-01 1.13110457e-01 1.54563213e-02 2.33612798e+02] [-1.13093637e-01 9.93582400e-01 -1.96074809e-03 -3.16683559e+01] [-1.55789099e-02 1.99917500e-04 9.99878621e-01 -6.59376742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.264203822 meters 0.019984358706734852 Centerline is valid? [True, True] Translation: X:233.64, Y:-31.67, Z:-6.60 [[ 9.93670949e-01 1.11368175e-01 1.46688060e-02 2.33644566e+02] [-1.11352808e-01 9.93779192e-01 -1.86276109e-03 -3.16735936e+01] [-1.47850065e-02 2.17558847e-04 9.99890672e-01 -6.59537247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29420382200001 meters 0.021372010799807304 Centerline is valid? [True, True] Translation: X:233.68, Y:-31.68, Z:-6.60 [[ 9.93687919e-01 1.11257413e-01 1.43564547e-02 2.33675052e+02] [-1.11242644e-01 9.93791598e-01 -1.82568988e-03 -3.16805056e+01] [-1.44704456e-02 2.17115993e-04 9.99895274e-01 -6.59830536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32420382200002 meters 0.019865762805332046 Centerline is valid? [True, True] Translation: X:233.71, Y:-31.69, Z:-6.60 [[ 9.93619088e-01 1.11856904e-01 1.44616938e-02 2.33707022e+02] [-1.11841950e-01 9.93724302e-01 -1.84124037e-03 -3.16859932e+01] [-1.45768920e-02 2.12067542e-04 9.99893729e-01 -6.59774516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35420382200002 meters 0.019967923478707617 Centerline is valid? [True, True] Translation: X:233.74, Y:-31.69, Z:-6.60 [[ 9.93535857e-01 1.12560262e-01 1.47203193e-02 2.33738217e+02] [-1.12544806e-01 9.93644878e-01 -1.87683784e-03 -3.16914510e+01] [-1.48380272e-02 2.08010217e-04 9.99889889e-01 -6.59933073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38420382200002 meters 0.01928808319842792 Centerline is valid? [True, True] Translation: X:233.77, Y:-31.70, Z:-6.60 [[ 9.93442817e-01 1.13352485e-01 1.49192017e-02 2.33770389e+02] [-1.13336657e-01 9.93554817e-01 -1.90487095e-03 -3.16957805e+01] [-1.50389665e-02 2.01487922e-04 9.99886888e-01 -6.59956050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41420382200002 meters 0.017174311693206382 Centerline is valid? [True, True] Translation: X:233.80, Y:-31.70, Z:-6.60 [[ 9.93177061e-01 1.15483791e-01 1.62116963e-02 2.33803196e+02] [-1.15465334e-01 9.93309347e-01 -2.07309043e-03 -3.16958241e+01] [-1.63426378e-02 1.87056932e-04 9.99866433e-01 -6.59677943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44420382200002 meters 0.017021512764538976 Centerline is valid? [True, True] Translation: X:233.83, Y:-31.70, Z:-6.60 [[ 9.92973171e-01 1.17147726e-01 1.67538846e-02 2.33834799e+02] [-1.17128195e-01 9.93114486e-01 -2.14564976e-03 -3.16966530e+01] [-1.68898835e-02 1.68220376e-04 9.99857342e-01 -6.59857544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47420382200002 meters 0.016703565352407277 Centerline is valid? [True, True] Translation: X:233.87, Y:-31.70, Z:-6.60 [[ 9.92962954e-01 1.17315326e-01 1.61767221e-02 2.33866247e+02] [-1.17297102e-01 9.93094702e-01 -2.07405943e-03 -3.17017051e+01] [-1.63083359e-02 1.61981558e-04 9.99866997e-01 -6.60007624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50420382200002 meters 0.017731982223666204 Centerline is valid? [True, True] Translation: X:233.90, Y:-31.71, Z:-6.60 [[ 9.93058252e-01 1.16588829e-01 1.55676985e-02 2.33896707e+02] [-1.16571821e-01 9.93180254e-01 -1.99859471e-03 -3.17095601e+01] [-1.56945445e-02 1.69966006e-04 9.99876819e-01 -6.60210360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53420382200002 meters 0.018592033481938025 Centerline is valid? [True, True] Translation: X:233.93, Y:-31.72, Z:-6.60 [[ 9.93171207e-01 1.15603227e-01 1.57113650e-02 2.33928515e+02] [-1.15585744e-01 9.93295453e-01 -2.01939069e-03 -3.17178562e+01] [-1.58394755e-02 1.89590877e-04 9.99874530e-01 -6.60350071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56420382200002 meters 0.021339103544183467 Centerline is valid? [True, True] Translation: X:233.96, Y:-31.73, Z:-6.60 [[ 9.93503738e-01 1.12709932e-01 1.57097018e-02 2.33958850e+02] [-1.12692046e-01 9.93627905e-01 -2.02198610e-03 -3.17307528e+01] [-1.58374960e-02 2.38492316e-04 9.99874551e-01 -6.60491336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59420382200003 meters 0.02327317849964442 Centerline is valid? [True, True] Translation: X:233.99, Y:-31.74, Z:-6.60 [[ 9.93968620e-01 1.08527930e-01 1.57502540e-02 2.33990266e+02] [-1.08509366e-01 9.94093352e-01 -2.03098487e-03 -3.17413708e+01] [-1.58776414e-02 3.09685149e-04 9.99873894e-01 -6.60393218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62420382200003 meters 0.026097521018526665 Centerline is valid? [True, True] Translation: X:234.02, Y:-31.75, Z:-6.61 [[ 9.94205851e-01 1.06350658e-01 1.56289419e-02 2.34020663e+02] [-1.06332120e-01 9.94328628e-01 -2.01471612e-03 -3.17507478e+01] [-1.57545708e-02 3.41184025e-04 9.99875831e-01 -6.60559666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.654203822 meters 0.0281507589959454 Centerline is valid? [True, True] Translation: X:234.05, Y:-31.76, Z:-6.61 [[ 9.94439322e-01 1.04211492e-01 1.51789293e-02 2.34051804e+02] [-1.04193699e-01 9.94555091e-01 -1.96049091e-03 -3.17602970e+01] [-1.53005871e-02 3.68040466e-04 9.99882871e-01 -6.60731388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.684203822 meters 0.040237869830132306 Centerline is valid? [True, True] Translation: X:234.08, Y:-31.78, Z:-6.62 [[ 9.94788323e-01 1.01007179e-01 1.39191247e-02 2.34079144e+02] [-1.00991886e-01 9.94885623e-01 -1.79906091e-03 -3.17782826e+01] [-1.40296551e-02 3.83966132e-04 9.99901506e-01 -6.61535458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.714203822 meters 0.0329540733918958 Centerline is valid? [True, True] Translation: X:234.11, Y:-31.78, Z:-6.61 [[ 9.94827527e-01 1.00600696e-01 1.40603039e-02 2.34110474e+02] [-1.00585069e-01 9.94926804e-01 -1.81600291e-03 -3.17839140e+01] [-1.41716644e-02 3.92353058e-04 9.99899500e-01 -6.61184231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.744203822 meters 0.0312270881521947 Centerline is valid? [True, True] Translation: X:234.14, Y:-31.79, Z:-6.61 [[ 9.94737028e-01 1.01541672e-01 1.36943177e-02 2.34141827e+02] [-1.01526936e-01 9.94831218e-01 -1.76875495e-03 -3.17916194e+01] [-1.38031371e-02 3.69103919e-04 9.99904664e-01 -6.61214191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.774203822 meters 0.029900349153255013 Centerline is valid? [True, True] Translation: X:234.17, Y:-31.80, Z:-6.61 [[ 9.94568479e-01 1.03069427e-01 1.44994253e-02 2.34173505e+02] [-1.03053030e-01 9.94674095e-01 -1.87554420e-03 -3.17965070e+01] [-1.46155140e-02 3.71147441e-04 9.99893119e-01 -6.61159249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.804203822 meters 0.029466923003288233 Centerline is valid? [True, True] Translation: X:234.20, Y:-31.80, Z:-6.61 [[ 9.94332630e-01 1.05236452e-01 1.50967246e-02 2.34203575e+02] [-1.05218850e-01 9.94447163e-01 -1.95772129e-03 -3.18017638e+01] [-1.52189186e-02 3.58166145e-04 9.99884121e-01 -6.61269003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.834203822 meters 0.03256619129403039 Centerline is valid? [True, True] Translation: X:234.23, Y:-31.80, Z:-6.62 [[ 9.93782022e-01 1.10524802e-01 1.34744240e-02 2.34234131e+02] [-1.10511264e-01 9.93873335e-01 -1.74747465e-03 -3.18020205e+01] [-1.35850100e-02 2.47533261e-04 9.99907689e-01 -6.62035276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.864203822 meters 0.022375654372951564 Centerline is valid? [True, True] Translation: X:234.27, Y:-31.80, Z:-6.62 [[ 9.93423237e-01 1.13758222e-01 1.30130739e-02 2.34265090e+02] [-1.13745898e-01 9.93508444e-01 -1.68563567e-03 -3.18039452e+01] [-1.31203537e-02 1.94365855e-04 9.99913906e-01 -6.62000909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.894203822 meters 0.017505133314163306 Centerline is valid? [True, True] Translation: X:234.30, Y:-31.80, Z:-6.62 [[ 9.92757964e-01 1.19409750e-01 1.31505441e-02 2.34296535e+02] [-1.19397607e-01 9.92845051e-01 -1.70746895e-03 -3.18024747e+01] [-1.32603411e-02 1.24959895e-04 9.99912070e-01 -6.62131937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.924203822 meters 0.015480562437942373 Centerline is valid? [True, True] Translation: X:234.33, Y:-31.80, Z:-6.62 [[ 9.92406632e-01 1.22271950e-01 1.33659047e-02 2.34328853e+02] [-1.22259690e-01 9.92496631e-01 -1.73363271e-03 -3.18033703e+01] [-1.34775900e-02 8.63572363e-05 9.99909169e-01 -6.62117414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.954203822 meters 0.014322651847877453 Centerline is valid? [True, True] Translation: X:234.36, Y:-31.80, Z:-6.62 [[ 9.92111345e-01 1.24638594e-01 1.34276040e-02 2.34361682e+02] [-1.24626391e-01 9.92202206e-01 -1.74508187e-03 -3.18040347e+01] [-1.35404029e-02 5.78816957e-05 9.99908323e-01 -6.62199251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.984203822 meters 0.013540670355366205 Centerline is valid? [True, True] Translation: X:234.39, Y:-31.80, Z:-6.62 [[ 9.91585208e-01 1.28853635e-01 1.24706109e-02 2.34394003e+02] [-1.28843447e-01 9.91663623e-01 -1.62034341e-03 -3.18024368e+01] [-1.25754383e-02 -4.79223586e-08 9.99920926e-01 -6.62403081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.014203822 meters 0.013992324354106356 Centerline is valid? [True, True] Translation: X:234.43, Y:-31.80, Z:-6.63 [[ 9.91340407e-01 1.30772634e-01 1.19463302e-02 2.34425148e+02] [-1.30763399e-01 9.91412385e-01 -1.55424096e-03 -3.18048819e+01] [-1.20469919e-02 -2.13608722e-05 9.99927432e-01 -6.62681255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04420382200001 meters 0.014362881165096635 Centerline is valid? [True, True] Translation: X:234.46, Y:-31.81, Z:-6.63 [[ 9.91029590e-01 1.33184722e-01 1.10535343e-02 2.34456548e+02] [-1.33176925e-01 9.91091231e-01 -1.44173981e-03 -3.18073830e+01] [-1.11470787e-02 -4.32689025e-05 9.99937868e-01 -6.62798449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07420382200002 meters 0.01465226604551168 Centerline is valid? [True, True] Translation: X:234.49, Y:-31.81, Z:-6.63 [[ 9.90932177e-01 1.33918415e-01 1.09214969e-02 2.34487534e+02] [-1.33910845e-01 9.90992359e-01 -1.42478034e-03 -3.18105061e+01] [-1.10139243e-02 -5.06461950e-05 9.99939344e-01 -6.62911773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10420382200002 meters 0.014835311318565718 Centerline is valid? [True, True] Translation: X:234.52, Y:-31.81, Z:-6.63 [[ 9.90852176e-01 1.34457375e-01 1.15403622e-02 2.34518211e+02] [-1.34448964e-01 9.90919376e-01 -1.50517590e-03 -3.18123728e+01] [-1.16379505e-02 -6.01829233e-05 9.99932275e-01 -6.62947290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13420382200002 meters 0.01466441746174961 Centerline is valid? [True, True] Translation: X:234.55, Y:-31.82, Z:-6.63 [[ 9.90882075e-01 1.34260705e-01 1.12595421e-02 2.34549307e+02] [-1.34252670e-01 9.90946043e-01 -1.46991853e-03 -3.18168718e+01] [-1.13549510e-02 -5.51076624e-05 9.99935529e-01 -6.63056519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16420382200002 meters 0.014434602551784777 Centerline is valid? [True, True] Translation: X:234.58, Y:-31.82, Z:-6.63 [[ 9.90976833e-01 1.33526590e-01 1.16432987e-02 2.34579084e+02] [-1.33517950e-01 9.91045230e-01 -1.51966917e-03 -3.18217074e+01] [-1.17419519e-02 -4.86324396e-05 9.99931060e-01 -6.63188700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19420382200002 meters 0.013465801424709958 Centerline is valid? [True, True] Translation: X:234.61, Y:-31.83, Z:-6.63 [[ 9.91243071e-01 1.31413850e-01 1.29450234e-02 2.34609599e+02] [-1.31402996e-01 9.91327594e-01 -1.68918080e-03 -3.18285290e+01] [-1.30547406e-02 -2.66260927e-05 9.99914783e-01 -6.63076973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22420382200002 meters 0.013207457811609548 Centerline is valid? [True, True] Translation: X:234.64, Y:-31.83, Z:-6.63 [[ 9.91376140e-01 1.30378658e-01 1.32194586e-02 2.34641103e+02] [-1.30367220e-01 9.91464273e-01 -1.72700507e-03 -3.18342923e+01] [-1.33317856e-02 -1.12724560e-05 9.99911128e-01 -6.63122223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25420382200002 meters 0.013842038280070586 Centerline is valid? [True, True] Translation: X:234.67, Y:-31.84, Z:-6.63 [[ 9.91696044e-01 1.27979138e-01 1.26608636e-02 2.34672103e+02] [-1.27968423e-01 9.91776860e-01 -1.65618896e-03 -3.18403880e+01] [-1.27687091e-02 2.22452896e-05 9.99918476e-01 -6.63345763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28420382200002 meters 0.013842588821516939 Centerline is valid? [True, True] Translation: X:234.70, Y:-31.85, Z:-6.63 [[ 9.91817704e-01 1.27053226e-01 1.24546708e-02 2.34704821e+02] [-1.27042769e-01 9.91895900e-01 -1.63042617e-03 -3.18461731e+01] [-1.25608878e-02 3.48096765e-05 9.99921108e-01 -6.63350014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31420382200002 meters 0.014179727929358342 Centerline is valid? [True, True] Translation: X:234.74, Y:-31.85, Z:-6.63 [[ 9.92010971e-01 1.25435197e-01 1.34255167e-02 2.34735868e+02] [-1.25422851e-01 9.92101813e-01 -1.76098579e-03 -3.18538476e+01] [-1.35403691e-02 6.30506402e-05 9.99908323e-01 -6.63350245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34420382200003 meters 0.014442663463093235 Centerline is valid? [True, True] Translation: X:234.77, Y:-31.86, Z:-6.63 [[ 9.92091719e-01 1.24748937e-01 1.38464528e-02 2.34768050e+02] [-1.24735707e-01 9.92188337e-01 -1.81840786e-03 -3.18591557e+01] [-1.39651334e-02 7.68803081e-05 9.99902480e-01 -6.63263441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37420382200003 meters 0.014839989921676242 Centerline is valid? [True, True] Translation: X:234.80, Y:-31.86, Z:-6.63 [[ 9.92271562e-01 1.23084629e-01 1.57264870e-02 2.34799744e+02] [-1.23067286e-01 9.92396171e-01 -2.06949702e-03 -3.18635657e+01] [-1.58616287e-02 1.18086966e-04 9.99874189e-01 -6.62987289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.404203822 meters 0.016602578500712232 Centerline is valid? [True, True] Translation: X:234.83, Y:-31.87, Z:-6.63 [[ 9.92345361e-01 1.22457484e-01 1.59640145e-02 2.34831006e+02] [-1.22439489e-01 9.92473751e-01 -2.10347435e-03 -3.18704299e+01] [-1.61014515e-02 1.32747236e-04 9.99870354e-01 -6.63286713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.434203822 meters 0.016589383891721852 Centerline is valid? [True, True] Translation: X:234.86, Y:-31.88, Z:-6.63 [[ 9.92376484e-01 1.22232002e-01 1.57560021e-02 2.34863320e+02] [-1.22214400e-01 9.92501546e-01 -2.07887503e-03 -3.18750780e+01] [-1.58919615e-02 1.37416365e-04 9.99873705e-01 -6.63283991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.464203822 meters 0.01616957190881848 Centerline is valid? [True, True] Translation: X:234.90, Y:-31.88, Z:-6.63 [[ 9.92286700e-01 1.23023503e-01 1.52421475e-02 2.34895853e+02] [-1.23007082e-01 9.92403750e-01 -2.01377508e-03 -3.18773798e+01] [-1.53741060e-02 1.23350132e-04 9.99881804e-01 -6.63492648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.494203822 meters 0.019556492567413264 Centerline is valid? [True, True] Translation: X:234.93, Y:-31.88, Z:-6.64 [[ 9.92165782e-01 1.24095333e-01 1.44017304e-02 2.34928570e+02] [-1.24080752e-01 9.92270295e-01 -1.90511121e-03 -3.18789291e+01] [-1.45268246e-02 1.03208626e-04 9.99894475e-01 -6.63877516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.524203822 meters 0.014544571923134847 Centerline is valid? [True, True] Translation: X:234.96, Y:-31.88, Z:-6.64 [[ 9.91865003e-01 1.26498820e-01 1.42079140e-02 2.34960318e+02] [-1.26484828e-01 9.91966755e-01 -1.88274188e-03 -3.18793400e+01] [-1.43319429e-02 7.03402260e-05 9.99897290e-01 -6.64000224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.554203822 meters 0.013920482367958285 Centerline is valid? [True, True] Translation: X:234.99, Y:-31.88, Z:-6.64 [[ 9.91689534e-01 1.27888323e-01 1.40158898e-02 2.34992176e+02] [-1.27874816e-01 9.91788573e-01 -1.85934544e-03 -3.18804109e+01] [-1.41385880e-02 5.16140783e-05 9.99900044e-01 -6.64019810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.584203822 meters 0.013644507624536598 Centerline is valid? [True, True] Translation: X:235.02, Y:-31.88, Z:-6.64 [[ 9.91492312e-01 1.29296827e-01 1.50108683e-02 2.35023350e+02] [-1.29281438e-01 9.91605934e-01 -1.99516011e-03 -3.18810903e+01] [-1.51428339e-02 3.75592754e-05 9.99885340e-01 -6.64114978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.614203822 meters 0.012465057905244742 Centerline is valid? [True, True] Translation: X:235.06, Y:-31.88, Z:-6.64 [[ 9.91132877e-01 1.31973545e-01 1.54467968e-02 2.35055243e+02] [-1.31957536e-01 9.91253239e-01 -2.05559048e-03 -3.18769595e+01] [-1.55829709e-02 -9.57927981e-07 9.99878578e-01 -6.63820703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.644203822 meters 0.012563672045256975 Centerline is valid? [True, True] Translation: X:235.09, Y:-31.88, Z:-6.64 [[ 9.90955837e-01 1.33316789e-01 1.52696471e-02 2.35086690e+02] [-1.33301298e-01 9.91073475e-01 -2.03238423e-03 -3.18770411e+01] [-1.54042932e-02 -2.14607611e-05 9.99881347e-01 -6.63904837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.674203822 meters 0.013520156172146613 Centerline is valid? [True, True] Translation: X:235.12, Y:-31.87, Z:-6.64 [[ 9.90676549e-01 1.35567430e-01 1.34702686e-02 2.35118041e+02] [-1.35555575e-01 9.90768121e-01 -1.79350755e-03 -3.18739123e+01] [-1.35890539e-02 -4.91841311e-05 9.99907663e-01 -6.64306368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.704203822 meters 0.013520156172146613 Centerline is valid? [True, True] Translation: X:235.15, Y:-31.88, Z:-6.64 [[ 9.90676549e-01 1.35567430e-01 1.34702686e-02 2.35147770e+02] [-1.35555575e-01 9.90768121e-01 -1.79350755e-03 -3.18778706e+01] [-1.35890539e-02 -4.91841312e-05 9.99907663e-01 -6.64391721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.734203822 meters 0.013963997979694198 Centerline is valid? [True, True] Translation: X:235.18, Y:-31.88, Z:-6.65 [[ 9.90597497e-01 1.36200625e-01 1.28836569e-02 2.35178488e+02] [-1.36189833e-01 9.90681274e-01 -1.71540275e-03 -3.18794276e+01] [-1.29972365e-02 -5.53494033e-05 9.99915531e-01 -6.64584784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.764203822 meters 0.013644999601701013 Centerline is valid? [True, True] Translation: X:235.21, Y:-31.88, Z:-6.65 [[ 9.90608619e-01 1.36005251e-01 1.40405203e-02 2.35209236e+02] [-1.35992415e-01 9.90708115e-01 -1.86943408e-03 -3.18794495e+01] [-1.41643102e-02 -5.75267508e-05 9.99899679e-01 -6.64506918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79420382200001 meters 0.013433981218755473 Centerline is valid? [True, True] Translation: X:235.24, Y:-31.88, Z:-6.65 [[ 9.90675295e-01 1.35482294e-01 1.43877477e-02 2.35238591e+02] [-1.35468763e-01 9.90779766e-01 -1.91548787e-03 -3.18817182e+01] [-1.45146040e-02 -5.14638585e-05 9.99894656e-01 -6.64556250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82420382200002 meters 0.013371930869132685 Centerline is valid? [True, True] Translation: X:235.27, Y:-31.89, Z:-6.65 [[ 9.91101105e-01 1.32374346e-01 1.39868570e-02 2.35267119e+02] [-1.32361241e-01 9.91199794e-01 -1.86264281e-03 -3.18867862e+01] [-1.41103359e-02 -5.25040253e-06 9.99900444e-01 -6.64880055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85420382200002 meters 0.013362427881566854 Centerline is valid? [True, True] Translation: X:235.30, Y:-31.89, Z:-6.65 [[ 9.91362061e-01 1.30420204e-01 1.38504485e-02 2.35297099e+02] [-1.30407167e-01 9.91458809e-01 -1.84413634e-03 -3.18921701e+01] [-1.39726619e-02 2.20090514e-05 9.99902377e-01 -6.64927516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88420382200002 meters 0.014148165569744416 Centerline is valid? [True, True] Translation: X:235.33, Y:-31.90, Z:-6.65 [[ 9.91667880e-01 1.28060693e-01 1.39740393e-02 2.35325969e+02] [-1.28047186e-01 9.91766331e-01 -1.86076257e-03 -3.18972882e+01] [-1.40972722e-02 5.59220628e-05 9.99900627e-01 -6.65094738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91420382200002 meters 0.016245188629805327 Centerline is valid? [True, True] Translation: X:235.36, Y:-31.90, Z:-6.65 [[ 9.92191301e-01 1.23903533e-01 1.42946261e-02 2.35355872e+02] [-1.23888972e-01 9.92294261e-01 -1.90310550e-03 -3.19034903e+01] [-1.44202769e-02 1.17298195e-04 9.99896016e-01 -6.65145204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94420382200002 meters 0.016720785830640905 Centerline is valid? [True, True] Translation: X:235.39, Y:-31.91, Z:-6.65 [[ 9.92403151e-01 1.22105108e-01 1.50442095e-02 2.35386830e+02] [-1.22088778e-01 9.92517164e-01 -2.00257571e-03 -3.19084216e+01] [-1.51761608e-02 1.50633302e-04 9.99884824e-01 -6.64992606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97420382200002 meters 0.018527436026982057 Centerline is valid? [True, True] Translation: X:235.42, Y:-31.91, Z:-6.65 [[ 9.92732169e-01 1.19143363e-01 1.69617197e-02 2.35418163e+02] [-1.19122193e-01 9.92877037e-01 -2.25665127e-03 -3.19149316e+01] [-1.71097670e-02 2.19733065e-04 9.99853593e-01 -6.64692474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00420382200002 meters 0.02015340785443352 Centerline is valid? [True, True] Translation: X:235.45, Y:-31.92, Z:-6.65 [[ 9.92818200e-01 1.18413066e-01 1.70401644e-02 2.35448457e+02] [-1.18391538e-01 9.92964395e-01 -2.27022713e-03 -3.19214992e+01] [-1.71891011e-02 2.36511539e-04 9.99852229e-01 -6.64787500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03420382200002 meters 0.021518077846718196 Centerline is valid? [True, True] Translation: X:235.48, Y:-31.93, Z:-6.65 [[ 9.92882222e-01 1.17937673e-01 1.66011513e-02 2.35479096e+02] [-1.17917130e-01 9.93020970e-01 -2.21435255e-03 -3.19252084e+01] [-1.67464470e-02 2.41031158e-04 9.99859739e-01 -6.64985113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06420382200002 meters 0.021028462644034823 Centerline is valid? [True, True] Translation: X:235.51, Y:-31.93, Z:-6.65 [[ 9.92830960e-01 1.18451325e-01 1.59990375e-02 2.35511941e+02] [-1.18432276e-01 9.92959834e-01 -2.13623270e-03 -3.19256035e+01] [-1.61394413e-02 2.26115525e-04 9.99869725e-01 -6.65119873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09420382200003 meters 0.01943184352823211 Centerline is valid? [True, True] Translation: X:235.54, Y:-31.92, Z:-6.65 [[ 9.92746696e-01 1.19295457e-01 1.49195133e-02 2.35544189e+02] [-1.19278957e-01 9.92858778e-01 -1.99413490e-03 -3.19236527e+01] [-1.50508610e-02 2.00086843e-04 9.99886709e-01 -6.65232774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12420382200003 meters 0.018421964504440735 Centerline is valid? [True, True] Translation: X:235.57, Y:-31.93, Z:-6.66 [[ 9.92389991e-01 1.20679429e-01 2.44659003e-02 2.35573843e+02] [-1.21082929e-01 9.92517640e-01 1.57371986e-02 -3.19313415e+01] [-2.23836815e-02 -1.85798413e-02 9.99576791e-01 -6.66004694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.154203822 meters 0.018543866361896522 Centerline is valid? [True, True] Translation: X:235.61, Y:-31.91, Z:-6.66 [[ 9.92479567e-01 1.21994801e-01 1.00785221e-02 2.35608018e+02] [-1.21771502e-01 9.92348452e-01 -2.04022269e-02 -3.19107169e+01] [-1.24903714e-02 1.90215165e-02 9.99741053e-01 -6.65961001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.184203822 meters 0.01893236434151649 Centerline is valid? [True, True] Translation: X:235.64, Y:-31.92, Z:-6.66 [[ 9.92543511e-01 1.21219223e-01 1.27780887e-02 2.35635861e+02] [-1.21207194e-01 9.92625748e-01 -1.71455092e-03 -3.19216067e+01] [-1.28916964e-02 1.52970122e-04 9.99916887e-01 -6.66094137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.214203822 meters 0.019604102012319782 Centerline is valid? [True, True] Translation: X:235.66, Y:-31.92, Z:-6.66 [[ 9.92587975e-01 1.20859154e-01 1.27348602e-02 2.35664355e+02] [-1.20847184e-01 9.92669653e-01 -1.70813445e-03 -3.19236515e+01] [-1.28479529e-02 1.56501728e-04 9.99917449e-01 -6.66294990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.244203822 meters 0.020841084012793856 Centerline is valid? [True, True] Translation: X:235.70, Y:-31.92, Z:-6.66 [[ 9.92752047e-01 1.19579411e-01 1.20057442e-02 2.35695167e+02] [-1.19568688e-01 9.92824626e-01 -1.60962831e-03 -3.19238803e+01] [-1.21120769e-02 1.62450716e-04 9.99926633e-01 -6.66484280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.274203822 meters 0.02221210545746009 Centerline is valid? [True, True] Translation: X:235.72, Y:-31.93, Z:-6.67 [[ 9.92876947e-01 1.18569293e-01 1.16915235e-02 2.35723888e+02] [-1.18559049e-01 9.92945766e-01 -1.56789256e-03 -3.19274580e+01] [-1.17949527e-02 1.70588465e-04 9.99930423e-01 -6.66701867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.304203822 meters 0.025553454281515488 Centerline is valid? [True, True] Translation: X:235.75, Y:-31.94, Z:-6.67 [[ 9.93336359e-01 1.14738094e-01 1.08649937e-02 2.35753794e+02] [-1.14729025e-01 9.93395757e-01 -1.45642793e-03 -3.19352690e+01] [-1.09603464e-02 2.00192684e-04 9.99939914e-01 -6.66878576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.334203822 meters 0.02792775464582942 Centerline is valid? [True, True] Translation: X:235.78, Y:-31.94, Z:-6.67 [[ 9.93583421e-01 1.12569132e-01 1.09624661e-02 2.35782891e+02] [-1.12559765e-01 9.93643869e-01 -1.46969754e-03 -3.19424027e+01] [-1.10582298e-02 2.26334498e-04 9.99938830e-01 -6.66979306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.364203822 meters 0.02802538246137176 Centerline is valid? [True, True] Translation: X:235.81, Y:-31.95, Z:-6.67 [[ 9.93834837e-01 1.10335268e-01 1.08832385e-02 2.35812562e+02] [-1.10325906e-01 9.93894394e-01 -1.45872469e-03 -3.19464294e+01] [-1.09777385e-02 2.49028268e-04 9.99939712e-01 -6.66869657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.394203822 meters 0.03465064473278652 Centerline is valid? [True, True] Translation: X:235.84, Y:-31.96, Z:-6.67 [[ 9.94246537e-01 1.06553637e-01 1.09610821e-02 2.35840790e+02] [-1.06543921e-01 9.94306913e-01 -1.46816415e-03 -3.19581929e+01] [-1.10551179e-02 2.91880453e-04 9.99938848e-01 -6.67280115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.424203822 meters 0.03462780448768875 Centerline is valid? [True, True] Translation: X:235.87, Y:-31.96, Z:-6.67 [[ 9.94439410e-01 1.04717065e-01 1.11622478e-02 2.35871801e+02] [-1.04706860e-01 9.94502003e-01 -1.49641268e-03 -3.19628174e+01] [-1.12575778e-02 3.19327830e-04 9.99936580e-01 -6.67185458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.454203822 meters 0.036432924668997856 Centerline is valid? [True, True] Translation: X:235.90, Y:-31.97, Z:-6.67 [[ 9.94614271e-01 1.02925178e-01 1.22007733e-02 2.35902264e+02] [-1.02912846e-01 9.94689032e-01 -1.63599374e-03 -3.19696414e+01] [-1.23043603e-02 3.71566411e-04 9.99924229e-01 -6.67086498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.484203822 meters 0.03402122070577805 Centerline is valid? [True, True] Translation: X:235.93, Y:-31.97, Z:-6.67 [[ 9.94590581e-01 1.03244945e-01 1.14042399e-02 2.35934881e+02] [-1.03234218e-01 9.94655903e-01 -1.52691131e-03 -3.19708334e+01] [-1.15009404e-02 3.41343818e-04 9.99933804e-01 -6.67128013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.514203822 meters 0.042699305910701056 Centerline is valid? [True, True] Translation: X:235.97, Y:-31.98, Z:-6.68 [[ 9.94548574e-01 1.03835509e-01 9.55626094e-03 2.35965723e+02] [-1.03827969e-01 9.94594443e-01 -1.28311686e-03 -3.19759300e+01] [-9.63783712e-03 2.83914877e-04 9.99953515e-01 -6.67688551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54420382200001 meters 0.029200002888698843 Centerline is valid? [True, True] Translation: X:236.00, Y:-31.98, Z:-6.68 [[ 9.94206479e-01 1.07146792e-01 8.54651182e-03 2.35996198e+02] [-1.07140878e-01 9.94243187e-01 -1.14815656e-03 -3.19770762e+01] [-8.62033244e-03 2.25823909e-04 9.99962819e-01 -6.67616510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57420382200002 meters 0.027161760193097528 Centerline is valid? [True, True] Translation: X:236.03, Y:-31.98, Z:-6.68 [[ 9.93661657e-01 1.12073056e-01 8.72589319e-03 2.36025650e+02] [-1.12067076e-01 9.93699952e-01 -1.17274935e-03 -3.19753044e+01] [-8.80235325e-03 1.87430729e-04 9.99961241e-01 -6.67919625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60420382200002 meters 0.02632246076885816 Centerline is valid? [True, True] Translation: X:236.05, Y:-31.98, Z:-6.68 [[ 9.93364397e-01 1.14711529e-01 8.27281079e-03 2.36053987e+02] [-1.14706246e-01 9.93398833e-01 -1.11190647e-03 -3.19766359e+01] [-8.34574907e-03 1.55585238e-04 9.99965162e-01 -6.68298389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63420382200002 meters 0.023275350737805973 Centerline is valid? [True, True] Translation: X:236.08, Y:-31.98, Z:-6.68 [[ 9.93113972e-01 1.16904753e-01 7.61031622e-03 2.36083126e+02] [-1.16900348e-01 9.93143123e-01 -1.02266858e-03 -3.19758183e+01] [-7.67768803e-03 1.25977845e-04 9.99970518e-01 -6.68315564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66420382200002 meters 0.021747054643306472 Centerline is valid? [True, True] Translation: X:236.11, Y:-31.97, Z:-6.69 [[ 9.92745386e-01 1.20024720e-01 7.11792351e-03 2.36111577e+02] [-1.20020945e-01 9.92770899e-01 -9.56822708e-04 -3.19748821e+01] [-7.18130970e-03 9.55814259e-05 9.99974210e-01 -6.68622515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69420382200002 meters 0.02103538690171052 Centerline is valid? [True, True] Translation: X:236.14, Y:-31.98, Z:-6.69 [[ 9.92619139e-01 1.21093592e-01 6.60203216e-03 2.36140191e+02] [-1.21090371e-01 9.92641091e-01 -8.86911476e-04 -3.19761740e+01] [-6.66084770e-03 8.09227811e-05 9.99977813e-01 -6.68833359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72420382200002 meters 0.019830100642546578 Centerline is valid? [True, True] Translation: X:236.17, Y:-31.98, Z:-6.69 [[ 9.92510693e-01 1.22057593e-01 4.94663073e-03 2.36168871e+02] [-1.22055797e-01 9.92523018e-01 -6.64669208e-04 -3.19777884e+01] [-4.99077278e-03 5.59263423e-05 9.99987544e-01 -6.68925865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75420382200002 meters 0.019727675139024358 Centerline is valid? [True, True] Translation: X:236.20, Y:-31.98, Z:-6.69 [[ 9.92491504e-01 1.22175518e-01 5.81007123e-03 2.36196537e+02] [-1.22173042e-01 9.92508508e-01 -7.80428140e-04 -3.19817775e+01] [-5.86189434e-03 6.47342206e-05 9.99982817e-01 -6.69027844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78420382200002 meters 0.020397546087095857 Centerline is valid? [True, True] Translation: X:236.22, Y:-31.99, Z:-6.69 [[ 9.92509548e-01 1.21986157e-01 6.64635906e-03 2.36223940e+02] [-1.21982918e-01 9.92531799e-01 -8.92077322e-04 -3.19863469e+01] [-6.70554380e-03 7.46529900e-05 9.99977515e-01 -6.69172078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81420382200002 meters 0.019883425943361024 Centerline is valid? [True, True] Translation: X:236.25, Y:-31.99, Z:-6.69 [[ 9.92635001e-01 1.20957892e-01 6.70390346e-03 2.36252717e+02] [-1.20954577e-01 9.92657636e-01 -8.99135370e-04 -3.19896742e+01] [-6.76343848e-03 8.16454291e-05 9.99977124e-01 -6.68988821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84420382200003 meters 0.020628150841470246 Centerline is valid? [True, True] Translation: X:236.28, Y:-32.00, Z:-6.69 [[ 9.92779933e-01 1.19766711e-01 6.62871880e-03 2.36281242e+02] [-1.19763446e-01 9.92802058e-01 -8.88735279e-04 -3.19951842e+01] [-6.68744657e-03 8.84403426e-05 9.99977635e-01 -6.69025524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87420382200003 meters 0.02221073348191475 Centerline is valid? [True, True] Translation: X:236.31, Y:-32.00, Z:-6.69 [[ 9.93055564e-01 1.17385652e-01 7.82653515e-03 2.36309006e+02] [-1.17381032e-01 9.93086398e-01 -1.04868651e-03 -3.20043633e+01] [-7.89552635e-03 1.22717206e-04 9.99968822e-01 -6.68946792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.904203822 meters 0.023033032259501086 Centerline is valid? [True, True] Translation: X:236.34, Y:-32.01, Z:-6.69 [[ 9.93168222e-01 1.16391402e-01 8.36204023e-03 2.36336982e+02] [-1.16386099e-01 9.93203414e-01 -1.11968331e-03 -3.20101468e+01] [-8.43552842e-03 1.38808641e-04 9.99964411e-01 -6.68943589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.934203822 meters 0.02371033093189349 Centerline is valid? [True, True] Translation: X:236.37, Y:-32.01, Z:-6.69 [[ 9.93199820e-01 1.16122861e-01 8.34262013e-03 2.36365155e+02] [-1.16117576e-01 9.93234847e-01 -1.11676741e-03 -3.20149577e+01] [-8.41586326e-03 1.40448363e-04 9.99964576e-01 -6.69106056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.964203822 meters 0.02283447075864685 Centerline is valid? [True, True] Translation: X:236.39, Y:-32.02, Z:-6.69 [[ 9.93126693e-01 1.16725797e-01 8.62902374e-03 2.36393524e+02] [-1.16720166e-01 9.93164170e-01 -1.15499778e-03 -3.20183859e+01] [-8.70485524e-03 1.39878038e-04 9.99962102e-01 -6.69172855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.994203822 meters 0.021304094241451764 Centerline is valid? [True, True] Translation: X:236.42, Y:-32.02, Z:-6.69 [[ 9.92933214e-01 1.18308991e-01 9.30675355e-03 2.36422586e+02] [-1.18302520e-01 9.92976820e-01 -1.24468748e-03 -3.20230968e+01] [-9.38864827e-03 1.34879144e-04 9.99955917e-01 -6.69225864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.024203822 meters 0.019601400970960317 Centerline is valid? [True, True] Translation: X:236.45, Y:-32.03, Z:-6.69 [[ 9.92783934e-01 1.19608629e-01 8.59285834e-03 2.36451812e+02] [-1.19603163e-01 9.92821113e-01 -1.14906980e-03 -3.20252743e+01] [-8.66860985e-03 1.13045006e-04 9.99962421e-01 -6.69244535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.054203822 meters 0.01914738500607728 Centerline is valid? [True, True] Translation: X:236.48, Y:-32.03, Z:-6.70 [[ 9.92476787e-01 1.22175736e-01 7.93206995e-03 2.36479317e+02] [-1.22171155e-01 9.92508480e-01 -1.06132383e-03 -3.20278370e+01] [-8.00231471e-03 8.42691182e-05 9.99967977e-01 -6.69737663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.084203822 meters 0.018736399180741624 Centerline is valid? [True, True] Translation: X:236.51, Y:-32.03, Z:-6.70 [[ 9.92368750e-01 1.23011730e-01 8.50753090e-03 2.36506933e+02] [-1.23006497e-01 9.92405213e-01 -1.13764256e-03 -3.20309065e+01] [-8.58286140e-03 8.24793566e-05 9.99963163e-01 -6.69818964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.114203822 meters 0.018238370751199585 Centerline is valid? [True, True] Translation: X:236.53, Y:-32.03, Z:-6.70 [[ 9.92277622e-01 1.23711037e-01 8.98333418e-03 2.36534485e+02] [-1.23705238e-01 9.92318282e-01 -1.20055612e-03 -3.20333950e+01] [-9.06284878e-03 7.99994856e-05 9.99958928e-01 -6.69851979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.144203822 meters 0.02344952608601665 Centerline is valid? [True, True] Translation: X:236.56, Y:-32.04, Z:-6.70 [[ 9.92177562e-01 1.24645742e-01 6.86479629e-03 2.36562587e+02] [-1.24642376e-01 9.92201308e-01 -9.17621388e-04 -3.20362195e+01] [-6.92563746e-03 5.47988304e-05 9.99976016e-01 -6.70443507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.174203822 meters 0.018330459370604762 Centerline is valid? [True, True] Translation: X:236.59, Y:-32.04, Z:-6.70 [[ 9.92154764e-01 1.24851408e-01 6.40701085e-03 2.36590680e+02] [-1.24848485e-01 9.92175450e-01 -8.55659136e-04 -3.20412038e+01] [-6.46370912e-03 4.90406886e-05 9.99979109e-01 -6.70429879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.204203822 meters 0.016752964867055187 Centerline is valid? [True, True] Translation: X:236.62, Y:-32.05, Z:-6.70 [[ 9.92095499e-01 1.25269949e-01 7.34583254e-03 2.36619174e+02] [-1.25266122e-01 9.92122693e-01 -9.80534776e-04 -3.20454357e+01] [-7.41079870e-03 5.26001805e-05 9.99972538e-01 -6.70190576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.234203822 meters 0.01735062357152162 Centerline is valid? [True, True] Translation: X:236.65, Y:-32.05, Z:-6.70 [[ 9.92080417e-01 1.25343607e-01 8.08869551e-03 2.36646682e+02] [-1.25338972e-01 9.92113389e-01 -1.07939219e-03 -3.20508451e+01] [-8.16019803e-03 5.70150699e-05 9.99966703e-01 -6.70462159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.264203822 meters 0.016402294416978217 Centerline is valid? [True, True] Translation: X:236.68, Y:-32.05, Z:-6.70 [[ 9.92042085e-01 1.25616623e-01 8.54204317e-03 2.36675547e+02] [-1.25611472e-01 9.92078858e-01 -1.13900515e-03 -3.20540973e+01] [-8.61745842e-03 5.69624323e-05 9.99962867e-01 -6.70211777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29420382200001 meters 0.016174433734743077 Centerline is valid? [True, True] Translation: X:236.70, Y:-32.06, Z:-6.70 [[ 9.91949400e-01 1.26345123e-01 8.56145107e-03 2.36704792e+02] [-1.26339980e-01 9.91986344e-01 -1.14116624e-03 -3.20555152e+01] [-8.63702334e-03 5.03256088e-05 9.99962699e-01 -6.70279153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32420382200002 meters 0.016307421602426764 Centerline is valid? [True, True] Translation: X:236.73, Y:-32.06, Z:-6.71 [[ 9.91720725e-01 1.28163170e-01 8.01288703e-03 2.36732347e+02] [-1.28158724e-01 9.91753095e-01 -1.06798304e-03 -3.20562313e+01] [-8.08368161e-03 3.22195385e-05 9.99967326e-01 -6.70782857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35420382200002 meters 0.01550047320336669 Centerline is valid? [True, True] Translation: X:236.76, Y:-32.06, Z:-6.71 [[ 9.91660503e-01 1.28658261e-01 7.51661111e-03 2.36760758e+02] [-1.28654368e-01 9.91688989e-01 -1.00125223e-03 -3.20600681e+01] [-7.58295985e-03 2.58574335e-05 9.99971249e-01 -6.70723039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38420382200002 meters 0.016332872564930018 Centerline is valid? [True, True] Translation: X:236.79, Y:-32.06, Z:-6.71 [[ 9.91591920e-01 1.29197117e-01 7.31910798e-03 2.36788554e+02] [-1.29193441e-01 9.91618931e-01 -9.74868283e-04 -3.20643100e+01] [-7.38371620e-03 2.10907708e-05 9.99972740e-01 -6.71126807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41420382200002 meters 0.016349001427685916 Centerline is valid? [True, True] Translation: X:236.82, Y:-32.07, Z:-6.71 [[ 9.91533551e-01 1.29666577e-01 6.91343522e-03 2.36816681e+02] [-1.29663311e-01 9.91557653e-01 -9.20577178e-04 -3.20673420e+01] [-6.97443769e-03 1.63642605e-05 9.99975678e-01 -6.71348165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44420382200002 meters 0.015824696649841808 Centerline is valid? [True, True] Translation: X:236.85, Y:-32.07, Z:-6.71 [[ 9.91549506e-01 1.29574792e-01 6.32066823e-03 2.36845064e+02] [-1.29572064e-01 9.91569651e-01 -8.41051263e-04 -3.20707998e+01] [-6.37636183e-03 1.49619390e-05 9.99979671e-01 -6.71270873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47420382200002 meters 0.01792471907761334 Centerline is valid? [True, True] Translation: X:236.87, Y:-32.07, Z:-6.72 [[ 9.91514178e-01 1.29898085e-01 5.11107163e-03 2.36872273e+02] [-1.29896303e-01 9.91527351e-01 -6.80390281e-04 -3.20730502e+01] [-5.15614871e-03 1.07072981e-05 9.99986707e-01 -6.72081623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50420382200002 meters 0.016944386161047167 Centerline is valid? [True, True] Translation: X:236.90, Y:-32.08, Z:-6.72 [[ 9.91482877e-01 1.30126819e-01 5.35870752e-03 2.36900799e+02] [-1.30124868e-01 9.91497358e-01 -7.12618157e-04 -3.20754692e+01] [-5.40587508e-03 9.24759451e-06 9.99985388e-01 -6.71905333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53420382200002 meters 0.015951369337342078 Centerline is valid? [True, True] Translation: X:236.93, Y:-32.08, Z:-6.72 [[ 9.91500325e-01 1.29966675e-01 5.98069776e-03 2.36929837e+02] [-1.29964245e-01 9.91518363e-01 -7.94934087e-04 -3.20790748e+01] [-6.03328659e-03 1.09005384e-05 9.99981800e-01 -6.71738903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56420382200002 meters 0.015948256951259326 Centerline is valid? [True, True] Translation: X:236.96, Y:-32.08, Z:-6.72 [[ 9.91562021e-01 1.29495546e-01 5.97173744e-03 2.36958558e+02] [-1.29493116e-01 9.91580003e-01 -7.93453265e-04 -3.20843719e+01] [-6.02420409e-03 1.34592330e-05 9.99981854e-01 -6.71815151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59420382200003 meters 0.015948256951259326 Centerline is valid? [True, True] Translation: X:236.99, Y:-32.09, Z:-6.72 [[ 9.91568346e-01 1.29447104e-01 5.97177633e-03 2.36986647e+02] [-1.29444675e-01 9.91586329e-01 -7.93160233e-04 -3.20880084e+01] [-6.02420406e-03 1.34579358e-05 9.99981854e-01 -6.71895781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62420382200003 meters 0.018112702988449487 Centerline is valid? [True, True] Translation: X:237.02, Y:-32.09, Z:-6.72 [[ 9.91647294e-01 1.28851792e-01 5.73229078e-03 2.37015261e+02] [-1.28849545e-01 9.91663862e-01 -7.61130461e-04 -3.20943277e+01] [-5.78257863e-03 1.61699015e-05 9.99983281e-01 -6.72026782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.654203822 meters 0.0178292765231918 Centerline is valid? [True, True] Translation: X:237.04, Y:-32.10, Z:-6.72 [[ 9.91946993e-01 1.26513089e-01 5.96674473e-03 2.37041477e+02] [-1.26510612e-01 9.91964938e-01 -7.92174493e-04 -3.21044125e+01] [-6.01902201e-03 3.09385755e-05 9.99981885e-01 -6.72401192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.684203822 meters 0.01720624555573761 Centerline is valid? [True, True] Translation: X:237.07, Y:-32.11, Z:-6.72 [[ 9.92083277e-01 1.25461342e-01 5.49749578e-03 2.37069736e+02] [-1.25459226e-01 9.92098509e-01 -7.29387874e-04 -3.21078777e+01] [-5.54556735e-03 3.39019472e-05 9.99984623e-01 -6.72232935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.714203822 meters 0.027037094977937413 Centerline is valid? [True, True] Translation: X:237.10, Y:-32.11, Z:-6.73 [[ 9.92211438e-01 1.24503650e-01 3.91194147e-03 2.37099137e+02] [-1.24502573e-01 9.92219149e-01 -5.18631202e-04 -3.21122664e+01] [-3.94607472e-03 2.75450320e-05 9.99992214e-01 -6.72756263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.744203822 meters 0.01784728703433298 Centerline is valid? [True, True] Translation: X:237.13, Y:-32.12, Z:-6.73 [[ 9.92238189e-01 1.24261493e-01 4.73884593e-03 2.37127709e+02] [-1.24259908e-01 9.92249505e-01 -6.28579500e-04 -3.21183145e+01] [-4.78022575e-03 3.48520249e-05 9.99988574e-01 -6.72522403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.774203822 meters 0.017406283884853747 Centerline is valid? [True, True] Translation: X:237.16, Y:-32.12, Z:-6.72 [[ 9.92220975e-01 1.24329695e-01 6.29795494e-03 2.37155879e+02] [-1.24326902e-01 9.92240961e-01 -8.34599140e-04 -3.21243742e+01] [-6.35285432e-03 4.51015474e-05 9.99979819e-01 -6.72454997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.804203822 meters 0.017332340025811122 Centerline is valid? [True, True] Translation: X:237.18, Y:-32.13, Z:-6.73 [[ 9.92139584e-01 1.24985571e-01 6.13619582e-03 2.37182792e+02] [-1.24982932e-01 9.92158559e-01 -8.13276469e-04 -3.21297606e+01] [-6.18972702e-03 3.99640360e-05 9.99980843e-01 -6.72597364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.834203822 meters 0.016966902457353265 Centerline is valid? [True, True] Translation: X:237.21, Y:-32.13, Z:-6.73 [[ 9.91972891e-01 1.26336922e-01 5.36328799e-03 2.37212018e+02] [-1.26334928e-01 9.91987390e-01 -7.10319988e-04 -3.21318237e+01] [-5.41005370e-03 2.70475722e-05 9.99985365e-01 -6.72846513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.864203822 meters 0.017034039273050413 Centerline is valid? [True, True] Translation: X:237.24, Y:-32.13, Z:-6.73 [[ 9.91836299e-01 1.27394143e-01 5.61138508e-03 2.37239455e+02] [-1.27391977e-01 9.91852172e-01 -7.43184674e-04 -3.21334191e+01] [-5.66034185e-03 2.22720983e-05 9.99983980e-01 -6.73142557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.894203822 meters 0.016271008330551243 Centerline is valid? [True, True] Translation: X:237.27, Y:-32.13, Z:-6.73 [[ 9.91694247e-01 1.28502543e-01 5.44205878e-03 2.37268109e+02] [-1.28500527e-01 9.91709179e-01 -7.20110662e-04 -3.21340352e+01] [-5.48947569e-03 1.48221825e-05 9.99984933e-01 -6.73125660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.924203822 meters 0.018789748491176598 Centerline is valid? [True, True] Translation: X:237.30, Y:-32.14, Z:-6.74 [[ 9.91513591e-01 1.29934211e-01 4.23080772e-03 2.37295221e+02] [-1.29933002e-01 9.91522617e-01 -5.60524012e-04 -3.21351709e+01] [-4.26777279e-03 6.04562627e-06 9.99990893e-01 -6.74209706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.954203822 meters 0.016587367625948705 Centerline is valid? [True, True] Translation: X:237.32, Y:-32.14, Z:-6.74 [[ 9.91489330e-01 1.30126354e-01 4.00504238e-03 2.37323975e+02] [-1.30125275e-01 9.91497419e-01 -5.29851879e-04 -3.21392813e+01] [-4.03993688e-03 4.18524258e-06 9.99991839e-01 -6.73601165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.984203822 meters 0.016767510766896927 Centerline is valid? [True, True] Translation: X:237.35, Y:-32.14, Z:-6.74 [[ 9.91516434e-01 1.29914954e-01 4.15518763e-03 2.37351451e+02] [-1.29913791e-01 9.91525141e-01 -5.49859932e-04 -3.21436933e+01] [-4.19140803e-03 5.37898261e-06 9.99991216e-01 -6.73729712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.014203822 meters 0.01752828410510858 Centerline is valid? [True, True] Translation: X:237.38, Y:-32.15, Z:-6.74 [[ 9.91552019e-01 1.29652423e-01 3.85260011e-03 2.37379041e+02] [-1.29651422e-01 9.91559504e-01 -5.09559496e-04 -3.21467011e+01] [-3.88614788e-03 5.75966585e-06 9.99992449e-01 -6.74084853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04420382200001 meters 0.017905223039114997 Centerline is valid? [True, True] Translation: X:237.41, Y:-32.15, Z:-6.74 [[ 9.91614686e-01 1.29200654e-01 2.73972343e-03 2.37408155e+02] [-1.29200146e-01 9.91618471e-01 -3.62367491e-04 -3.21485223e+01] [-2.76357847e-03 5.35626001e-06 9.99996181e-01 -6.74343593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07420382200002 meters 0.01704286760556671 Centerline is valid? [True, True] Translation: X:237.44, Y:-32.15, Z:-6.74 [[ 9.91651667e-01 1.28897553e-01 3.52012804e-03 2.37436836e+02] [-1.28896714e-01 9.91657915e-01 -4.65054048e-04 -3.21504371e+01] [-3.55070717e-03 7.43868441e-06 9.99993696e-01 -6.74170190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10420382200002 meters 0.01674283236821371 Centerline is valid? [True, True] Translation: X:237.47, Y:-32.15, Z:-6.74 [[ 9.91688941e-01 1.28584172e-01 4.37667364e-03 2.37465987e+02] [-1.28582875e-01 9.91698599e-01 -5.77652881e-04 -3.21531150e+01] [-4.41461813e-03 1.00866959e-05 9.99990255e-01 -6.74190611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13420382200002 meters 0.01711901349246128 Centerline is valid? [True, True] Translation: X:237.49, Y:-32.16, Z:-6.74 [[ 9.91932448e-01 1.26695639e-01 4.27011674e-03 2.37494541e+02] [-1.26694388e-01 9.91941639e-01 -5.63415107e-04 -3.21596917e+01] [-4.30708884e-03 1.78698993e-05 9.99990724e-01 -6.74220198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16420382200002 meters 0.024529103270772207 Centerline is valid? [True, True] Translation: X:237.52, Y:-32.17, Z:-6.74 [[ 9.92329276e-01 1.23546458e-01 4.34520217e-03 2.37521950e+02] [-1.23545133e-01 9.92338789e-01 -5.73085174e-04 -3.21699715e+01] [-4.38271530e-03 3.18606169e-05 9.99990395e-01 -6.74419732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19420382200002 meters 0.01951284278464733 Centerline is valid? [True, True] Translation: X:237.55, Y:-32.18, Z:-6.74 [[ 9.92577882e-01 1.21534863e-01 4.29253458e-03 2.37550161e+02] [-1.21533553e-01 9.92587163e-01 -5.65635441e-04 -3.21773851e+01] [-4.32945914e-03 3.97502503e-05 9.99990627e-01 -6.74436847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22420382200002 meters 0.021699591134007015 Centerline is valid? [True, True] Translation: X:237.58, Y:-32.18, Z:-6.75 [[ 9.92787264e-01 1.19818628e-01 4.11644201e-03 2.37578415e+02] [-1.19817410e-01 9.92795797e-01 -5.42305112e-04 -3.21843971e+01] [-4.15176458e-03 4.51721896e-05 9.99991380e-01 -6.74788215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25420382200002 meters 0.02674374673249058 Centerline is valid? [True, True] Translation: X:237.61, Y:-32.19, Z:-6.75 [[ 9.93005558e-01 1.17980655e-01 4.53066437e-03 2.37606873e+02] [-1.17979159e-01 9.93015892e-01 -5.96903973e-04 -3.21899072e+01] [-4.56944484e-03 5.82049899e-05 9.99989558e-01 -6.74760380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28420382200002 meters 0.019687080434251263 Centerline is valid? [True, True] Translation: X:237.64, Y:-32.19, Z:-6.74 [[ 9.93024031e-01 1.17808962e-01 4.93168051e-03 2.37635438e+02] [-1.17807189e-01 9.93036276e-01 -6.49433736e-04 -3.21921243e+01] [-4.97384676e-03 6.39158891e-05 9.99987628e-01 -6.74193066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31420382200002 meters 0.021156458065650936 Centerline is valid? [True, True] Translation: X:237.66, Y:-32.20, Z:-6.75 [[ 9.92914044e-01 1.18681889e-01 6.02589218e-03 2.37664187e+02] [-1.18679266e-01 9.92932326e-01 -7.92309215e-04 -3.21966348e+01] [-6.07733590e-03 7.15464853e-05 9.99981530e-01 -6.74562321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34420382200003 meters 0.020084461264113295 Centerline is valid? [True, True] Translation: X:237.69, Y:-32.20, Z:-6.75 [[ 9.92839171e-01 1.19359705e-01 4.86234772e-03 2.37694008e+02] [-1.19358006e-01 9.92851075e-01 -6.39025234e-04 -3.21997043e+01] [-4.90386102e-03 5.40891543e-05 9.99987975e-01 -6.74641088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37420382200003 meters 0.03246656256539064 Centerline is valid? [True, True] Translation: X:237.72, Y:-32.20, Z:-6.76 [[ 9.92618525e-01 1.21235652e-01 3.22198115e-03 2.37722729e+02] [-1.21234914e-01 9.92623753e-01 -4.24143628e-04 -3.22021036e+01] [-3.24963635e-03 3.03962139e-05 9.99994719e-01 -6.75522043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.404203822 meters 0.019006088216374395 Centerline is valid? [True, True] Translation: X:237.75, Y:-32.20, Z:-6.75 [[ 9.92509050e-01 1.22130054e-01 3.16793566e-03 2.37752006e+02] [-1.22129345e-01 9.92514105e-01 -4.17242850e-04 -3.22036240e+01] [-3.19517872e-03 2.72193984e-05 9.99994895e-01 -6.75140761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.434203822 meters 0.02375905351794733 Centerline is valid? [True, True] Translation: X:237.78, Y:-32.20, Z:-6.76 [[ 9.92345228e-01 1.23449186e-01 3.35379638e-03 2.37779686e+02] [-1.23448398e-01 9.92350895e-01 -4.41774607e-04 -3.22045409e+01] [-3.38267955e-03 2.43721334e-05 9.99994278e-01 -6.75560153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.464203822 meters 0.017794087398679326 Centerline is valid? [True, True] Translation: X:237.81, Y:-32.20, Z:-6.75 [[ 9.92052932e-01 1.25794700e-01 2.58325594e-03 2.37809311e+02] [-1.25794241e-01 9.92056295e-01 -3.40209013e-04 -3.22028500e+01] [-2.60553181e-03 1.25466288e-05 9.99996606e-01 -6.75326187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.494203822 meters 0.01853999725795555 Centerline is valid? [True, True] Translation: X:237.84, Y:-32.20, Z:-6.76 [[ 9.91848483e-01 1.27400880e-01 2.36680220e-03 2.37837097e+02] [-1.27400499e-01 9.91851307e-01 -3.12020991e-04 -3.22038682e+01] [-2.38726760e-03 7.94576675e-06 9.99997150e-01 -6.75804290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.524203822 meters 0.017360811421284577 Centerline is valid? [True, True] Translation: X:237.87, Y:-32.21, Z:-6.76 [[ 9.91845521e-01 1.27425394e-01 2.28704564e-03 2.37865344e+02] [-1.27425038e-01 9.91848158e-01 -3.01114080e-04 -3.22077814e+01] [-2.30677159e-03 7.23177258e-06 9.99997339e-01 -6.75544276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.554203822 meters 0.016778759743271456 Centerline is valid? [True, True] Translation: X:237.89, Y:-32.21, Z:-6.75 [[ 9.91881695e-01 1.27149045e-01 1.95515015e-03 2.37893451e+02] [-1.27148783e-01 9.91883622e-01 -2.58002164e-04 -3.22114775e+01] [-1.97208614e-03 7.31266070e-06 9.99998055e-01 -6.75440161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.584203822 meters 0.01845195286968225 Centerline is valid? [True, True] Translation: X:237.92, Y:-32.22, Z:-6.76 [[ 9.92111227e-01 1.25325327e-01 2.97936313e-03 2.37920621e+02] [-1.25324716e-01 9.92115700e-01 -3.91789215e-04 -3.22168392e+01] [-3.00497405e-03 1.53106414e-05 9.99995485e-01 -6.75864961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.614203822 meters 0.018548105420684472 Centerline is valid? [True, True] Translation: X:237.95, Y:-32.22, Z:-6.76 [[ 9.92319035e-01 1.23612250e-01 4.79004257e-03 2.37949599e+02] [-1.23610659e-01 9.92330595e-01 -6.27895218e-04 -3.22223892e+01] [-4.83092134e-03 3.09720579e-05 9.99988331e-01 -6.75644535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.644203822 meters 0.019080589013452935 Centerline is valid? [True, True] Translation: X:237.98, Y:-32.23, Z:-6.75 [[ 9.92763977e-01 1.19935271e-01 5.93431247e-03 2.37977204e+02] [-1.19932764e-01 9.92781712e-01 -7.77741863e-04 -3.22312168e+01] [-5.98475557e-03 6.03956074e-05 9.99982089e-01 -6.75244996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.674203822 meters 0.02391496339012296 Centerline is valid? [True, True] Translation: X:238.00, Y:-32.24, Z:-6.76 [[ 9.93029496e-01 1.17763190e-01 4.92456357e-03 2.38004824e+02] [-1.17761447e-01 9.93041705e-01 -6.43446365e-04 -3.22425788e+01] [-4.96607130e-03 5.90374903e-05 9.99987667e-01 -6.76099499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.704203822 meters 0.025597687182339263 Centerline is valid? [True, True] Translation: X:238.03, Y:-32.25, Z:-6.76 [[ 9.93522860e-01 1.13535215e-01 4.69913477e-03 2.38033195e+02] [-1.13533573e-01 9.93533970e-01 -6.15472246e-04 -3.22539176e+01] [-4.73862780e-03 7.79761846e-05 9.99988770e-01 -6.75935774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.734203822 meters 0.03416881490327149 Centerline is valid? [True, True] Translation: X:238.06, Y:-32.26, Z:-6.76 [[ 9.93708654e-01 1.11869803e-01 5.31575900e-03 2.38062097e+02] [-1.11867680e-01 9.93722868e-01 -6.96028567e-04 -3.22604261e+01] [-5.36025586e-03 9.69879850e-05 9.99985629e-01 -6.76115321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.764203822 meters 0.0383374682854503 Centerline is valid? [True, True] Translation: X:238.09, Y:-32.27, Z:-6.76 [[ 9.93897082e-01 1.10181690e-01 5.34650113e-03 2.38090767e+02] [-1.10179520e-01 9.93911457e-01 -6.99638366e-04 -3.22701560e+01] [-5.39103606e-03 1.06293603e-04 9.99985463e-01 -6.76348436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79420382200001 meters 0.03845319904579444 Centerline is valid? [True, True] Translation: X:238.12, Y:-32.28, Z:-6.76 [[ 9.94120021e-01 1.08048851e-01 7.12947862e-03 2.38120903e+02] [-1.08044945e-01 9.94145574e-01 -9.31979494e-04 -3.22803792e+01] [-7.18843892e-03 1.56195352e-04 9.99974151e-01 -6.75795355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82420382200002 meters 0.028736217440912117 Centerline is valid? [True, True] Translation: X:238.15, Y:-32.29, Z:-6.76 [[ 9.94172406e-01 1.07609755e-01 6.43171542e-03 2.38150291e+02] [-1.07606566e-01 9.94193201e-01 -8.40857728e-04 -3.22921102e+01] [-6.48485223e-03 1.43862743e-04 9.99978963e-01 -6.75666875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85420382200002 meters 0.028123311288718592 Centerline is valid? [True, True] Translation: X:238.18, Y:-32.30, Z:-6.76 [[ 9.94087251e-01 1.08488543e-01 4.55771098e-03 2.38181143e+02] [-1.08486951e-01 9.94097695e-01 -5.95768822e-04 -3.22974634e+01] [-4.59544407e-03 9.77940223e-05 9.99989436e-01 -6.75978454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88420382200002 meters 0.03015257477993411 Centerline is valid? [True, True] Translation: X:238.21, Y:-32.30, Z:-6.76 [[ 9.93929478e-01 1.09962260e-01 3.53460147e-03 2.38211165e+02] [-1.09961310e-01 9.93935761e-01 -4.62572024e-04 -3.23004340e+01] [-3.56403227e-03 7.10945616e-05 9.99993646e-01 -6.76358867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91420382200002 meters 0.03423967049403227 Centerline is valid? [True, True] Translation: X:238.24, Y:-32.30, Z:-6.77 [[ 9.93352058e-01 1.15045649e-01 4.02330984e-03 2.38241027e+02] [-1.15044459e-01 9.93360204e-01 -5.26830385e-04 -3.22995993e+01] [-4.05720543e-03 6.04685436e-05 9.99991768e-01 -6.76537860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94420382200002 meters 0.023340883109111386 Centerline is valid? [True, True] Translation: X:238.27, Y:-32.30, Z:-6.76 [[ 9.92985038e-01 1.18188271e-01 3.49960572e-03 2.38271084e+02] [-1.18187389e-01 9.92991204e-01 -4.58565779e-04 -3.23000381e+01] [-3.52927480e-03 4.17396936e-05 9.99993771e-01 -6.76494701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97420382200002 meters 0.01784294909897512 Centerline is valid? [True, True] Translation: X:238.30, Y:-32.30, Z:-6.76 [[ 9.92218560e-01 1.24457961e-01 3.54203451e-03 2.38300266e+02] [-1.24457098e-01 9.92224882e-01 -4.63808118e-04 -3.23004415e+01] [-3.57221938e-03 1.93676866e-05 9.99993619e-01 -6.76485365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00420382200002 meters 0.01725283910082753 Centerline is valid? [True, True] Translation: X:238.33, Y:-32.30, Z:-6.77 [[ 9.91835443e-01 1.27477636e-01 3.45048078e-03 2.38329453e+02] [-1.27476832e-01 9.91841445e-01 -4.52602206e-04 -3.23017843e+01] [-3.48002650e-03 9.05054981e-06 9.99993945e-01 -6.76623263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03420382200002 meters 0.01688095604662593 Centerline is valid? [True, True] Translation: X:238.36, Y:-32.30, Z:-6.77 [[ 9.91516427e-01 1.29942874e-01 3.16617212e-03 2.38358808e+02] [-1.29942210e-01 9.91521482e-01 -4.15285861e-04 -3.23021780e+01] [-3.19329111e-03 3.43350786e-07 9.99994901e-01 -6.76661166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06420382200002 meters 0.017767686568635227 Centerline is valid? [True, True] Translation: X:238.39, Y:-32.30, Z:-6.77 [[ 9.91070229e-01 1.33309135e-01 2.91144319e-03 2.38387239e+02] [-1.33308587e-01 9.91074505e-01 -3.82349884e-04 -3.23000012e+01] [-2.93642785e-03 -9.18479132e-06 9.99995689e-01 -6.76912550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09420382200003 meters 0.02959251145620298 Centerline is valid? [True, True] Translation: X:238.42, Y:-32.30, Z:-6.77 [[ 9.90810464e-01 1.35216087e-01 3.35176387e-03 2.38415987e+02] [-1.35215375e-01 9.90816133e-01 -4.39135282e-04 -3.23029659e+01] [-3.38035987e-03 -1.81101759e-05 9.99994286e-01 -6.77296450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12420382200003 meters 0.019304634272496127 Centerline is valid? [True, True] Translation: X:238.44, Y:-32.31, Z:-6.77 [[ 9.90813244e-01 1.35195630e-01 3.35514640e-03 2.38443930e+02] [-1.35194916e-01 9.90818925e-01 -4.39712293e-04 -3.23063954e+01] [-3.38378973e-03 -1.79259723e-05 9.99994275e-01 -6.77312316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.154203822 meters 0.018901415366135783 Centerline is valid? [True, True] Translation: X:238.47, Y:-32.31, Z:-6.77 [[ 9.90782082e-01 1.35412507e-01 3.78416003e-03 2.38472729e+02] [-1.35411604e-01 9.90789308e-01 -4.95150346e-04 -3.23103782e+01] [-3.81635485e-03 -2.18330875e-05 9.99992717e-01 -6.77192147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.184203822 meters 0.026888537922112377 Centerline is valid? [True, True] Translation: X:238.50, Y:-32.31, Z:-6.78 [[ 9.90661094e-01 1.36324381e-01 2.50186778e-03 2.38500790e+02] [-1.36323988e-01 9.90664253e-01 -3.27742924e-04 -3.23143679e+01] [-2.52319033e-03 -1.63824294e-05 9.99996817e-01 -6.77647663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.214203822 meters 0.02213055132553277 Centerline is valid? [True, True] Translation: X:238.53, Y:-32.32, Z:-6.78 [[ 9.90680243e-01 1.36197810e-01 1.67694836e-03 2.38528637e+02] [-1.36197632e-01 9.90681663e-01 -2.20601315e-04 -3.23164021e+01] [-1.69136740e-03 -9.85103045e-06 9.99998570e-01 -6.78259538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.244203822 meters 0.019260766673901288 Centerline is valid? [True, True] Translation: X:238.56, Y:-32.32, Z:-6.78 [[ 9.90711913e-01 1.35954885e-01 2.48490579e-03 2.38557049e+02] [-1.35954497e-01 9.90715029e-01 -3.25224522e-04 -3.23233799e+01] [-2.50604938e-03 -1.56303088e-05 9.99996860e-01 -6.77582531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.274203822 meters 0.018688042789417186 Centerline is valid? [True, True] Translation: X:238.59, Y:-32.33, Z:-6.78 [[ 9.90754838e-01 1.35630917e-01 3.01767967e-03 2.38585525e+02] [-1.35630344e-01 9.90759433e-01 -3.94513098e-04 -3.23295123e+01] [-3.04330277e-03 -1.84231713e-05 9.99995369e-01 -6.77523590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.304203822 meters 0.024456149250340658 Centerline is valid? [True, True] Translation: X:238.61, Y:-32.34, Z:-6.78 [[ 9.90857755e-01 1.34875556e-01 3.08130172e-03 2.38613526e+02] [-1.34874956e-01 9.90862545e-01 -4.02667777e-04 -3.23352131e+01] [-3.10745651e-03 -1.66039456e-05 9.99995172e-01 -6.77724605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.334203822 meters 0.019406288813415423 Centerline is valid? [True, True] Translation: X:238.64, Y:-32.34, Z:-6.78 [[ 9.90948675e-01 1.34216625e-01 2.57316351e-03 2.38641471e+02] [-1.34216204e-01 9.90952016e-01 -3.36684861e-04 -3.23384545e+01] [-2.59507027e-03 -1.17228206e-05 9.99996633e-01 -6.78001510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.364203822 meters 0.027147399439569873 Centerline is valid? [True, True] Translation: X:238.67, Y:-32.34, Z:-6.78 [[ 9.90971056e-01 1.34042309e-01 3.00419940e-03 2.38670436e+02] [-1.34041737e-01 9.90975610e-01 -3.91959773e-04 -3.23434057e+01] [-3.02962753e-03 -1.42673145e-05 9.99995411e-01 -6.78020351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.394203822 meters 0.018151865650116877 Centerline is valid? [True, True] Translation: X:238.70, Y:-32.35, Z:-6.78 [[ 9.91155184e-01 1.32686927e-01 2.36232887e-03 2.38697400e+02] [-1.32686568e-01 9.91157999e-01 -3.09004624e-04 -3.23497916e+01] [-2.38244203e-03 -7.17777458e-06 9.99997162e-01 -6.77957251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.424203822 meters 0.018324024367662034 Centerline is valid? [True, True] Translation: X:238.72, Y:-32.36, Z:-6.78 [[ 9.91398118e-01 1.30841863e-01 3.19044103e-03 2.38724990e+02] [-1.30841202e-01 9.91403251e-01 -4.15846267e-04 -3.23570797e+01] [-3.21742371e-03 -5.17193337e-06 9.99994824e-01 -6.78170835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.454203822 meters 0.01788819930518263 Centerline is valid? [True, True] Translation: X:238.75, Y:-32.36, Z:-6.78 [[ 9.91573429e-01 1.29497963e-01 3.52324628e-03 2.38754381e+02] [-1.29497150e-01 9.91579688e-01 -4.58662973e-04 -3.23634779e+01] [-3.55297536e-03 -1.45233613e-06 9.99993688e-01 -6.78115724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.484203822 meters 0.028340396478200875 Centerline is valid? [True, True] Translation: X:238.78, Y:-32.37, Z:-6.78 [[ 9.91722792e-01 1.28347049e-01 3.59707356e-03 2.38783715e+02] [-1.28346195e-01 9.91729315e-01 -4.68196645e-04 -3.23695612e+01] [-3.62741496e-03 2.65058022e-06 9.99993421e-01 -6.78152329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.514203822 meters 0.028340396478200875 Centerline is valid? [True, True] Translation: X:238.81, Y:-32.37, Z:-6.78 [[ 9.91725962e-01 1.28322551e-01 3.59708495e-03 2.38812640e+02] [-1.28321697e-01 9.91732486e-01 -4.68109051e-04 -3.23732753e+01] [-3.62741495e-03 2.65185430e-06 9.99993421e-01 -6.78235340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54420382200001 meters 0.026605660486052136 Centerline is valid? [True, True] Translation: X:238.84, Y:-32.38, Z:-6.78 [[ 9.92151653e-01 1.24995433e-01 3.35251662e-03 2.38842132e+02] [-1.24994675e-01 9.92157317e-01 -4.35621584e-04 -3.23821524e+01] [-3.38067460e-03 1.31559514e-05 9.99994285e-01 -6.78106213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57420382200002 meters 0.019346540293305684 Centerline is valid? [True, True] Translation: X:238.87, Y:-32.39, Z:-6.78 [[ 9.92325792e-01 1.23609988e-01 3.17710825e-03 2.38870300e+02] [-1.23609297e-01 9.92330878e-01 -4.13789732e-04 -3.23882485e+01] [-3.20389116e-03 1.78941067e-05 9.99994867e-01 -6.78422582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60420382200002 meters 0.019428697524923343 Centerline is valid? [True, True] Translation: X:238.90, Y:-32.40, Z:-6.78 [[ 9.92595605e-01 1.21440618e-01 2.47808141e-03 2.38900523e+02] [-1.21440193e-01 9.92598698e-01 -3.21903538e-04 -3.23952337e+01] [-2.49883254e-03 1.85813538e-05 9.99996878e-01 -6.78361520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63420382200002 meters 0.020994592720967806 Centerline is valid? [True, True] Translation: X:238.93, Y:-32.40, Z:-6.79 [[ 9.92695387e-01 1.20633844e-01 1.82867512e-03 2.38928869e+02] [-1.20633610e-01 9.92697071e-01 -2.38197462e-04 -3.24018325e+01] [-1.84405512e-03 1.58578407e-05 9.99998300e-01 -6.78783486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66420382200002 meters 0.018563138825418986 Centerline is valid? [True, True] Translation: X:238.96, Y:-32.41, Z:-6.78 [[ 9.92734550e-01 1.20291142e-01 2.85541047e-03 2.38958355e+02] [-1.20290571e-01 9.92738657e-01 -3.71509525e-04 -3.24050650e+01] [-2.87936566e-03 2.53313843e-05 9.99995854e-01 -6.78153378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69420382200002 meters 0.0191615231440163 Centerline is valid? [True, True] Translation: X:238.99, Y:-32.41, Z:-6.78 [[ 9.92695921e-01 1.20556735e-01 4.56968756e-03 2.38987755e+02] [-1.20555279e-01 9.92706438e-01 -5.93677839e-04 -3.24096133e+01] [-4.60793012e-03 3.84416101e-05 9.99989383e-01 -6.78300518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72420382200002 meters 0.019247404395010815 Centerline is valid? [True, True] Translation: X:239.02, Y:-32.42, Z:-6.78 [[ 9.92690859e-01 1.20628813e-01 3.68071445e-03 2.39018153e+02] [-1.20627870e-01 9.92697682e-01 -4.77891268e-04 -3.24153619e+01] [-3.71148416e-03 3.04015479e-05 9.99993112e-01 -6.78359466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75420382200002 meters 0.030490048291742577 Centerline is valid? [True, True] Translation: X:239.05, Y:-32.42, Z:-6.79 [[ 9.92649775e-01 1.20991975e-01 2.71416334e-03 2.39047369e+02] [-1.20991463e-01 9.92653485e-01 -3.52713662e-04 -3.24187896e+01] [-2.73689922e-03 2.17305448e-05 9.99996254e-01 -6.79065180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78420382200002 meters 0.020480398720529522 Centerline is valid? [True, True] Translation: X:239.08, Y:-32.42, Z:-6.79 [[ 9.92652157e-01 1.20992450e-01 1.58820803e-03 2.39077536e+02] [-1.20992275e-01 9.92653427e-01 -2.06187763e-04 -3.24216712e+01] [-1.60148731e-03 1.25118247e-05 9.99998718e-01 -6.79002159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81420382200002 meters 0.026854903357877543 Centerline is valid? [True, True] Translation: X:239.11, Y:-32.43, Z:-6.79 [[ 9.92597859e-01 1.21441639e-01 1.19146547e-03 2.39106333e+02] [-1.21441540e-01 9.92598574e-01 -1.55350599e-04 -3.24260704e+01] [-1.20151295e-03 9.50727056e-06 9.99999278e-01 -6.79403943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84420382200003 meters 0.02125815821705373 Centerline is valid? [True, True] Translation: X:239.13, Y:-32.44, Z:-6.79 [[ 9.92719882e-01 1.20434653e-01 1.65242211e-03 2.39133742e+02] [-1.20434462e-01 9.92721257e-01 -2.15162803e-04 -3.24354823e+01] [-1.66630761e-03 1.45878244e-05 9.99998612e-01 -6.79359920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87420382200003 meters 0.030319527588912206 Centerline is valid? [True, True] Translation: X:239.16, Y:-32.44, Z:-6.79 [[ 9.92692849e-01 1.20646815e-01 2.29202815e-03 2.39163464e+02] [-1.20646449e-01 9.92695495e-01 -2.97766156e-04 -3.24408815e+01] [-2.31121056e-03 1.90652763e-05 9.99997329e-01 -6.79374778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.904203822 meters 0.02148438307394539 Centerline is valid? [True, True] Translation: X:239.19, Y:-32.45, Z:-6.79 [[ 9.92728967e-01 1.20366542e-01 1.04588487e-03 2.39193428e+02] [-1.20366466e-01 9.92729518e-01 -1.35381097e-04 -3.24479805e+01] [-1.05457614e-03 8.50727078e-06 9.99999444e-01 -6.79488871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.934203822 meters 0.029382923340783632 Centerline is valid? [True, True] Translation: X:239.22, Y:-32.45, Z:-6.80 [[ 9.92574986e-01 1.21633369e-01 -4.68938708e-04 2.39223657e+02] [-1.21633354e-01 9.92575097e-01 6.08559135e-05 -3.24509048e+01] [ 4.72858993e-04 -3.36546962e-06 9.99999888e-01 -6.80096240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.964203822 meters 0.031368079358400754 Centerline is valid? [True, True] Translation: X:239.25, Y:-32.45, Z:-6.80 [[ 9.92358677e-01 1.23380185e-01 -1.25907023e-03 2.39253384e+02] [-1.23380078e-01 9.92359476e-01 1.62630053e-04 -3.24518359e+01] [ 1.26951560e-03 -6.04316090e-06 9.99999194e-01 -6.79820120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.994203822 meters 0.031689983923703174 Centerline is valid? [True, True] Translation: X:239.28, Y:-32.46, Z:-6.80 [[ 9.92233030e-01 1.24390503e-01 -7.85786236e-04 2.39281972e+02] [-1.24390461e-01 9.92233341e-01 1.01249196e-04 -3.24559888e+01] [ 7.92277741e-04 -2.71848378e-06 9.99999686e-01 -6.80159019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.024203822 meters 0.02925556908232041 Centerline is valid? [True, True] Translation: X:239.31, Y:-32.46, Z:-6.80 [[ 9.91895387e-01 1.27055332e-01 6.95378618e-04 2.39311009e+02] [-1.27055299e-01 9.91895631e-01 -9.08907103e-05 -3.24597118e+01] [-7.01291163e-04 1.80253771e-06 9.99999754e-01 -6.80199211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.054203822 meters 0.017937406555657738 Centerline is valid? [True, True] Translation: X:239.34, Y:-32.46, Z:-6.79 [[ 9.91669076e-01 1.28810227e-01 6.07733633e-04 2.39340331e+02] [-1.28810202e-01 9.91669262e-01 -7.95292377e-05 -3.24621386e+01] [-6.12914943e-04 5.84393662e-07 9.99999812e-01 -6.79462151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.084203822 meters 0.018613324663217155 Centerline is valid? [True, True] Translation: X:239.37, Y:-32.46, Z:-6.80 [[ 9.91355670e-01 1.31200035e-01 6.97502864e-04 2.39369185e+02] [-1.31200003e-01 9.91355915e-01 -9.14986850e-05 -3.24630442e+01] [-7.03478221e-04 -8.04637912e-07 9.99999753e-01 -6.79713964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.114203822 meters 0.01992982015129829 Centerline is valid? [True, True] Translation: X:239.40, Y:-32.46, Z:-6.80 [[ 9.90751310e-01 1.35689253e-01 5.17658088e-04 2.39399045e+02] [-1.35689236e-01 9.90751445e-01 -6.81507656e-05 -3.24593990e+01] [-5.22117826e-04 -2.72017025e-06 9.99999864e-01 -6.79671601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.144203822 meters 0.022016773233715297 Centerline is valid? [True, True] Translation: X:239.43, Y:-32.46, Z:-6.80 [[ 9.90565725e-01 1.37028992e-01 1.61258503e-03 2.39428010e+02] [-1.37028832e-01 9.90567037e-01 -2.09979966e-04 -3.24595001e+01] [-1.62614691e-03 -1.29716851e-05 9.99998678e-01 -6.80055419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.174203822 meters 0.020588022095427462 Centerline is valid? [True, True] Translation: X:239.46, Y:-32.46, Z:-6.79 [[ 9.90414514e-01 1.38102290e-01 2.61674562e-03 2.39457940e+02] [-1.38101875e-01 9.90417971e-01 -3.39660169e-04 -3.24635480e+01] [-2.63857973e-03 -2.49731139e-05 9.99996519e-01 -6.79440723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.204203822 meters 0.020948189765451274 Centerline is valid? [True, True] Translation: X:239.49, Y:-32.47, Z:-6.80 [[ 9.90446914e-01 1.37870514e-01 2.57516644e-03 2.39485080e+02] [-1.37870109e-01 9.90450262e-01 -3.35159619e-04 -3.24670608e+01] [-2.59678290e-03 -2.30806665e-05 9.99996628e-01 -6.79615029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.234203822 meters 0.02140218355860345 Centerline is valid? [True, True] Translation: X:239.51, Y:-32.47, Z:-6.80 [[ 9.90682012e-01 1.36189850e-01 1.21454962e-03 2.39512695e+02] [-1.36189759e-01 9.90682757e-01 -1.58236811e-04 -3.24734513e+01] [-1.22478361e-03 -8.64685797e-06 9.99999250e-01 -6.80131283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.264203822 meters 0.019469377988641123 Centerline is valid? [True, True] Translation: X:239.54, Y:-32.48, Z:-6.80 [[ 9.90846014e-01 1.34996022e-01 5.00725497e-04 2.39542005e+02] [-1.34996006e-01 9.90846140e-01 -6.55200677e-05 -3.24806902e+01] [-5.04986875e-04 -2.67564455e-06 9.99999872e-01 -6.79957181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29420382200001 meters 0.019850518062521878 Centerline is valid? [True, True] Translation: X:239.57, Y:-32.49, Z:-6.80 [[ 9.91001290e-01 1.33851336e-01 5.12206081e-04 2.39569824e+02] [-1.33851320e-01 9.91001423e-01 -6.73421944e-05 -3.24856668e+01] [-5.16610798e-04 -1.82325834e-06 9.99999867e-01 -6.80302039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32420382200002 meters 0.020005045439000415 Centerline is valid? [True, True] Translation: X:239.60, Y:-32.49, Z:-6.81 [[ 9.91296624e-01 1.31638691e-01 1.50271351e-03 2.39597614e+02] [-1.31638546e-01 9.91297763e-01 -1.95400222e-04 -3.24918984e+01] [-1.51535877e-03 -4.11544165e-06 9.99998852e-01 -6.80600894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35420382200002 meters 0.01896384741420741 Centerline is valid? [True, True] Translation: X:239.63, Y:-32.50, Z:-6.80 [[ 9.91429601e-01 1.30633677e-01 1.47931594e-03 2.39627030e+02] [-1.30633536e-01 9.91430705e-01 -1.91989946e-04 -3.24981633e+01] [-1.49171960e-03 -2.90375744e-06 9.99998887e-01 -6.80354020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38420382200002 meters 0.019630974318093453 Centerline is valid? [True, True] Translation: X:239.66, Y:-32.51, Z:-6.81 [[ 9.91674370e-01 1.28767576e-01 9.24404362e-04 2.39655867e+02] [-1.28767520e-01 9.91674801e-01 -1.19871620e-04 -3.25069131e+01] [-9.32144091e-04 -1.59643491e-07 9.99999566e-01 -6.80593725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41420382200002 meters 0.03583914627638525 Centerline is valid? [True, True] Translation: X:239.69, Y:-32.51, Z:-6.81 [[ 9.91771193e-01 1.28021753e-01 5.75333899e-04 2.39685452e+02] [-1.28021731e-01 9.91771360e-01 -7.50892258e-05 -3.25120929e+01] [-5.80212738e-04 8.16089246e-07 9.99999832e-01 -6.80868042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44420382200002 meters 0.020640945802995768 Centerline is valid? [True, True] Translation: X:239.71, Y:-32.52, Z:-6.81 [[ 9.91813935e-01 1.27688683e-01 -8.47757713e-04 2.39714377e+02] [-1.27688637e-01 9.91814297e-01 1.09226405e-04 -3.25179085e+01] [ 8.54765196e-04 -8.32439931e-08 9.99999635e-01 -6.81194929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47420382200002 meters 0.019000374648103932 Centerline is valid? [True, True] Translation: X:239.74, Y:-32.52, Z:-6.81 [[ 9.91723689e-01 1.28388514e-01 -7.16689030e-04 2.39743640e+02] [-1.28388481e-01 9.91723948e-01 9.18931046e-05 -3.25211095e+01] [ 7.22555693e-04 8.82047087e-07 9.99999739e-01 -6.80722564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50420382200002 meters 0.019954299367758315 Centerline is valid? [True, True] Translation: X:239.77, Y:-32.52, Z:-6.81 [[ 9.91413520e-01 1.30763240e-01 4.54330623e-04 2.39772843e+02] [-1.30763227e-01 9.91413625e-01 -5.97866553e-05 -3.25201539e+01] [-4.58247467e-04 -1.36439733e-07 9.99999895e-01 -6.80989595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53420382200002 meters 0.01995392865510765 Centerline is valid? [True, True] Translation: X:239.80, Y:-32.52, Z:-6.81 [[ 9.91211772e-01 1.32280832e-01 1.00244583e-03 2.39802229e+02] [-1.32280768e-01 9.91212279e-01 -1.30849894e-04 -3.25208434e+01] [-1.01094555e-03 -2.90434891e-06 9.99999489e-01 -6.80937166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56420382200002 meters 0.020376089345593318 Centerline is valid? [True, True] Translation: X:239.83, Y:-32.52, Z:-6.81 [[ 9.90799691e-01 1.35324969e-01 1.76770549e-03 2.39831946e+02] [-1.35324775e-01 9.90801268e-01 -2.29610844e-04 -3.25198106e+01] [-1.78251693e-03 -1.17159951e-05 9.99998411e-01 -6.80671937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59420382200003 meters 0.022171967219148644 Centerline is valid? [True, True] Translation: X:239.86, Y:-32.52, Z:-6.81 [[ 9.90520137e-01 1.37351652e-01 2.09346325e-03 2.39859702e+02] [-1.37351384e-01 9.90522349e-01 -2.71868691e-04 -3.25183315e+01] [-2.11096375e-03 -1.82486615e-05 9.99997772e-01 -6.80884605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62420382200003 meters 0.02393386191777908 Centerline is valid? [True, True] Translation: X:239.89, Y:-32.52, Z:-6.81 [[ 9.90238800e-01 1.39370719e-01 1.70911951e-03 2.39887828e+02] [-1.39370543e-01 9.90240275e-01 -2.22118592e-04 -3.25160671e+01] [-1.72339580e-03 -1.82504659e-05 9.99998515e-01 -6.81063206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.654203822 meters 0.024088564187752945 Centerline is valid? [True, True] Translation: X:239.92, Y:-32.51, Z:-6.81 [[ 9.89816803e-01 1.42341296e-01 1.28569008e-03 2.39917593e+02] [-1.42341199e-01 9.89817637e-01 -1.67188147e-04 -3.25131427e+01] [-1.29639649e-03 -1.75210295e-05 9.99999160e-01 -6.80768229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.684203822 meters 0.026444194490330572 Centerline is valid? [True, True] Translation: X:239.95, Y:-32.51, Z:-6.81 [[ 9.89656350e-01 1.43426769e-01 3.01162008e-03 2.39946817e+02] [-1.43426247e-01 9.89660932e-01 -3.89857671e-04 -3.25068824e+01] [-3.03639876e-03 -4.61202449e-05 9.99995389e-01 -6.80911953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.714203822 meters 0.024714690011205322 Centerline is valid? [True, True] Translation: X:239.98, Y:-32.51, Z:-6.81 [[ 9.89688417e-01 1.43192180e-01 3.58277650e-03 2.39975731e+02] [-1.43191442e-01 9.89694901e-01 -4.62909962e-04 -3.25086893e+01] [-3.61214072e-03 -5.48863068e-05 9.99993475e-01 -6.80669917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.744203822 meters 0.023826414153354427 Centerline is valid? [True, True] Translation: X:240.00, Y:-32.51, Z:-6.81 [[ 9.89836090e-01 1.42160713e-01 3.85317674e-03 2.40004020e+02] [-1.42159854e-01 9.89843588e-01 -4.97552817e-04 -3.25112456e+01] [-3.88477475e-03 -5.52713063e-05 9.99992453e-01 -6.80711181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.774203822 meters 0.021519356208844508 Centerline is valid? [True, True] Translation: X:240.03, Y:-32.52, Z:-6.81 [[ 9.90432143e-01 1.37945777e-01 3.89014240e-03 2.40030827e+02] [-1.37944867e-01 9.90439782e-01 -5.02419466e-04 -3.25185141e+01] [-3.92225843e-03 -3.90127890e-05 9.99992307e-01 -6.80870995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.804203822 meters 0.02111704402638905 Centerline is valid? [True, True] Translation: X:240.06, Y:-32.52, Z:-6.81 [[ 9.90811692e-01 1.35202527e-01 3.53093143e-03 2.40059279e+02] [-1.35201763e-01 9.90817983e-01 -4.55342318e-04 -3.25242985e+01] [-3.56007379e-03 -2.62296613e-05 9.99993663e-01 -6.81290274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.834203822 meters 0.028732496108820463 Centerline is valid? [True, True] Translation: X:240.09, Y:-32.53, Z:-6.82 [[ 9.91615475e-01 1.29131112e-01 4.88923826e-03 2.40086877e+02] [-1.29129576e-01 9.91627529e-01 -6.29902337e-04 -3.25347816e+01] [-4.92964324e-03 -6.72435763e-06 9.99987849e-01 -6.81637102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.864203822 meters 0.019173534790733138 Centerline is valid? [True, True] Translation: X:240.12, Y:-32.54, Z:-6.81 [[ 9.91950298e-01 1.26568448e-01 3.87733761e-03 2.40116128e+02] [-1.26567464e-01 9.91957876e-01 -4.99309775e-04 -3.25424673e+01] [-3.90935244e-03 4.54569358e-06 9.99992358e-01 -6.81364227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.894203822 meters 0.02188074712387136 Centerline is valid? [True, True] Translation: X:240.14, Y:-32.55, Z:-6.82 [[ 9.92625840e-01 1.21188131e-01 2.71635379e-03 2.40144007e+02] [-1.21187631e-01 9.92629557e-01 -3.48532559e-04 -3.25526157e+01] [-2.73857107e-03 1.67739435e-05 9.99996250e-01 -6.81731451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.924203822 meters 0.02547093312148603 Centerline is valid? [True, True] Translation: X:240.17, Y:-32.56, Z:-6.81 [[ 9.92959631e-01 1.18410631e-01 3.17697985e-03 2.40173039e+02] [-1.18409927e-01 9.92964713e-01 -4.09299976e-04 -3.25573864e+01] [-3.20309436e-03 3.02324000e-05 9.99994870e-01 -6.81482250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.954203822 meters 0.023402874940364696 Centerline is valid? [True, True] Translation: X:240.20, Y:-32.57, Z:-6.81 [[ 9.93469621e-01 1.14054952e-01 3.09514804e-03 2.40202878e+02] [-1.14054267e-01 9.93474442e-01 -3.97438742e-04 -3.25693321e+01] [-3.12028032e-03 4.18284765e-05 9.99995131e-01 -6.81183406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.984203822 meters 0.03265508816243724 Centerline is valid? [True, True] Translation: X:240.23, Y:-32.58, Z:-6.82 [[ 9.93967441e-01 1.09610649e-01 3.77257515e-03 2.40233493e+02] [-1.09609601e-01 9.93974598e-01 -4.84040865e-04 -3.25816061e+01] [-3.80289990e-03 6.76104029e-05 9.99992767e-01 -6.81536122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.014203822 meters 0.03186570633535148 Centerline is valid? [True, True] Translation: X:240.26, Y:-32.59, Z:-6.82 [[ 9.94118181e-01 1.08231832e-01 3.86171081e-03 2.40263806e+02] [-1.08230733e-01 9.94125679e-01 -4.92949529e-04 -3.25895136e+01] [-3.89237871e-03 7.20942970e-05 9.99992422e-01 -6.81625609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04420382200001 meters 0.029096273300130968 Centerline is valid? [True, True] Translation: X:240.29, Y:-32.60, Z:-6.82 [[ 9.94195596e-01 1.07550538e-01 2.82804430e-03 2.40294167e+02] [-1.07549943e-01 9.94199617e-01 -3.62063848e-04 -3.25973746e+01] [-2.85058072e-03 5.58062790e-05 9.99995936e-01 -6.81538286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07420382200002 meters 0.030215825528465648 Centerline is valid? [True, True] Translation: X:240.32, Y:-32.61, Z:-6.82 [[ 9.94298953e-01 1.06576268e-01 3.33045740e-03 2.40324215e+02] [-1.06575441e-01 9.94304528e-01 -4.25457745e-04 -3.26071438e+01] [-3.35683257e-03 6.80872252e-05 9.99994364e-01 -6.81507930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10420382200002 meters 0.028884023648369412 Centerline is valid? [True, True] Translation: X:240.36, Y:-32.61, Z:-6.81 [[ 9.94273456e-01 1.06802428e-01 3.67922825e-03 2.40355675e+02] [-1.06801418e-01 9.94280260e-01 -4.70677911e-04 -3.26127842e+01] [-3.70845357e-03 7.50357604e-05 9.99993121e-01 -6.81317095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13420382200002 meters 0.028521829984070882 Centerline is valid? [True, True] Translation: X:240.39, Y:-32.62, Z:-6.81 [[ 9.94097208e-01 1.08446813e-01 3.16705498e-03 2.40386385e+02] [-1.08446072e-01 9.94102251e-01 -4.05354990e-04 -3.26213047e+01] [-3.19233594e-03 5.95075926e-05 9.99994903e-01 -6.81498376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16420382200002 meters 0.026548549538666835 Centerline is valid? [True, True] Translation: X:240.42, Y:-32.63, Z:-6.82 [[ 9.93714945e-01 1.11920753e-01 2.08644948e-03 2.40416897e+02] [-1.11920442e-01 9.93717135e-01 -2.65890015e-04 -3.26251109e+01] [-2.10309922e-03 3.07025332e-05 9.99997788e-01 -6.81816629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19420382200002 meters 0.025060641825148378 Centerline is valid? [True, True] Translation: X:240.45, Y:-32.63, Z:-6.82 [[ 9.93503242e-01 1.13783547e-01 2.14781943e-03 2.40448978e+02] [-1.13783221e-01 9.93505563e-01 -2.73819217e-04 -3.26292530e+01] [-2.16502667e-03 2.76544672e-05 9.99997656e-01 -6.81862374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22420382200002 meters 0.024954169944787007 Centerline is valid? [True, True] Translation: X:240.48, Y:-32.64, Z:-6.82 [[ 9.93284145e-01 1.15664457e-01 2.88797599e-03 2.40480061e+02] [-1.15663869e-01 9.93288343e-01 -3.70388829e-04 -3.26356157e+01] [-2.91143371e-03 3.38668759e-05 9.99995761e-01 -6.82111038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25420382200002 meters 0.03221418941772314 Centerline is valid? [True, True] Translation: X:240.51, Y:-32.64, Z:-6.82 [[ 9.92939892e-01 1.18478071e-01 5.77211627e-03 2.40510901e+02] [-1.18475715e-01 9.92956667e-01 -7.49544201e-04 -3.26413782e+01] [-5.82026589e-03 6.03967339e-05 9.99983060e-01 -6.81887371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28420382200002 meters 0.02173373776306916 Centerline is valid? [True, True] Translation: X:240.54, Y:-32.65, Z:-6.82 [[ 9.92721046e-01 1.20321309e-01 5.26384279e-03 2.40542265e+02] [-1.20319395e-01 9.92735000e-01 -6.79941646e-04 -3.26489357e+01] [-5.30741245e-03 4.16500042e-05 9.99985915e-01 -6.81854506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31420382200002 meters 0.02134516135345238 Centerline is valid? [True, True] Translation: X:240.57, Y:-32.65, Z:-6.82 [[ 9.92356818e-01 1.23322355e-01 4.42066827e-03 2.40574769e+02] [-1.23321037e-01 9.92366664e-01 -5.70671974e-04 -3.26535381e+01] [-4.45730043e-03 2.11488307e-05 9.99990066e-01 -6.81914952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34420382200003 meters 0.02050477933645346 Centerline is valid? [True, True] Translation: X:240.61, Y:-32.66, Z:-6.82 [[ 9.92088946e-01 1.25492479e-01 3.34084367e-03 2.40605617e+02] [-1.25491732e-01 9.92094571e-01 -4.33172460e-04 -3.26575946e+01] [-3.36879275e-03 1.04973527e-05 9.99994326e-01 -6.82373885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37420382200003 meters 0.01843268321692251 Centerline is valid? [True, True] Translation: X:240.64, Y:-32.66, Z:-6.82 [[ 9.91503342e-01 1.30039153e-01 3.30784613e-03 2.40638178e+02] [-1.30038452e-01 9.91508860e-01 -4.27098488e-04 -3.26610352e+01] [-3.33529827e-03 -6.67761060e-06 9.99994438e-01 -6.82068571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.404203822 meters 0.01843268321692251 Centerline is valid? [True, True] Translation: X:240.67, Y:-32.67, Z:-6.82 [[ 9.91480633e-01 1.30212187e-01 3.30776998e-03 2.40669559e+02] [-1.30211485e-01 9.91486150e-01 -4.27684312e-04 -3.26652802e+01] [-3.33529784e-03 -6.66892826e-06 9.99994438e-01 -6.82158749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.434203822 meters 0.03170464677062506 Centerline is valid? [True, True] Translation: X:240.70, Y:-32.67, Z:-6.83 [[ 9.91199555e-01 1.32308574e-01 4.22883759e-03 2.40701189e+02] [-1.32307436e-01 9.91208576e-01 -5.48897565e-04 -3.26689385e+01] [-4.26428394e-03 -1.54396379e-05 9.99990908e-01 -6.82532567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.464203822 meters 0.026110154111024592 Centerline is valid? [True, True] Translation: X:240.73, Y:-32.67, Z:-6.83 [[ 9.90511503e-01 1.37356876e-01 4.47792380e-03 2.40732621e+02] [-1.37355645e-01 9.90521624e-01 -5.82659178e-04 -3.26687918e+01] [-4.51551260e-03 -3.79374943e-05 9.99989804e-01 -6.82629654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.494203822 meters 0.020870645552057573 Centerline is valid? [True, True] Translation: X:240.76, Y:-32.67, Z:-6.82 [[ 9.90148421e-01 1.39948023e-01 4.54491991e-03 2.40764732e+02] [-1.39946780e-01 9.90158850e-01 -5.91959090e-04 -3.26710307e+01] [-4.58303617e-03 -4.99195473e-05 9.99989497e-01 -6.82332524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.524203822 meters 0.023776467301480718 Centerline is valid? [True, True] Translation: X:240.80, Y:-32.67, Z:-6.83 [[ 9.89733870e-01 1.42827401e-01 5.21543149e-03 2.40795629e+02] [-1.42825776e-01 9.89747609e-01 -6.84644593e-04 -3.26714746e+01] [-5.25974685e-03 -6.72821079e-05 9.99986165e-01 -6.82623222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.554203822 meters 0.029400986702841747 Centerline is valid? [True, True] Translation: X:240.83, Y:-32.68, Z:-6.83 [[ 9.89679545e-01 1.43223835e-01 4.61852037e-03 2.40825548e+02] [-1.43222564e-01 9.89690320e-01 -6.06595403e-04 -3.26759499e+01] [-4.65778383e-03 -6.11412669e-05 9.99989151e-01 -6.83069701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.584203822 meters 0.024153556282085806 Centerline is valid? [True, True] Translation: X:240.86, Y:-32.68, Z:-6.83 [[ 9.89594191e-01 1.43871465e-01 2.08274358e-03 2.40856060e+02] [-1.43871210e-01 9.89596383e-01 -2.72900588e-04 -3.26824298e+01] [-2.10033812e-03 -2.95860014e-05 9.99997794e-01 -6.83044038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.614203822 meters 0.02419711989818233 Centerline is valid? [True, True] Translation: X:240.89, Y:-32.69, Z:-6.83 [[ 9.89671707e-01 1.43352105e-01 2.92814511e-04 2.40886526e+02] [-1.43352100e-01 9.89671751e-01 -3.77693199e-05 -3.26914073e+01] [-2.95204562e-04 -4.59634788e-06 9.99999956e-01 -6.83408825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.644203822 meters 0.02376245116952302 Centerline is valid? [True, True] Translation: X:240.92, Y:-32.70, Z:-6.84 [[ 9.89967185e-01 1.41281898e-01 2.09734362e-03 2.40915653e+02] [-1.41281631e-01 9.89969406e-01 -2.75568855e-04 -3.26988196e+01] [-2.11523891e-03 -2.35120039e-05 9.99997763e-01 -6.83579582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.674203822 meters 0.02222430516953947 Centerline is valid? [True, True] Translation: X:240.95, Y:-32.71, Z:-6.83 [[ 9.90165471e-01 1.39872966e-01 2.80936381e-03 2.40946576e+02] [-1.39872484e-01 9.90169456e-01 -3.68506738e-04 -3.27061455e+01] [-2.83329037e-03 -2.80700462e-05 9.99995986e-01 -6.83477343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.704203822 meters 0.02218431347035543 Centerline is valid? [True, True] Translation: X:240.98, Y:-32.71, Z:-6.84 [[ 9.90380131e-01 1.38344725e-01 2.81650855e-03 2.40976981e+02] [-1.38344243e-01 9.90384136e-01 -3.66164541e-04 -3.27122590e+01] [-2.84008232e-03 -2.70056577e-05 9.99995967e-01 -6.83774087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.734203822 meters 0.019864395132660344 Centerline is valid? [True, True] Translation: X:241.01, Y:-32.72, Z:-6.84 [[ 9.90896019e-01 1.34599311e-01 2.84683793e-03 2.41008129e+02] [-1.34598803e-01 9.90900109e-01 -3.70233237e-04 -3.27244940e+01] [-2.87076515e-03 -1.63183351e-05 9.99995879e-01 -6.83633494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.764203822 meters 0.018894517988540246 Centerline is valid? [True, True] Translation: X:241.04, Y:-32.74, Z:-6.83 [[ 9.91219109e-01 1.32146161e-01 4.69778459e-03 2.41038101e+02] [-1.32144730e-01 9.91230242e-01 -6.15174389e-04 -3.27365630e+01] [-4.73787909e-03 -1.10148648e-05 9.99988776e-01 -6.83418465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79420382200001 meters 0.018514821699361847 Centerline is valid? [True, True] Translation: X:241.07, Y:-32.74, Z:-6.83 [[ 9.91276327e-01 1.31695262e-01 5.25379434e-03 2.41069811e+02] [-1.31693460e-01 9.91290249e-01 -6.89042551e-04 -3.27436774e+01] [-5.29877874e-03 -8.85878494e-06 9.99985961e-01 -6.83296834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82420382200002 meters 0.018589351950960287 Centerline is valid? [True, True] Translation: X:241.10, Y:-32.75, Z:-6.83 [[ 9.91244570e-01 1.31956367e-01 4.66044803e-03 2.41101239e+02] [-1.31954950e-01 9.91255526e-01 -6.11439995e-04 -3.27495159e+01] [-4.70037826e-03 -8.88261219e-06 9.99988953e-01 -6.83366933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85420382200002 meters 0.019119390114293124 Centerline is valid? [True, True] Translation: X:241.13, Y:-32.75, Z:-6.84 [[ 9.90988286e-01 1.33899527e-01 3.62412953e-03 2.41133340e+02] [-1.33898686e-01 9.90994912e-01 -4.75003662e-04 -3.27518916e+01] [-3.65509670e-03 -1.45431162e-05 9.99993320e-01 -6.83525806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88420382200002 meters 0.02683663595494235 Centerline is valid? [True, True] Translation: X:241.16, Y:-32.75, Z:-6.84 [[ 9.90783130e-01 1.35371375e-01 4.83525592e-03 2.41164554e+02] [-1.35369881e-01 9.90794928e-01 -6.36525345e-04 -3.27515125e+01] [-4.87691435e-03 -2.38894434e-05 9.99988108e-01 -6.83877292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91420382200002 meters 0.02072500782601281 Centerline is valid? [True, True] Translation: X:241.20, Y:-32.75, Z:-6.84 [[ 9.90167144e-01 1.39767299e-01 5.84208480e-03 2.41197220e+02] [-1.39765182e-01 9.90184376e-01 -7.71023338e-04 -3.27453214e+01] [-5.89250495e-03 -5.30780693e-05 9.99982638e-01 -6.83510579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94420382200002 meters 0.021873964949850073 Centerline is valid? [True, True] Translation: X:241.23, Y:-32.75, Z:-6.84 [[ 9.89883976e-01 1.41781928e-01 5.25338414e-03 2.41229502e+02] [-1.41780244e-01 9.89897915e-01 -6.93421110e-04 -3.27451441e+01] [-5.29862859e-03 -5.84196400e-05 9.99985960e-01 -6.83666633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97420382200002 meters 0.023367718662696723 Centerline is valid? [True, True] Translation: X:241.26, Y:-32.74, Z:-6.84 [[ 9.89608473e-01 1.43757741e-01 2.96344253e-03 2.41261783e+02] [-1.43757218e-01 9.89612909e-01 -3.89839370e-04 -3.27434818e+01] [-2.98870341e-03 -4.02279097e-05 9.99995533e-01 -6.84025200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00420382200002 meters 0.02425275137331414 Centerline is valid? [True, True] Translation: X:241.29, Y:-32.74, Z:-6.84 [[ 9.89628868e-01 1.43618077e-01 2.92434616e-03 2.41292542e+02] [-1.43617555e-01 9.89633188e-01 -3.88801945e-04 -3.27448973e+01] [-2.94986900e-03 -3.52178167e-05 9.99995649e-01 -6.84360253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03420382200002 meters 0.022558977453631515 Centerline is valid? [True, True] Translation: X:241.32, Y:-32.75, Z:-6.84 [[ 9.89926900e-01 1.41550574e-01 2.85790194e-03 2.41323848e+02] [-1.41550067e-01 9.89931025e-01 -3.79691554e-04 -3.27494797e+01] [-2.88287136e-03 -2.86693301e-05 9.99995844e-01 -6.84376062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06420382200002 meters 0.021969513638621867 Centerline is valid? [True, True] Translation: X:241.35, Y:-32.75, Z:-6.84 [[ 9.90156991e-01 1.39933494e-01 2.78389082e-03 2.41353733e+02] [-1.39933006e-01 9.90160905e-01 -3.70214257e-04 -3.27535241e+01] [-2.80830523e-03 -2.29879750e-05 9.99996056e-01 -6.84466601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09420382200003 meters 0.018974308357619808 Centerline is valid? [True, True] Translation: X:241.39, Y:-32.76, Z:-6.84 [[ 9.90575696e-01 1.36889650e-01 4.58424400e-03 2.41385335e+02] [-1.36888294e-01 9.90586303e-01 -6.09592776e-04 -3.27562058e+01] [-4.62453626e-03 -2.36815546e-05 9.99989306e-01 -6.83972577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12420382200003 meters 0.01939516546824025 Centerline is valid? [True, True] Translation: X:241.42, Y:-32.76, Z:-6.84 [[ 9.90732772e-01 1.35758529e-01 4.26572917e-03 2.41415984e+02] [-1.35757352e-01 9.90741955e-01 -5.65558428e-04 -3.27588632e+01] [-4.30301623e-03 -1.87868283e-05 9.99990742e-01 -6.84283161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.154203822 meters 0.03258516524722991 Centerline is valid? [True, True] Translation: X:241.45, Y:-32.76, Z:-6.85 [[ 9.90999217e-01 1.33819700e-01 3.58333386e-03 2.41446600e+02] [-1.33818862e-01 9.91005695e-01 -4.73495870e-04 -3.27618666e+01] [-3.61446734e-03 -1.02836230e-05 9.99993468e-01 -6.84811459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.184203822 meters 0.01931144328853079 Centerline is valid? [True, True] Translation: X:241.48, Y:-32.77, Z:-6.84 [[ 9.91055504e-01 1.33406035e-01 3.43773529e-03 2.41477794e+02] [-1.33405249e-01 9.91061466e-01 -4.57943385e-04 -3.27661551e+01] [-3.46809939e-03 -4.76461900e-06 9.99993986e-01 -6.84472965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.214203822 meters 0.01953147450911466 Centerline is valid? [True, True] Translation: X:241.51, Y:-32.77, Z:-6.85 [[ 9.91268813e-01 1.31803382e-01 3.74289343e-03 2.41509129e+02] [-1.31802445e-01 9.91275879e-01 -4.96963862e-04 -3.27687641e+01] [-3.77574149e-03 -6.97728708e-07 9.99992872e-01 -6.84651098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.244203822 meters 0.01925247851282724 Centerline is valid? [True, True] Translation: X:241.54, Y:-32.77, Z:-6.85 [[ 9.91385372e-01 1.30930746e-01 3.49046768e-03 2.41541256e+02] [-1.30929932e-01 9.91391517e-01 -4.61718848e-04 -3.27727253e+01] [-3.52087324e-03 7.34617711e-07 9.99993802e-01 -6.84568306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.274203822 meters 0.0201853688091877 Centerline is valid? [True, True] Translation: X:241.57, Y:-32.78, Z:-6.85 [[ 9.91608939e-01 1.29238610e-01 3.01542312e-03 2.41571980e+02] [-1.29237994e-01 9.91613524e-01 -3.99069105e-04 -3.27755027e+01] [-3.04170948e-03 6.01325593e-06 9.99995374e-01 -6.84787256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.304203822 meters 0.02044810161350618 Centerline is valid? [True, True] Translation: X:241.60, Y:-32.78, Z:-6.85 [[ 9.91690810e-01 1.28608056e-01 3.05052317e-03 2.41602033e+02] [-1.28607409e-01 9.91695502e-01 -4.07995886e-04 -3.27784474e+01] [-3.07766167e-03 1.22858890e-05 9.99995264e-01 -6.84956992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.334203822 meters 0.02095343614597047 Centerline is valid? [True, True] Translation: X:241.63, Y:-32.78, Z:-6.85 [[ 9.91717546e-01 1.28409831e-01 2.68798000e-03 2.41632203e+02] [-1.28409328e-01 9.91721188e-01 -3.59500663e-04 -3.27807892e+01] [-2.71189014e-03 1.13614096e-05 9.99996323e-01 -6.85255749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.364203822 meters 0.026467966585922705 Centerline is valid? [True, True] Translation: X:241.66, Y:-32.78, Z:-6.86 [[ 9.91730709e-01 1.28302798e-01 2.93145429e-03 2.41663087e+02] [-1.28302199e-01 9.91735041e-01 -3.92132750e-04 -3.27831135e+01] [-2.95753767e-03 1.27780570e-05 9.99995626e-01 -6.85555754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.394203822 meters 0.020171289749094788 Centerline is valid? [True, True] Translation: X:241.69, Y:-32.78, Z:-6.85 [[ 9.91656380e-01 1.28856791e-01 3.68124963e-03 2.41693468e+02] [-1.28855849e-01 9.91663213e-01 -4.92853060e-04 -3.27844734e+01] [-3.71406730e-03 1.43903338e-05 9.99993103e-01 -6.85255689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.424203822 meters 0.020055935033088487 Centerline is valid? [True, True] Translation: X:241.72, Y:-32.79, Z:-6.85 [[ 9.91684911e-01 1.28616039e-01 4.35346666e-03 2.41722429e+02] [-1.28614718e-01 9.91694466e-01 -5.83137078e-04 -3.27878518e+01] [-4.39230957e-03 1.83683550e-05 9.99990354e-01 -6.85297080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.454203822 meters 0.020540151576054464 Centerline is valid? [True, True] Translation: X:241.75, Y:-32.79, Z:-6.85 [[ 9.91862149e-01 1.27237592e-01 4.48019664e-03 2.41752807e+02] [-1.27236182e-01 9.91872267e-01 -5.99481801e-04 -3.27917038e+01] [-4.52005942e-03 2.45601906e-05 9.99989784e-01 -6.85399333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.484203822 meters 0.02129686490949236 Centerline is valid? [True, True] Translation: X:241.78, Y:-32.80, Z:-6.86 [[ 9.91969404e-01 1.26417967e-01 3.89867084e-03 2.41783045e+02] [-1.26416892e-01 9.91977065e-01 -5.21961409e-04 -3.27959892e+01] [-3.93337735e-03 2.49118984e-05 9.99992264e-01 -6.85641370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.514203822 meters 0.022755382718930933 Centerline is valid? [True, True] Translation: X:241.81, Y:-32.80, Z:-6.86 [[ 9.92267051e-01 1.24067991e-01 3.63787600e-03 2.41813440e+02] [-1.24067041e-01 9.92273719e-01 -4.86465904e-04 -3.28038575e+01] [-3.67012359e-03 3.13635772e-05 9.99993265e-01 -6.85863292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54420382200001 meters 0.0217224908585397 Centerline is valid? [True, True] Translation: X:241.84, Y:-32.81, Z:-6.86 [[ 9.92370519e-01 1.23235538e-01 3.70890573e-03 2.41844132e+02] [-1.23234545e-01 9.92377449e-01 -4.96033614e-04 -3.28092651e+01] [-3.74176338e-03 3.51838242e-05 9.99992999e-01 -6.85613887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57420382200002 meters 0.033642813721322204 Centerline is valid? [True, True] Translation: X:241.87, Y:-32.82, Z:-6.86 [[ 9.92476940e-01 1.22391533e-01 3.13638797e-03 2.41874421e+02] [-1.22390829e-01 9.92481895e-01 -4.16025012e-04 -3.28169404e+01] [-3.16372621e-03 2.90301064e-05 9.99994995e-01 -6.86471004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60420382200002 meters 0.022530609248330762 Centerline is valid? [True, True] Translation: X:241.91, Y:-32.82, Z:-6.86 [[ 9.92434213e-01 1.22745888e-01 2.78939599e-03 2.41906298e+02] [-1.22745323e-01 9.92438132e-01 -3.73405940e-04 -3.28177645e+01] [-2.81413699e-03 2.81955177e-05 9.99996040e-01 -6.85888812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63420382200002 meters 0.02337501885190882 Centerline is valid? [True, True] Translation: X:241.94, Y:-32.82, Z:-6.86 [[ 9.92211621e-01 1.24531326e-01 2.83675615e-03 2.41936495e+02] [-1.24530752e-01 9.92215676e-01 -3.78817273e-04 -3.28171039e+01] [-2.86184854e-03 2.26035245e-05 9.99995905e-01 -6.86453077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66420382200002 meters 0.020406901217842933 Centerline is valid? [True, True] Translation: X:241.97, Y:-32.82, Z:-6.86 [[ 9.92003122e-01 1.26168167e-01 3.37630100e-03 2.41967580e+02] [-1.26167356e-01 9.92008867e-01 -4.53034114e-04 -3.28150599e+01] [-3.40647902e-03 2.34322845e-05 9.99994198e-01 -6.85909523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69420382200002 meters 0.020704479381127867 Centerline is valid? [True, True] Translation: X:242.00, Y:-32.81, Z:-6.86 [[ 9.91610635e-01 1.29172226e-01 4.78385546e-03 2.41997186e+02] [-1.29170631e-01 9.91622174e-01 -6.42192256e-04 -3.28131977e+01] [-4.82673055e-03 1.88710403e-05 9.99988351e-01 -6.86397134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72420382200002 meters 0.020435228735360977 Centerline is valid? [True, True] Translation: X:242.03, Y:-32.81, Z:-6.86 [[ 9.91429498e-01 1.30534247e-01 5.32541629e-03 2.42026488e+02] [-1.30532290e-01 9.91443801e-01 -7.14988274e-04 -3.28133476e+01] [-5.37318143e-03 1.37216835e-05 9.99985564e-01 -6.86454734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75420382200002 meters 0.018155242043517487 Centerline is valid? [True, True] Translation: X:242.06, Y:-32.81, Z:-6.86 [[ 9.91155926e-01 1.32564847e-01 6.04085372e-03 2.42057838e+02] [-1.32562370e-01 9.91174335e-01 -8.10361504e-04 -3.28097590e+01] [-6.09496461e-03 2.40472221e-06 9.99981426e-01 -6.85818786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78420382200002 meters 0.019654018250801677 Centerline is valid? [True, True] Translation: X:242.09, Y:-32.81, Z:-6.86 [[ 9.91053693e-01 1.33337726e-01 5.79904872e-03 2.42087051e+02] [-1.33335455e-01 9.91070659e-01 -7.78200279e-04 -3.28105376e+01] [-5.85103049e-03 -1.98054042e-06 9.99982883e-01 -6.86451188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81420382200002 meters 0.020566535048634885 Centerline is valid? [True, True] Translation: X:242.12, Y:-32.81, Z:-6.87 [[ 9.90917630e-01 1.34398866e-01 4.38127118e-03 2.42116061e+02] [-1.34397578e-01 9.90927316e-01 -5.88493569e-04 -3.28067139e+01] [-4.42061416e-03 -5.68358104e-06 9.99990229e-01 -6.86904009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84420382200003 meters 0.020421878599300395 Centerline is valid? [True, True] Translation: X:242.15, Y:-32.80, Z:-6.87 [[ 9.90746406e-01 1.35690199e-01 3.11924267e-03 2.42145704e+02] [-1.35689551e-01 9.90751316e-01 -4.19484033e-04 -3.28019801e+01] [-3.14731365e-03 -7.64634038e-06 9.99995047e-01 -6.86952360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87420382200003 meters 0.02258355140879705 Centerline is valid? [True, True] Translation: X:242.17, Y:-32.80, Z:-6.88 [[ 9.90660644e-01 1.36318209e-01 2.97238734e-03 2.42174016e+02] [-1.36317622e-01 9.90665103e-01 -4.00088205e-04 -3.28005789e+01] [-2.99917972e-03 -8.83713678e-06 9.99995502e-01 -6.87661232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.904203822 meters 0.0207658909234173 Centerline is valid? [True, True] Translation: X:242.20, Y:-32.80, Z:-6.87 [[ 9.90617899e-01 1.36627195e-01 3.03121605e-03 2.42203196e+02] [-1.36626588e-01 9.90622536e-01 -4.07343474e-04 -3.28015871e+01] [-3.05844512e-03 -1.06229708e-05 9.99995323e-01 -6.87136433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.934203822 meters 0.02091347773717582 Centerline is valid? [True, True] Translation: X:242.23, Y:-32.80, Z:-6.87 [[ 9.90774141e-01 1.35484673e-01 3.24112003e-03 2.42230745e+02] [-1.35483972e-01 9.90779442e-01 -4.35675907e-04 -3.28021947e+01] [-3.27026250e-03 -7.46339323e-06 9.99994653e-01 -6.87320912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.964203822 meters 0.020357972475208295 Centerline is valid? [True, True] Translation: X:242.26, Y:-32.81, Z:-6.87 [[ 9.90911585e-01 1.34483915e-01 2.88225667e-03 2.42259459e+02] [-1.34483358e-01 9.90915777e-01 -3.87078963e-04 -3.28064991e+01] [-2.90812950e-03 -4.05452725e-06 9.99995771e-01 -6.87250105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.994203822 meters 0.01956058718999621 Centerline is valid? [True, True] Translation: X:242.29, Y:-32.81, Z:-6.87 [[ 9.91320497e-01 1.31441680e-01 2.59952309e-03 2.42287664e+02] [-1.31441215e-01 9.91323905e-01 -3.49471935e-04 -3.28098205e+01] [-2.62290456e-03 4.75421734e-06 9.99996560e-01 -6.87076115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.024203822 meters 0.01963611751718949 Centerline is valid? [True, True] Translation: X:242.32, Y:-32.81, Z:-6.87 [[ 9.91787535e-01 1.27847849e-01 3.52322188e-03 2.42316150e+02] [-1.27846977e-01 9.91793793e-01 -4.72530318e-04 -3.28121979e+01] [-3.55472157e-03 1.82164110e-05 9.99993682e-01 -6.86969972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.054203822 meters 0.01996014725975119 Centerline is valid? [True, True] Translation: X:242.34, Y:-32.82, Z:-6.87 [[ 9.92002561e-01 1.26161002e-01 3.78418246e-03 2.42344943e+02] [-1.26159985e-01 9.92009779e-01 -5.07238044e-04 -3.28156529e+01] [-3.81793966e-03 2.57690359e-05 9.99992711e-01 -6.86968338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.084203822 meters 0.02145363275350662 Centerline is valid? [True, True] Translation: X:242.37, Y:-32.82, Z:-6.87 [[ 9.92195778e-01 1.24624745e-01 4.02622425e-03 2.42372187e+02] [-1.24623581e-01 9.92203947e-01 -5.39680198e-04 -3.28203427e+01] [-4.06209310e-03 3.37059301e-05 9.99991749e-01 -6.87269575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.114203822 meters 0.02282446029653759 Centerline is valid? [True, True] Translation: X:242.40, Y:-32.83, Z:-6.87 [[ 9.92493419e-01 1.22222083e-01 4.31000407e-03 2.42399906e+02] [-1.22220731e-01 9.92502776e-01 -5.76702308e-04 -3.28260773e+01] [-4.34817676e-03 4.56013966e-05 9.99990546e-01 -6.87374650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.144203822 meters 0.023434783349390798 Centerline is valid? [True, True] Translation: X:242.43, Y:-32.83, Z:-6.87 [[ 9.92573847e-01 1.21574382e-01 4.10215038e-03 2.42429457e+02] [-1.21573153e-01 9.92582323e-01 -5.48498016e-04 -3.28303102e+01] [-4.13840526e-03 4.57134279e-05 9.99991436e-01 -6.87491665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.174203822 meters 0.02303786954004845 Centerline is valid? [True, True] Translation: X:242.46, Y:-32.83, Z:-6.87 [[ 9.92554239e-01 1.21724158e-01 4.39460082e-03 2.42458967e+02] [-1.21722748e-01 9.92563966e-01 -5.88019105e-04 -3.28294557e+01] [-4.43349855e-03 4.87179684e-05 9.99990171e-01 -6.87389165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.204203822 meters 0.02313462349203683 Centerline is valid? [True, True] Translation: X:242.49, Y:-32.83, Z:-6.88 [[ 9.92502391e-01 1.22145135e-01 4.42380112e-03 2.42486763e+02] [-1.22143709e-01 9.92512249e-01 -5.92072342e-04 -3.28303724e+01] [-4.46299555e-03 4.72937404e-05 9.99990040e-01 -6.87515329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.234203822 meters 0.022286985791321743 Centerline is valid? [True, True] Translation: X:242.52, Y:-32.83, Z:-6.88 [[ 9.92391057e-01 1.23088694e-01 3.02714998e-03 2.42516097e+02] [-1.23088031e-01 9.92395673e-01 -4.05145081e-04 -3.28292316e+01] [-3.05399932e-03 2.94564245e-05 9.99995336e-01 -6.87688518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.264203822 meters 0.02332141854012196 Centerline is valid? [True, True] Translation: X:242.54, Y:-32.83, Z:-6.88 [[ 9.92413999e-01 1.22926232e-01 1.89613157e-03 2.42543698e+02] [-1.22925970e-01 9.92415811e-01 -2.54492797e-04 -3.28328956e+01] [-1.91303479e-03 1.94784028e-05 9.99998170e-01 -6.88087381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29420382200001 meters 0.026054794154814275 Centerline is valid? [True, True] Translation: X:242.57, Y:-32.83, Z:-6.88 [[ 9.92529928e-01 1.21969415e-01 2.79346220e-03 2.42572578e+02] [-1.21968846e-01 9.92533859e-01 -3.73657446e-04 -3.28347195e+01] [-2.81818060e-03 3.01508381e-05 9.99996028e-01 -6.88174802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32420382200002 meters 0.026054794154814275 Centerline is valid? [True, True] Translation: X:242.60, Y:-32.84, Z:-6.88 [[ 9.92535627e-01 1.21923029e-01 2.79347978e-03 2.42600670e+02] [-1.21922461e-01 9.92539558e-01 -3.73525715e-04 -3.28383721e+01] [-2.81818058e-03 3.01496509e-05 9.99996028e-01 -6.88255442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35420382200002 meters 0.02273812879226939 Centerline is valid? [True, True] Translation: X:242.63, Y:-32.84, Z:-6.88 [[ 9.92618505e-01 1.21203114e-01 4.27896065e-03 2.42629839e+02] [-1.21201777e-01 9.92627726e-01 -5.71251869e-04 -3.28413288e+01] [-4.31665248e-03 4.84175402e-05 9.99990682e-01 -6.87973702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38420382200002 meters 0.022889220563518598 Centerline is valid? [True, True] Translation: X:242.66, Y:-32.84, Z:-6.88 [[ 9.92812283e-01 1.19603495e-01 4.33289535e-03 2.42658361e+02] [-1.19602110e-01 9.92821737e-01 -5.78256348e-04 -3.28435914e+01] [-4.37095417e-03 5.58765773e-05 9.99990446e-01 -6.87793956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41420382200002 meters 0.02485115004136759 Centerline is valid? [True, True] Translation: X:242.69, Y:-32.85, Z:-6.88 [[ 9.92911477e-01 1.18768551e-01 4.56395499e-03 2.42685757e+02] [-1.18767005e-01 9.92921964e-01 -6.09226565e-04 -3.28487958e+01] [-4.60400811e-03 6.28607846e-05 9.99989400e-01 -6.88166102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44420382200002 meters 0.02453586495966925 Centerline is valid? [True, True] Translation: X:242.71, Y:-32.85, Z:-6.88 [[ 9.93124726e-01 1.16986435e-01 4.17756142e-03 2.42714592e+02] [-1.16985127e-01 9.93133511e-01 -5.56787334e-04 -3.28533342e+01] [-4.21401281e-03 6.42467137e-05 9.99991119e-01 -6.88039713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47420382200002 meters 0.025575158180923162 Centerline is valid? [True, True] Translation: X:242.74, Y:-32.86, Z:-6.88 [[ 9.93240259e-01 1.16030720e-01 3.26485668e-03 2.42744065e+02] [-1.16029917e-01 9.93245624e-01 -4.34939456e-04 -3.28590019e+01] [-3.29327095e-03 5.31783271e-05 9.99994576e-01 -6.88279730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50420382200002 meters 0.02661499633221558 Centerline is valid? [True, True] Translation: X:242.77, Y:-32.86, Z:-6.88 [[ 9.93443991e-01 1.14292867e-01 2.48522371e-03 2.42773013e+02] [-1.14292395e-01 9.93447099e-01 -3.31511637e-04 -3.28630182e+01] [-2.50682770e-03 4.52960732e-05 9.99996857e-01 -6.88457314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53420382200002 meters 0.031017305534652265 Centerline is valid? [True, True] Translation: X:242.80, Y:-32.87, Z:-6.89 [[ 9.93507736e-01 1.13724436e-01 3.02167028e-03 2.42800202e+02] [-1.13723735e-01 9.93512330e-01 -4.03349854e-04 -3.28713213e+01] [-3.04793742e-03 5.70955692e-05 9.99995353e-01 -6.89170260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56420382200002 meters 0.02823382033853533 Centerline is valid? [True, True] Translation: X:242.83, Y:-32.87, Z:-6.88 [[ 9.93688133e-01 1.12077922e-01 4.73640338e-03 2.42828789e+02] [-1.12076189e-01 9.93699416e-01 -6.30652811e-04 -3.28733040e+01] [-4.77724353e-03 9.58341744e-05 9.99988584e-01 -6.88396647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59420382200003 meters 0.02952685002767175 Centerline is valid? [True, True] Translation: X:242.86, Y:-32.88, Z:-6.88 [[ 9.93752049e-01 1.11465125e-01 5.69125676e-03 2.42856992e+02] [-1.11462617e-01 9.93768339e-01 -7.56954514e-04 -3.28793283e+01] [-5.74016481e-03 1.17862727e-04 9.99983518e-01 -6.88416717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62420382200003 meters 0.028671380929606024 Centerline is valid? [True, True] Translation: X:242.89, Y:-32.89, Z:-6.88 [[ 9.93886538e-01 1.10180970e-01 7.05011922e-03 2.42885649e+02] [-1.10177095e-01 9.93911530e-01 -9.36931717e-04 -3.28861854e+01] [-7.11042682e-03 1.54442167e-04 9.99974709e-01 -6.88026216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.654203822 meters 0.03099700526821642 Centerline is valid? [True, True] Translation: X:242.91, Y:-32.89, Z:-6.88 [[ 9.93958760e-01 1.09555665e-01 6.59845889e-03 2.42914561e+02] [-1.09552269e-01 9.93980651e-01 -8.74920352e-04 -3.28943007e+01] [-6.65459294e-03 1.46758602e-04 9.99977847e-01 -6.88345514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.684203822 meters 0.03172653213192467 Centerline is valid? [True, True] Translation: X:242.94, Y:-32.90, Z:-6.89 [[ 9.94033675e-01 1.08975153e-01 4.63354352e-03 2.42944022e+02] [-1.08973465e-01 9.94044468e-01 -6.15888313e-04 -3.29002404e+01] [-4.67306482e-03 1.07280430e-04 9.99989075e-01 -6.88685385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.714203822 meters 0.030326377217731987 Centerline is valid? [True, True] Translation: X:242.97, Y:-32.90, Z:-6.89 [[ 9.94085001e-01 1.08514189e-01 4.43630195e-03 2.42973063e+02] [-1.08512636e-01 9.94094895e-01 -5.89939946e-04 -3.29045542e+01] [-4.47412198e-03 1.05055631e-04 9.99989986e-01 -6.88635774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.744203822 meters 0.03097361897723107 Centerline is valid? [True, True] Translation: X:243.00, Y:-32.91, Z:-6.89 [[ 9.94110338e-01 1.08263102e-01 4.87203002e-03 2.43000884e+02] [-1.08261226e-01 9.94122270e-01 -6.47979724e-04 -3.29115772e+01] [-4.91354583e-03 1.16711399e-04 9.99987922e-01 -6.88767228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.774203822 meters 0.032667997702563636 Centerline is valid? [True, True] Translation: X:243.03, Y:-32.92, Z:-6.89 [[ 9.94065739e-01 1.08611342e-01 6.07317293e-03 2.43029417e+02] [-1.08608439e-01 9.94084280e-01 -8.06694435e-04 -3.29219714e+01] [-6.12486191e-03 1.42309464e-04 9.99981233e-01 -6.88975100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.804203822 meters 0.03090098204179692 Centerline is valid? [True, True] Translation: X:243.06, Y:-32.93, Z:-6.89 [[ 9.93848328e-01 1.10513144e-01 7.23503569e-03 2.43059783e+02] [-1.10509080e-01 9.93874651e-01 -9.60362232e-04 -3.29281608e+01] [-7.29685122e-03 1.54917259e-04 9.99973366e-01 -6.88821134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.834203822 meters 0.02736911237623969 Centerline is valid? [True, True] Translation: X:243.09, Y:-32.93, Z:-6.89 [[ 9.93669265e-01 1.12078377e-01 7.73486913e-03 2.43090658e+02] [-1.12073777e-01 9.93699358e-01 -1.02706397e-03 -3.29296923e+01] [-7.80124615e-03 1.53685901e-04 9.99969558e-01 -6.88511417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.864203822 meters 0.024615020551749644 Centerline is valid? [True, True] Translation: X:243.12, Y:-32.93, Z:-6.88 [[ 9.93337504e-01 1.14927211e-01 8.50528746e-03 2.43121630e+02] [-1.14921754e-01 9.93373905e-01 -1.12919328e-03 -3.29328056e+01] [-8.57870565e-03 1.44227481e-04 9.99963192e-01 -6.88391359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.894203822 meters 0.024055677660672615 Centerline is valid? [True, True] Translation: X:243.15, Y:-32.94, Z:-6.89 [[ 9.93202636e-01 1.16128190e-01 7.92261216e-03 2.43152817e+02] [-1.16123497e-01 9.93234226e-01 -1.05131007e-03 -3.29390887e+01] [-7.99109629e-03 1.24162499e-04 9.99968063e-01 -6.88705682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.924203822 meters 0.024013198735010455 Centerline is valid? [True, True] Translation: X:243.18, Y:-32.95, Z:-6.89 [[ 9.93140284e-01 1.16721155e-01 6.96768062e-03 2.43183186e+02] [-1.16717537e-01 9.93164720e-01 -9.24985858e-04 -3.29461212e+01] [-7.02801998e-03 1.05390195e-04 9.99975298e-01 -6.88916891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.954203822 meters 0.02395956391048441 Centerline is valid? [True, True] Translation: X:243.21, Y:-32.95, Z:-6.89 [[ 9.92902301e-01 1.18730180e-01 6.94017268e-03 2.43213003e+02] [-1.18726637e-01 9.92926551e-01 -9.21767372e-04 -3.29532773e+01] [-7.00052333e-03 9.12415824e-05 9.99975492e-01 -6.89336872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.984203822 meters 0.02246471584597113 Centerline is valid? [True, True] Translation: X:243.24, Y:-32.96, Z:-6.89 [[ 9.92627102e-01 1.20962764e-01 7.71011239e-03 2.43241876e+02] [-1.20958459e-01 9.92657042e-01 -1.02394249e-03 -3.29594823e+01] [-7.77735627e-03 8.37897495e-05 9.99969752e-01 -6.89378386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.014203822 meters 0.022339030246817836 Centerline is valid? [True, True] Translation: X:243.27, Y:-32.97, Z:-6.89 [[ 9.92521538e-01 1.21769754e-01 8.55117757e-03 2.43271320e+02] [-1.21764483e-01 9.92558371e-01 -1.13636174e-03 -3.29660141e+01] [-8.62591737e-03 8.66337926e-05 9.99962792e-01 -6.89459987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04420382200001 meters 0.020311986209011708 Centerline is valid? [True, True] Translation: X:243.30, Y:-32.97, Z:-6.89 [[ 9.92288391e-01 1.23644271e-01 8.70877391e-03 2.43301556e+02] [-1.23638876e-01 9.92326604e-01 -1.15730464e-03 -3.29711046e+01] [-8.78504213e-03 7.16369495e-05 9.99961408e-01 -6.89272993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07420382200002 meters 0.020739403100748982 Centerline is valid? [True, True] Translation: X:243.33, Y:-32.98, Z:-6.90 [[ 9.92132914e-01 1.24929193e-01 8.06088169e-03 2.43331339e+02] [-1.24924622e-01 9.92165658e-01 -1.07011618e-03 -3.29774721e+01] [-8.13141874e-03 5.46948913e-05 9.99966938e-01 -6.89726895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10420382200002 meters 0.01913931456133919 Centerline is valid? [True, True] Translation: X:243.36, Y:-32.98, Z:-6.90 [[ 9.91837916e-01 1.27281361e-01 7.55007352e-03 2.43360907e+02] [-1.27277408e-01 9.91866651e-01 -1.00373430e-03 -3.29842752e+01] [-7.61642281e-03 3.45879491e-05 9.99970994e-01 -6.89645859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13420382200002 meters 0.01841976210344755 Centerline is valid? [True, True] Translation: X:243.39, Y:-32.99, Z:-6.90 [[ 9.91640635e-01 1.28801718e-01 7.67908914e-03 2.43391575e+02] [-1.28797674e-01 9.91670367e-01 -1.02088611e-03 -3.29874597e+01] [-7.74661703e-03 2.33033265e-05 9.99969994e-01 -6.89622508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16420382200002 meters 0.018698145564855915 Centerline is valid? [True, True] Translation: X:243.42, Y:-32.99, Z:-6.90 [[ 9.91113188e-01 1.32803492e-01 7.60792538e-03 2.43421600e+02] [-1.32799639e-01 9.91142388e-01 -1.01167502e-03 -3.29863490e+01] [-7.67489130e-03 -7.64529174e-06 9.99970548e-01 -6.89959565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19420382200002 meters 0.018982855459535885 Centerline is valid? [True, True] Translation: X:243.45, Y:-32.99, Z:-6.90 [[ 9.90860096e-01 1.34707311e-01 7.08596372e-03 2.43450747e+02] [-1.34704016e-01 9.90885432e-01 -9.42450726e-04 -3.29891151e+01] [-7.14833323e-03 -2.06709536e-05 9.99974450e-01 -6.90060349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22420382200002 meters 0.02047731681639967 Centerline is valid? [True, True] Translation: X:243.48, Y:-32.99, Z:-6.90 [[ 9.90290348e-01 1.38827908e-01 7.19988665e-03 2.43480613e+02] [-1.38824616e-01 9.90316520e-01 -9.57418281e-04 -3.29914638e+01] [-7.26308307e-03 -5.13994184e-05 9.99973622e-01 -6.90115042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25420382200002 meters 0.020507833410128077 Centerline is valid? [True, True] Translation: X:243.51, Y:-32.99, Z:-6.90 [[ 9.90008470e-01 1.40772303e-01 8.14790878e-03 2.43509227e+02] [-1.40768151e-01 9.90041996e-01 -1.08370960e-03 -3.29942517e+01] [-8.21932816e-03 -7.40843761e-05 9.99966218e-01 -6.89849888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28420382200002 meters 0.02368389014567117 Centerline is valid? [True, True] Translation: X:243.54, Y:-32.99, Z:-6.90 [[ 9.89474462e-01 1.44446065e-01 8.69620130e-03 2.43537864e+02] [-1.44441482e-01 9.89512669e-01 -1.15610826e-03 -3.29924287e+01] [-8.77199665e-03 -1.12152610e-04 9.99961519e-01 -6.89921842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31420382200002 meters 0.0244330361687095 Centerline is valid? [True, True] Translation: X:243.57, Y:-33.00, Z:-6.90 [[ 9.89327291e-01 1.45489040e-01 8.02805812e-03 2.43567848e+02] [-1.45485175e-01 9.89359857e-01 -1.06649594e-03 -3.29950039e+01] [-8.09780190e-03 -1.12849895e-04 9.99967206e-01 -6.90027244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34420382200003 meters 0.02426731556213095 Centerline is valid? [True, True] Translation: X:243.60, Y:-33.00, Z:-6.90 [[ 9.89306609e-01 1.45657721e-01 7.50073116e-03 2.43596719e+02] [-1.45654351e-01 9.89335038e-01 -9.96567785e-04 -3.29988831e+01] [-7.56589394e-03 -1.06603032e-04 9.99971373e-01 -6.90077950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37420382200003 meters 0.02412967909609834 Centerline is valid? [True, True] Translation: X:243.62, Y:-33.00, Z:-6.90 [[ 9.89420632e-01 1.44908336e-01 6.95605145e-03 2.43623855e+02] [-1.44905416e-01 9.89445080e-01 -9.24635099e-04 -3.30019501e+01] [-7.01661821e-03 -9.31164849e-05 9.99975379e-01 -6.90337923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.404203822 meters 0.022708893145988344 Centerline is valid? [True, True] Translation: X:243.65, Y:-33.01, Z:-6.91 [[ 9.89819625e-01 1.42202775e-01 5.95664260e-03 2.43652306e+02] [-1.42200591e-01 9.89837546e-01 -7.90746410e-04 -3.30087859e+01] [-6.00855483e-03 -6.43417838e-05 9.99981946e-01 -6.90753765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.434203822 meters 0.020623207679651416 Centerline is valid? [True, True] Translation: X:243.68, Y:-33.02, Z:-6.91 [[ 9.90104765e-01 1.40171302e-01 6.67533207e-03 2.43681083e+02] [-1.40168515e-01 9.90127266e-01 -8.85924727e-04 -3.30160743e+01] [-6.73360952e-03 -5.85130885e-05 9.99977327e-01 -6.90630006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.464203822 meters 0.019446694874454103 Centerline is valid? [True, True] Translation: X:243.71, Y:-33.02, Z:-6.91 [[ 9.90396443e-01 1.38047746e-01 7.59644866e-03 2.43709011e+02] [-1.38044074e-01 9.90425574e-01 -1.00813955e-03 -3.30225564e+01] [-7.66288841e-03 -5.01868937e-05 9.99970638e-01 -6.90601726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.494203822 meters 0.01844456869039723 Centerline is valid? [True, True] Translation: X:243.74, Y:-33.03, Z:-6.91 [[ 9.90969679e-01 1.33838509e-01 8.14548605e-03 2.43737462e+02] [-1.33834152e-01 9.91003155e-01 -1.08014003e-03 -3.30328157e+01] [-8.21676671e-03 -1.97581964e-05 9.99966242e-01 -6.90868522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.524203822 meters 0.018659803829810556 Centerline is valid? [True, True] Translation: X:243.77, Y:-33.04, Z:-6.91 [[ 9.91319435e-01 1.31283854e-01 7.09413262e-03 2.43767497e+02] [-1.31280490e-01 9.91344819e-01 -9.39929460e-04 -3.30414379e+01] [-7.15612918e-03 4.49137561e-07 9.99974395e-01 -6.91188952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.554203822 meters 0.020097997356104017 Centerline is valid? [True, True] Translation: X:243.80, Y:-33.05, Z:-6.91 [[ 9.92021913e-01 1.25883032e-01 6.78131215e-03 2.43796669e+02] [-1.25879838e-01 9.92045090e-01 -8.97361228e-04 -3.30545431e+01] [-6.84032998e-03 3.65715243e-05 9.99976604e-01 -6.91354595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.584203822 meters 0.021319987330343557 Centerline is valid? [True, True] Translation: X:243.83, Y:-33.06, Z:-6.91 [[ 9.92320178e-01 1.23459425e-01 7.64421288e-03 2.43828456e+02] [-1.23455301e-01 9.92349619e-01 -1.01081991e-03 -3.30627384e+01] [-7.71052699e-03 5.93383869e-05 9.99970272e-01 -6.91340221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.614203822 meters 0.02404447469094703 Centerline is valid? [True, True] Translation: X:243.86, Y:-33.07, Z:-6.91 [[ 9.92862443e-01 1.19018967e-01 7.65868585e-03 2.43859659e+02] [-1.19014686e-01 9.92891976e-01 -1.01398983e-03 -3.30739075e+01] [-7.72493176e-03 9.52563294e-05 9.99970158e-01 -6.91366580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.644203822 meters 0.034002299658343754 Centerline is valid? [True, True] Translation: X:243.89, Y:-33.08, Z:-6.92 [[ 9.93055266e-01 1.17436442e-01 7.06552885e-03 2.43891183e+02] [-1.17432753e-01 9.93080396e-01 -9.36184448e-04 -3.30819948e+01] [-7.12658035e-03 9.99583941e-05 9.99974601e-01 -6.91598006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.674203822 meters 0.027724330523185646 Centerline is valid? [True, True] Translation: X:243.92, Y:-33.09, Z:-6.91 [[ 9.93263015e-01 1.15609457e-01 7.93957462e-03 2.43921221e+02] [-1.15604723e-01 9.93294738e-01 -1.05413563e-03 -3.30937548e+01] [-8.00820575e-03 1.29181608e-04 9.99967925e-01 -6.91478974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.704203822 meters 0.02811502553792684 Centerline is valid? [True, True] Translation: X:243.95, Y:-33.10, Z:-6.92 [[ 9.93250079e-01 1.15766622e-01 7.23669431e-03 2.43952555e+02] [-1.15762690e-01 9.93276435e-01 -9.61330773e-04 -3.30984454e+01] [-7.29932794e-03 1.17102667e-04 9.99973353e-01 -6.91717593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.734203822 meters 0.025997572750464208 Centerline is valid? [True, True] Translation: X:243.99, Y:-33.10, Z:-6.92 [[ 9.93068957e-01 1.17315797e-01 7.14491209e-03 2.43985227e+02] [-1.17311997e-01 9.93094654e-01 -9.50157574e-04 -3.30994565e+01] [-7.20704250e-03 1.05388089e-04 9.99974023e-01 -6.91735685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.764203822 meters 0.024350574750692543 Centerline is valid? [True, True] Translation: X:244.02, Y:-33.10, Z:-6.92 [[ 9.92875420e-01 1.18900653e-01 7.81253652e-03 2.44017852e+02] [-1.18896145e-01 9.92906151e-01 -1.04064485e-03 -3.31012258e+01] [-7.88084891e-03 1.04350216e-04 9.99968940e-01 -6.91589626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79420382200001 meters 0.023010507912915385 Centerline is valid? [True, True] Translation: X:244.05, Y:-33.10, Z:-6.92 [[ 9.92646251e-01 1.20720683e-01 8.94071969e-03 2.44049306e+02] [-1.20714830e-01 9.92686509e-01 -1.19335258e-03 -3.31027023e+01] [-9.01939416e-03 1.05299509e-04 9.99959319e-01 -6.91554718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82420382200002 meters 0.02176035000187388 Centerline is valid? [True, True] Translation: X:244.08, Y:-33.10, Z:-6.92 [[ 9.92210132e-01 1.24208152e-01 9.55974735e-03 2.44080992e+02] [-1.24201605e-01 9.92256181e-01 -1.27778936e-03 -3.31021276e+01] [-9.64443025e-03 8.04995891e-05 9.99953488e-01 -6.91868924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85420382200002 meters 0.020475005384961182 Centerline is valid? [True, True] Translation: X:244.11, Y:-33.11, Z:-6.92 [[ 9.91984850e-01 1.26157372e-01 7.09752996e-03 2.44113021e+02] [-1.26153815e-01 9.92010240e-01 -9.48409873e-04 -3.31055946e+01] [-7.16047130e-03 4.54277454e-05 9.99974362e-01 -6.92210318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88420382200002 meters 0.02073204947070461 Centerline is valid? [True, True] Translation: X:244.14, Y:-33.11, Z:-6.92 [[ 9.91957725e-01 1.26389129e-01 6.75723003e-03 2.44144128e+02] [-1.26385903e-01 9.91980739e-01 -9.04101609e-04 -3.31112456e+01] [-6.81731065e-03 4.28119587e-05 9.99976761e-01 -6.92435984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91420382200002 meters 0.020729580404015003 Centerline is valid? [True, True] Translation: X:244.17, Y:-33.12, Z:-6.92 [[ 9.92008149e-01 1.25909433e-01 8.16372289e-03 2.44174630e+02] [-1.25904689e-01 9.92041739e-01 -1.09446522e-03 -3.31156873e+01] [-8.23655735e-03 5.78674184e-05 9.99966077e-01 -6.92358650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94420382200002 meters 0.021158225316337258 Centerline is valid? [True, True] Translation: X:244.21, Y:-33.12, Z:-6.92 [[ 9.92065072e-01 1.25466546e-01 8.06462220e-03 2.44206484e+02] [-1.25461894e-01 9.92097849e-01 -1.08215071e-03 -3.31200951e+01] [-8.13666805e-03 6.17611428e-05 9.99966895e-01 -6.92403551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97420382200002 meters 0.021620720836013844 Centerline is valid? [True, True] Translation: X:244.24, Y:-33.12, Z:-6.93 [[ 9.92093996e-01 1.25259107e-01 7.72397946e-03 2.44238774e+02] [-1.25254825e-01 9.92124061e-01 -1.03751315e-03 -3.31244274e+01] [-7.79310384e-03 6.18448732e-05 9.99969631e-01 -6.92567214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00420382200002 meters 0.02124935666954356 Centerline is valid? [True, True] Translation: X:244.27, Y:-33.13, Z:-6.93 [[ 9.91976013e-01 1.26194646e-01 7.64863065e-03 2.44270912e+02] [-1.26190466e-01 9.92005498e-01 -1.02858934e-03 -3.31258162e+01] [-7.71728613e-03 5.51516868e-05 9.99970220e-01 -6.92686865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03420382200002 meters 0.020895381709330123 Centerline is valid? [True, True] Translation: X:244.30, Y:-33.13, Z:-6.93 [[ 9.91813756e-01 1.27476023e-01 7.43882419e-03 2.44301980e+02] [-1.27472086e-01 9.91841651e-01 -1.00292960e-03 -3.31290914e+01] [-7.50598515e-03 4.64769337e-05 9.99971829e-01 -6.92859774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06420382200002 meters 0.019670928091563813 Centerline is valid? [True, True] Translation: X:244.33, Y:-33.13, Z:-6.93 [[ 9.91472275e-01 1.30106960e-01 7.40993664e-03 2.44332801e+02] [-1.30103109e-01 9.91499964e-01 -1.00157314e-03 -3.31315059e+01] [-7.47726355e-03 2.89762091e-05 9.99972044e-01 -6.92925602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09420382200003 meters 0.019409170507836422 Centerline is valid? [True, True] Translation: X:244.36, Y:-33.13, Z:-6.93 [[ 9.91320394e-01 1.31253415e-01 7.51116904e-03 2.44363151e+02] [-1.31249492e-01 9.91348849e-01 -1.01501982e-03 -3.31325406e+01] [-7.57941360e-03 2.03727292e-05 9.99971276e-01 -6.93059283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12420382200003 meters 0.01933442858378006 Centerline is valid? [True, True] Translation: X:244.39, Y:-33.13, Z:-6.93 [[ 9.91226223e-01 1.31984307e-01 7.12164922e-03 2.44394400e+02] [-1.31980796e-01 9.91251806e-01 -9.62687869e-04 -3.31304208e+01] [-7.18640734e-03 1.43205238e-05 9.99974177e-01 -6.93231539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.154203822 meters 0.019534435538481422 Centerline is valid? [True, True] Translation: X:244.42, Y:-33.13, Z:-6.93 [[ 9.91269696e-01 1.31653923e-01 7.18575117e-03 2.44424669e+02] [-1.31650341e-01 9.91295740e-01 -9.71353021e-04 -3.31341261e+01] [-7.25108696e-03 1.68662194e-05 9.99973710e-01 -6.93272940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.184203822 meters 0.019534435538481422 Centerline is valid? [True, True] Translation: X:244.45, Y:-33.14, Z:-6.93 [[ 9.91269696e-01 1.31653923e-01 7.18575117e-03 2.44454394e+02] [-1.31650341e-01 9.91295740e-01 -9.71353021e-04 -3.31381442e+01] [-7.25108696e-03 1.68662194e-05 9.99973710e-01 -6.93358322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.214203822 meters 0.020449193442591246 Centerline is valid? [True, True] Translation: X:244.48, Y:-33.15, Z:-6.93 [[ 9.91621347e-01 1.28973433e-01 7.27719859e-03 2.44483765e+02] [-1.28969689e-01 9.91648049e-01 -9.83477509e-04 -3.31454561e+01] [-7.34326225e-03 3.66992544e-05 9.99973037e-01 -6.93493162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.244203822 meters 0.021966068507224587 Centerline is valid? [True, True] Translation: X:244.51, Y:-33.15, Z:-6.94 [[ 9.91908644e-01 1.26766589e-01 6.89015623e-03 2.44512920e+02] [-1.26763178e-01 9.91932573e-01 -9.31234478e-04 -3.31527770e+01] [-6.95261981e-03 5.02814244e-05 9.99975829e-01 -6.93676639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.274203822 meters 0.02645143794512689 Centerline is valid? [True, True] Translation: X:244.54, Y:-33.17, Z:-6.94 [[ 9.92561363e-01 1.21597165e-01 6.00576871e-03 2.44542335e+02] [-1.21594497e-01 9.92579530e-01 -8.08776127e-04 -3.31664100e+01] [-6.05954797e-03 7.24915083e-05 9.99981638e-01 -6.94071804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.304203822 meters 0.028940333603539533 Centerline is valid? [True, True] Translation: X:244.57, Y:-33.18, Z:-6.94 [[ 9.92863453e-01 1.19094725e-01 6.21366573e-03 2.44572927e+02] [-1.19091813e-01 9.92882892e-01 -8.37828404e-04 -3.31761346e+01] [-6.26922334e-03 9.18524840e-05 9.99980344e-01 -6.94126149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.334203822 meters 0.03008142569629532 Centerline is valid? [True, True] Translation: X:244.60, Y:-33.18, Z:-6.94 [[ 9.93322505e-01 1.15251656e-01 5.23993503e-03 2.44603754e+02] [-1.15249515e-01 9.93336321e-01 -7.09666558e-04 -3.31815618e+01] [-5.28680803e-03 1.01027793e-04 9.99986020e-01 -6.93593192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.364203822 meters 0.0292443441204402 Centerline is valid? [True, True] Translation: X:244.63, Y:-33.19, Z:-6.94 [[ 9.93421315e-01 1.14385477e-01 5.48213921e-03 2.44634538e+02] [-1.14383138e-01 9.93436435e-01 -7.39207363e-04 -3.31879282e+01] [-5.53071142e-03 1.07280063e-04 9.99984700e-01 -6.93604278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.394203822 meters 0.03605170904156258 Centerline is valid? [True, True] Translation: X:244.66, Y:-33.20, Z:-6.94 [[ 9.93516016e-01 1.13549217e-01 5.70090179e-03 2.44664268e+02] [-1.13546668e-01 9.93532366e-01 -7.69812227e-04 -3.31994358e+01] [-5.75144202e-03 1.17502372e-04 9.99983453e-01 -6.94458186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.424203822 meters 0.029910479050362062 Centerline is valid? [True, True] Translation: X:244.70, Y:-33.20, Z:-6.94 [[ 9.93511850e-01 1.13592711e-01 5.55870598e-03 2.44698399e+02] [-1.13590289e-01 9.93527394e-01 -7.50522899e-04 -3.31970177e+01] [-5.60798060e-03 1.14238378e-04 9.99984269e-01 -6.93675880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.454203822 meters 0.03022891330738973 Centerline is valid? [True, True] Translation: X:244.73, Y:-33.21, Z:-6.93 [[ 9.93510226e-01 1.13484442e-01 7.66241205e-03 2.44729052e+02] [-1.13479803e-01 9.93539760e-01 -1.03894366e-03 -3.32050172e+01] [-7.73081497e-03 1.62672139e-04 9.99970104e-01 -6.93422581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.484203822 meters 0.03672722917633888 Centerline is valid? [True, True] Translation: X:244.76, Y:-33.22, Z:-6.94 [[ 9.93500109e-01 1.13517531e-01 8.44411418e-03 2.44758279e+02] [-1.13511872e-01 9.93535977e-01 -1.14797773e-03 -3.32181950e+01] [-8.51984683e-03 1.82008796e-04 9.99963689e-01 -6.94058713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.514203822 meters 0.030998062088794475 Centerline is valid? [True, True] Translation: X:244.79, Y:-33.22, Z:-6.94 [[ 9.93490955e-01 1.13625840e-01 8.05544432e-03 2.44790811e+02] [-1.13620700e-01 9.93523598e-01 -1.09436396e-03 -3.32164629e+01] [-8.12762205e-03 1.71975478e-04 9.99966956e-01 -6.93544849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54420382200001 meters 0.030683721258749432 Centerline is valid? [True, True] Translation: X:244.82, Y:-33.22, Z:-6.94 [[ 9.93476173e-01 1.13807253e-01 7.28032343e-03 2.44822288e+02] [-1.13803054e-01 9.93502836e-01 -9.89800591e-04 -3.32214285e+01] [-7.34566846e-03 1.54820261e-04 9.99973008e-01 -6.93760013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57420382200002 meters 0.0310806478073781 Centerline is valid? [True, True] Translation: X:244.85, Y:-33.23, Z:-6.94 [[ 9.93385044e-01 1.14519611e-01 8.45066893e-03 2.44852958e+02] [-1.14513949e-01 9.93420972e-01 -1.15253317e-03 -3.32295357e+01] [-8.52705939e-03 1.77189747e-04 9.99963628e-01 -6.93869053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60420382200002 meters 0.02945993325054356 Centerline is valid? [True, True] Translation: X:244.89, Y:-33.23, Z:-6.94 [[ 9.93233810e-01 1.15803833e-01 8.72187683e-03 2.44885263e+02] [-1.15797854e-01 9.93272089e-01 -1.18907536e-03 -3.32330969e+01] [-8.80089631e-03 1.71055232e-04 9.99961257e-01 -6.93843575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63420382200002 meters 0.02712408819647668 Centerline is valid? [True, True] Translation: X:244.92, Y:-33.23, Z:-6.94 [[ 9.92863228e-01 1.19034795e-01 7.30261890e-03 2.44917223e+02] [-1.19030688e-01 9.92890076e-01 -9.96043726e-04 -3.32335249e+01] [-7.36926170e-03 1.19699439e-04 9.99972839e-01 -6.94092524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66420382200002 meters 0.026227227319172947 Centerline is valid? [True, True] Translation: X:244.95, Y:-33.24, Z:-6.94 [[ 9.92631503e-01 1.20972478e-01 6.95400774e-03 2.44948064e+02] [-1.20968793e-01 9.92655856e-01 -9.49681964e-04 -3.32356497e+01] [-7.01782189e-03 1.01466315e-04 9.99975370e-01 -6.94316787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69420382200002 meters 0.022884106807923445 Centerline is valid? [True, True] Translation: X:244.98, Y:-33.23, Z:-6.95 [[ 9.92069106e-01 1.25537519e-01 6.26257634e-03 2.44980467e+02] [-1.25534619e-01 9.92088871e-01 -8.55549753e-04 -3.32332682e+01] [-6.32043589e-03 6.25943426e-05 9.99980024e-01 -6.94501534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72420382200002 meters 0.021889742345325494 Centerline is valid? [True, True] Translation: X:245.01, Y:-33.24, Z:-6.95 [[ 9.91763211e-01 1.27947842e-01 5.92309970e-03 2.45011745e+02] [-1.27945285e-01 9.91780897e-01 -8.10190967e-04 -3.32352841e+01] [-5.97807932e-03 4.56849175e-05 9.99982130e-01 -6.94765189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75420382200002 meters 0.01995666951531121 Centerline is valid? [True, True] Translation: X:245.04, Y:-33.24, Z:-6.95 [[ 9.91246690e-01 1.31882281e-01 6.08806354e-03 2.45042906e+02] [-1.31879628e-01 9.91265385e-01 -8.36906687e-04 -3.32363259e+01] [-6.14525981e-03 2.66894271e-05 9.99981117e-01 -6.94890128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78420382200002 meters 0.019358654519826237 Centerline is valid? [True, True] Translation: X:245.07, Y:-33.24, Z:-6.95 [[ 9.91043990e-01 1.33379030e-01 6.46868814e-03 2.45073074e+02] [-1.33376065e-01 9.91065101e-01 -8.89579219e-04 -3.32384593e+01] [-6.52954227e-03 1.88439691e-05 9.99978682e-01 -6.94891418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81420382200002 meters 0.01865254122816848 Centerline is valid? [True, True] Translation: X:245.10, Y:-33.23, Z:-6.95 [[ 9.90733384e-01 1.35613540e-01 7.50533659e-03 2.45103625e+02] [-1.35609611e-01 9.90761812e-01 -1.03237962e-03 -3.32345738e+01] [-7.57600553e-03 5.01717512e-06 9.99971302e-01 -6.94894450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84420382200003 meters 0.01910497426646531 Centerline is valid? [True, True] Translation: X:245.13, Y:-33.24, Z:-6.95 [[ 9.90652871e-01 1.36244733e-01 6.65290093e-03 2.45134602e+02] [-1.36241662e-01 9.90675211e-01 -9.14835200e-04 -3.32358003e+01] [-6.71550550e-03 -1.18158638e-07 9.99977451e-01 -6.95162402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87420382200003 meters 0.0198208727033984 Centerline is valid? [True, True] Translation: X:245.16, Y:-33.24, Z:-6.96 [[ 9.90693612e-01 1.35998447e-01 5.53072286e-03 2.45163889e+02] [-1.35996321e-01 9.90709050e-01 -7.60384152e-04 -3.32409550e+01] [-5.58274826e-03 1.14975756e-06 9.99984416e-01 -6.95590410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.904203822 meters 0.01993671981513653 Centerline is valid? [True, True] Translation: X:245.19, Y:-33.25, Z:-6.96 [[ 9.90772623e-01 1.35414167e-01 5.71076983e-03 2.45192674e+02] [-1.35411888e-01 9.90789081e-01 -7.85575991e-04 -3.32465258e+01] [-5.76454651e-03 5.02105826e-06 9.99983385e-01 -6.95671406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.934203822 meters 0.019790875716042197 Centerline is valid? [True, True] Translation: X:245.22, Y:-33.25, Z:-6.96 [[ 9.90886971e-01 1.34544291e-01 6.39089076e-03 2.45221991e+02] [-1.34541420e-01 9.90907581e-01 -8.79020728e-04 -3.32522189e+01] [-6.45104932e-03 1.11706662e-05 9.99979192e-01 -6.95609924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.964203822 meters 0.020121168888804067 Centerline is valid? [True, True] Translation: X:245.25, Y:-33.26, Z:-6.96 [[ 9.91199020e-01 1.32163808e-01 7.56511127e-03 2.45251102e+02] [-1.32159728e-01 9.91227889e-01 -1.03890366e-03 -3.32616289e+01] [-7.63605473e-03 2.99572413e-05 9.99970844e-01 -6.95500751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.994203822 meters 0.020758750658805617 Centerline is valid? [True, True] Translation: X:245.28, Y:-33.27, Z:-6.95 [[ 9.91458302e-01 1.30162329e-01 8.25850730e-03 2.45281912e+02] [-1.30157385e-01 9.91492696e-01 -1.13553512e-03 -3.32688984e+01] [-8.33605356e-03 5.09300021e-05 9.99965253e-01 -6.95404443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.024203822 meters 0.019431501610751502 Centerline is valid? [True, True] Translation: X:245.31, Y:-33.27, Z:-6.95 [[ 9.91523226e-01 1.29660669e-01 8.35483832e-03 2.45314218e+02] [-1.29655615e-01 9.91558424e-01 -1.14606684e-03 -3.32722099e+01] [-8.43291011e-03 5.31001909e-05 9.99964441e-01 -6.95046706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.054203822 meters 0.02161267562979121 Centerline is valid? [True, True] Translation: X:245.35, Y:-33.28, Z:-6.96 [[ 9.91608086e-01 1.28984309e-01 8.74367317e-03 2.45345134e+02] [-1.28978723e-01 9.91646633e-01 -1.20205388e-03 -3.32797966e+01] [-8.82568015e-03 6.42185415e-05 9.99961051e-01 -6.95633936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.084203822 meters 0.020369245044387536 Centerline is valid? [True, True] Translation: X:245.38, Y:-33.28, Z:-6.95 [[ 9.91627998e-01 1.28913863e-01 7.42494210e-03 2.45376588e+02] [-1.28909836e-01 9.91655794e-01 -1.02041176e-03 -3.32843567e+01] [-7.49453207e-03 5.47208040e-05 9.99971914e-01 -6.95415449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.114203822 meters 0.020416667594527087 Centerline is valid? [True, True] Translation: X:245.41, Y:-33.29, Z:-6.95 [[ 9.91582450e-01 1.29246046e-01 7.72685487e-03 2.45407272e+02] [-1.29241684e-01 9.91612554e-01 -1.06329451e-03 -3.32876682e+01] [-7.79947290e-03 5.57124378e-05 9.99969582e-01 -6.95431747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.144203822 meters 0.02021578954662109 Centerline is valid? [True, True] Translation: X:245.44, Y:-33.29, Z:-6.95 [[ 9.91546415e-01 1.29516123e-01 7.82824818e-03 2.45438943e+02] [-1.29511647e-01 9.91577315e-01 -1.07827850e-03 -3.32911875e+01] [-7.90196776e-03 5.53138695e-05 9.99968777e-01 -6.95474870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.174203822 meters 0.020735602678733225 Centerline is valid? [True, True] Translation: X:245.47, Y:-33.30, Z:-6.96 [[ 9.91562388e-01 1.29418694e-01 7.40486860e-03 2.45469547e+02] [-1.29414676e-01 9.91590036e-01 -1.02121245e-03 -3.32956774e+01] [-7.47475790e-03 5.42971834e-05 9.99972062e-01 -6.95639091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.204203822 meters 0.020701825638424598 Centerline is valid? [True, True] Translation: X:245.50, Y:-33.30, Z:-6.96 [[ 9.91704644e-01 1.28357831e-01 6.79453181e-03 2.45500653e+02] [-1.28354409e-01 9.91727918e-01 -9.39032863e-04 -3.33020026e+01] [-6.85885911e-03 5.91351357e-05 9.99976476e-01 -6.95606212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.234203822 meters 0.024828900746885166 Centerline is valid? [True, True] Translation: X:245.53, Y:-33.31, Z:-6.97 [[ 9.91788237e-01 1.27705505e-01 6.88449270e-03 2.45531420e+02] [-1.27701985e-01 9.91812129e-01 -9.50223387e-04 -3.33133407e+01] [-6.94947212e-03 6.32569926e-05 9.99975850e-01 -6.96603768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.264203822 meters 0.02141168427699452 Centerline is valid? [True, True] Translation: X:245.56, Y:-33.32, Z:-6.96 [[ 9.91862647e-01 1.27127032e-01 6.87071841e-03 2.45564392e+02] [-1.27123507e-01 9.91886442e-01 -9.49221149e-04 -3.33157835e+01] [-6.93564411e-03 6.80671845e-05 9.99975946e-01 -6.95748838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29420382200001 meters 0.021462786113379085 Centerline is valid? [True, True] Translation: X:245.60, Y:-33.32, Z:-6.96 [[ 9.91912951e-01 1.26604617e-01 8.94246414e-03 2.45595805e+02] [-1.26598588e-01 9.91953256e-01 -1.23940374e-03 -3.33201496e+01] [-9.02742065e-03 9.72772923e-05 9.99959247e-01 -6.95598323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32420382200002 meters 0.021783645355692778 Centerline is valid? [True, True] Translation: X:245.63, Y:-33.33, Z:-6.96 [[ 9.91943222e-01 1.26384640e-01 8.69296760e-03 2.45627567e+02] [-1.26378922e-01 9.91981307e-01 -1.20620732e-03 -3.33251111e+01] [-8.77570744e-03 9.78812961e-05 9.99961488e-01 -6.95707684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35420382200002 meters 0.022866582998968824 Centerline is valid? [True, True] Translation: X:245.66, Y:-33.33, Z:-6.96 [[ 9.91979522e-01 1.26237583e-01 6.37962793e-03 2.45657876e+02] [-1.26234500e-01 9.92000034e-01 -8.85314643e-04 -3.33332042e+01] [-6.44035110e-03 7.28848548e-05 9.99979258e-01 -6.96233023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38420382200002 meters 0.02338209154057608 Centerline is valid? [True, True] Translation: X:245.69, Y:-33.34, Z:-6.96 [[ 9.92000740e-01 1.26102239e-01 5.72344733e-03 2.45689215e+02] [-1.26099754e-01 9.92017248e-01 -7.94443563e-04 -3.33395555e+01] [-5.77793958e-03 6.63633012e-05 9.99983305e-01 -6.96480833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41420382200002 meters 0.023796692834435588 Centerline is valid? [True, True] Translation: X:245.72, Y:-33.35, Z:-6.97 [[ 9.92031944e-01 1.25863494e-01 5.56798488e-03 2.45721233e+02] [-1.25861133e-01 9.92047568e-01 -7.73691508e-04 -3.33458272e+01] [-5.62108537e-03 6.67338028e-05 9.99984199e-01 -6.96636420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44420382200002 meters 0.024798132868094673 Centerline is valid? [True, True] Translation: X:245.75, Y:-33.35, Z:-6.97 [[ 9.92156765e-01 1.24855649e-01 6.00173970e-03 2.45752619e+02] [-1.24852881e-01 9.92174914e-01 -8.35093190e-04 -3.33530661e+01] [-6.05904167e-03 7.92088667e-05 9.99981641e-01 -6.96648171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47420382200002 meters 0.025138790515061932 Centerline is valid? [True, True] Translation: X:245.78, Y:-33.36, Z:-6.97 [[ 9.92117854e-01 1.25135056e-01 6.58645549e-03 2.45783444e+02] [-1.25131706e-01 9.92139713e-01 -9.19993945e-04 -3.33573582e+01] [-6.64980756e-03 8.85680077e-05 9.99977886e-01 -6.96739642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50420382200002 meters 0.024751961465270342 Centerline is valid? [True, True] Translation: X:245.82, Y:-33.36, Z:-6.97 [[ 9.92051058e-01 1.25681493e-01 6.23384761e-03 2.45816352e+02] [-1.25678504e-01 9.92070641e-01 -8.70409691e-04 -3.33618275e+01] [-6.29381158e-03 8.00302132e-05 9.99980191e-01 -6.96848288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53420382200002 meters 0.024620715630369536 Centerline is valid? [True, True] Translation: X:245.85, Y:-33.37, Z:-6.97 [[ 9.92013125e-01 1.25982186e-01 6.20064853e-03 2.45849398e+02] [-1.25979238e-01 9.92032501e-01 -8.65288218e-04 -3.33672324e+01] [-6.26025577e-03 7.72242942e-05 9.99980401e-01 -6.96960059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56420382200002 meters 0.0247702364577218 Centerline is valid? [True, True] Translation: X:245.88, Y:-33.37, Z:-6.97 [[ 9.91982445e-01 1.26207123e-01 6.52614167e-03 2.45879899e+02] [-1.26203847e-01 9.92003909e-01 -9.13046527e-04 -3.33737141e+01] [-6.58919102e-03 8.21019445e-05 9.99978288e-01 -6.97091758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59420382200003 meters 0.02457169219269892 Centerline is valid? [True, True] Translation: X:245.91, Y:-33.38, Z:-6.97 [[ 9.91880691e-01 1.27006682e-01 6.48059336e-03 2.45910793e+02] [-1.27003464e-01 9.91901858e-01 -9.07398557e-04 -3.33812826e+01] [-6.54335828e-03 7.69733009e-05 9.99978589e-01 -6.97271213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62420382200003 meters 0.024183707490956427 Centerline is valid? [True, True] Translation: X:245.94, Y:-33.39, Z:-6.97 [[ 9.91742749e-01 1.28091312e-01 6.23982167e-03 2.45943286e+02] [-1.28088348e-01 9.91762376e-01 -8.74036628e-04 -3.33857359e+01] [-6.30037686e-03 6.75710399e-05 9.99980150e-01 -6.97488343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65420382200003 meters 0.02717666197714353 Centerline is valid? [True, True] Translation: X:245.98, Y:-33.39, Z:-6.98 [[ 9.91615160e-01 1.29072482e-01 6.29830190e-03 2.45975103e+02] [-1.29069471e-01 9.91635160e-01 -8.83954530e-04 -3.33882273e+01] [-6.35971181e-03 6.36242193e-05 9.99979775e-01 -6.97647090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.684203822 meters 0.020404357914114137 Centerline is valid? [True, True] Translation: X:246.01, Y:-33.39, Z:-6.97 [[ 9.91293425e-01 1.31464077e-01 7.38522860e-03 2.46007538e+02] [-1.31459990e-01 9.91320933e-01 -1.03831475e-03 -3.33916045e+01] [-7.45763280e-03 5.84125087e-05 9.99972190e-01 -6.97200929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.714203822 meters 0.02129670036225569 Centerline is valid? [True, True] Translation: X:246.04, Y:-33.40, Z:-6.98 [[ 9.91175093e-01 1.32289692e-01 8.44823947e-03 2.46038193e+02] [-1.32284352e-01 9.91211094e-01 -1.19018124e-03 -3.33978850e+01] [-8.53143740e-03 6.21081097e-05 9.99963605e-01 -6.97547018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.744203822 meters 0.02040489420118192 Centerline is valid? [True, True] Translation: X:246.07, Y:-33.40, Z:-6.98 [[ 9.90899228e-01 1.34356073e-01 8.19547693e-03 2.46069871e+02] [-1.34351109e-01 9.90933118e-01 -1.15574054e-03 -3.34028581e+01] [-8.27645027e-03 4.41509952e-05 9.99965749e-01 -6.97736678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.774203822 meters 0.020396593209980662 Centerline is valid? [True, True] Translation: X:246.10, Y:-33.41, Z:-6.98 [[ 9.90771560e-01 1.35322889e-01 7.70913591e-03 2.46101144e+02] [-1.35318521e-01 9.90801552e-01 -1.08789416e-03 -3.34085035e+01] [-7.78544081e-03 3.46657245e-05 9.99969692e-01 -6.97965704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.804203822 meters 0.019784203002045697 Centerline is valid? [True, True] Translation: X:246.13, Y:-33.41, Z:-6.98 [[ 9.90407358e-01 1.37983611e-01 7.33405530e-03 2.46133586e+02] [-1.37979720e-01 9.90434512e-01 -1.03624649e-03 -3.34105814e+01] [-7.40688651e-03 1.43552491e-05 9.99972569e-01 -6.98126030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.834203822 meters 0.018482224261702523 Centerline is valid? [True, True] Translation: X:246.17, Y:-33.41, Z:-6.98 [[ 9.90164096e-01 1.39717766e-01 7.34907060e-03 2.46166303e+02] [-1.39713901e-01 9.90191368e-01 -1.03934792e-03 -3.34126680e+01] [-7.42220165e-03 2.35766954e-06 9.99972455e-01 -6.97884618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.864203822 meters 0.019640784133410142 Centerline is valid? [True, True] Translation: X:246.20, Y:-33.42, Z:-6.98 [[ 9.89920800e-01 1.41443914e-01 7.10133444e-03 2.46197004e+02] [-1.41440339e-01 9.89946271e-01 -1.00563167e-03 -3.34154650e+01] [-7.17218003e-03 -8.91944491e-06 9.99974280e-01 -6.98443778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.894203822 meters 0.01852071794078641 Centerline is valid? [True, True] Translation: X:246.23, Y:-33.42, Z:-6.98 [[ 9.89432127e-01 1.44835035e-01 6.84680390e-03 2.46228784e+02] [-1.44831789e-01 9.89455816e-01 -9.70131131e-04 -3.34183047e+01] [-6.91511891e-03 -3.17559504e-05 9.99976090e-01 -6.97968728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.924203822 meters 0.020156651175136722 Centerline is valid? [True, True] Translation: X:246.26, Y:-33.42, Z:-6.98 [[ 9.89027649e-01 1.47573869e-01 6.80169160e-03 2.46259128e+02] [-1.47570705e-01 9.89051036e-01 -9.67426788e-04 -3.34182818e+01] [-6.86998704e-03 -4.69185842e-05 9.99976400e-01 -6.98342514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.954203822 meters 0.02006901951108619 Centerline is valid? [True, True] Translation: X:246.29, Y:-33.42, Z:-6.98 [[ 9.88840711e-01 1.48831696e-01 6.57081409e-03 2.46290739e+02] [-1.48828765e-01 9.88862540e-01 -9.35526928e-04 -3.34214717e+01] [-6.63686797e-03 -5.28390311e-05 9.99977974e-01 -6.98249015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.984203822 meters 0.021021561399072696 Centerline is valid? [True, True] Translation: X:246.32, Y:-33.42, Z:-6.98 [[ 9.88691093e-01 1.49809163e-01 6.86559487e-03 2.46319833e+02] [-1.49805980e-01 9.88714929e-01 -9.78479191e-04 -3.34229976e+01] [-6.93470130e-03 -6.10935099e-05 9.99975953e-01 -6.98447855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.014203822 meters 0.021950317923359938 Centerline is valid? [True, True] Translation: X:246.35, Y:-33.42, Z:-6.98 [[ 9.88391965e-01 1.51739577e-01 7.51161841e-03 2.46351221e+02] [-1.51735826e-01 9.88420505e-01 -1.07017436e-03 -3.34220530e+01] [-7.58702547e-03 -8.20298855e-05 9.99971215e-01 -6.98460122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04420382200001 meters 0.02480030211634347 Centerline is valid? [True, True] Translation: X:246.38, Y:-33.42, Z:-6.99 [[ 9.88270748e-01 1.52495562e-01 8.12606405e-03 2.46381318e+02] [-1.52491195e-01 9.88304151e-01 -1.15795475e-03 -3.34213933e+01] [-8.20760579e-03 -9.47804149e-05 9.99966313e-01 -6.98957513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07420382200002 meters 0.022394327800360686 Centerline is valid? [True, True] Translation: X:246.41, Y:-33.43, Z:-6.99 [[ 9.88237376e-01 1.52748608e-01 7.39948008e-03 2.46411072e+02] [-1.52744996e-01 9.88265073e-01 -1.05410917e-03 -3.34275721e+01] [-7.47366143e-03 -8.85234726e-05 9.99972068e-01 -6.98607141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10420382200002 meters 0.02381823756642513 Centerline is valid? [True, True] Translation: X:246.44, Y:-33.43, Z:-6.99 [[ 9.88339698e-01 1.52103795e-01 7.00550429e-03 2.46439708e+02] [-1.52100540e-01 9.88364522e-01 -9.98240434e-04 -3.34314863e+01] [-7.07582806e-03 -7.89403386e-05 9.99974963e-01 -6.99083158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13420382200002 meters 0.02381823756642513 Centerline is valid? [True, True] Translation: X:246.47, Y:-33.44, Z:-6.99 [[ 9.88343118e-01 1.52081574e-01 7.00548408e-03 2.46468586e+02] [-1.52078318e-01 9.88367942e-01 -9.98382381e-04 -3.34355525e+01] [-7.07583144e-03 -7.86378781e-05 9.99974963e-01 -6.99166169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16420382200002 meters 0.022213700252272397 Centerline is valid? [True, True] Translation: X:246.50, Y:-33.44, Z:-6.99 [[ 9.88490973e-01 1.51122224e-01 6.90429848e-03 2.46498230e+02] [-1.51119042e-01 9.88515083e-01 -9.83325033e-04 -3.34430097e+01] [-6.97360545e-03 -7.13630497e-05 9.99975682e-01 -6.99063129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19420382200002 meters 0.020127382477734858 Centerline is valid? [True, True] Translation: X:246.53, Y:-33.45, Z:-6.99 [[ 9.88927831e-01 1.48174973e-01 8.11926681e-03 2.46528932e+02] [-1.48170474e-01 9.88961159e-01 -1.15620758e-03 -3.34481145e+01] [-8.20096055e-03 -5.96297511e-05 9.99966370e-01 -6.98855426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22420382200002 meters 0.01945711736177057 Centerline is valid? [True, True] Translation: X:246.56, Y:-33.45, Z:-6.99 [[ 9.89189396e-01 1.46403755e-01 8.38324768e-03 2.46559195e+02] [-1.46398896e-01 9.89224918e-01 -1.19378964e-03 -3.34521173e+01] [-8.46769278e-03 -4.64141496e-05 9.99964147e-01 -6.98973772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25420382200002 meters 0.018325650133493177 Centerline is valid? [True, True] Translation: X:246.59, Y:-33.46, Z:-6.99 [[ 9.89699868e-01 1.42967395e-01 7.38207713e-03 2.46590450e+02] [-1.42963555e-01 9.89727399e-01 -1.04796177e-03 -3.34607496e+01] [-7.45606836e-03 -1.82003645e-05 9.99972203e-01 -6.98992897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28420382200002 meters 0.018307689856946946 Centerline is valid? [True, True] Translation: X:246.62, Y:-33.47, Z:-6.99 [[ 9.89966641e-01 1.41083171e-01 7.84786814e-03 2.46620810e+02] [-1.41078757e-01 9.89997747e-01 -1.11598684e-03 -3.34687427e+01] [-7.92681874e-03 -2.37773423e-06 9.99968582e-01 -6.99098761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31420382200002 meters 0.018773176977275312 Centerline is valid? [True, True] Translation: X:246.65, Y:-33.48, Z:-6.99 [[ 9.90566930e-01 1.36756191e-01 8.65453006e-03 2.46652242e+02] [-1.36750648e-01 9.90604736e-01 -1.23181863e-03 -3.34803934e+01] [-8.74167729e-03 3.66862049e-05 9.99961790e-01 -6.98973458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34420382200003 meters 0.02027185057285633 Centerline is valid? [True, True] Translation: X:246.68, Y:-33.49, Z:-6.99 [[ 9.90915576e-01 1.34216763e-01 8.49601939e-03 2.46682126e+02] [-1.34211308e-01 9.90951995e-01 -1.21154759e-03 -3.34884023e+01] [-8.58175737e-03 6.02795012e-05 9.99963174e-01 -6.99116022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37420382200003 meters 0.02202361339195136 Centerline is valid? [True, True] Translation: X:246.71, Y:-33.50, Z:-6.99 [[ 9.91277842e-01 1.31509798e-01 8.56809128e-03 2.46713101e+02] [-1.31504139e-01 9.91314867e-01 -1.22299951e-03 -3.34963786e+01] [-8.65451269e-03 8.55928471e-05 9.99962545e-01 -6.99172410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40420382200003 meters 0.0270025749768854 Centerline is valid? [True, True] Translation: X:246.74, Y:-33.51, Z:-6.99 [[ 9.92100665e-01 1.25028817e-01 1.02012388e-02 2.46742581e+02] [-1.25020423e-01 9.92153096e-01 -1.45896689e-03 -3.35096214e+01] [-1.03036036e-02 1.72078832e-04 9.99946902e-01 -6.98973907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.434203822 meters 0.03416927125699349 Centerline is valid? [True, True] Translation: X:246.77, Y:-33.53, Z:-6.99 [[ 9.92956090e-01 1.17946822e-01 1.12583554e-02 2.46769949e+02] [-1.17936096e-01 9.93019875e-01 -1.61421693e-03 -3.35285325e+01] [-1.13701624e-02 2.75080053e-04 9.99935320e-01 -6.98936461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.464203822 meters 0.03784669668446578 Centerline is valid? [True, True] Translation: X:246.80, Y:-33.54, Z:-6.99 [[ 9.93349474e-01 1.14625548e-01 1.08538905e-02 2.46799582e+02] [-1.14615372e-01 9.93408724e-01 -1.55704583e-03 -3.35416664e+01] [-1.09608268e-02 3.02667960e-04 9.99939883e-01 -6.99135893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.494203822 meters 0.039691972149057765 Centerline is valid? [True, True] Translation: X:246.83, Y:-33.55, Z:-6.99 [[ 9.93673709e-01 1.11875337e-01 9.82189733e-03 2.46829203e+02] [-1.11866866e-01 9.93722204e-01 -1.40938018e-03 -3.35524891e+01] [-9.91791234e-03 3.01719158e-04 9.99950771e-01 -6.99345048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.524203822 meters 0.047084922805177065 Centerline is valid? [True, True] Translation: X:246.86, Y:-33.56, Z:-7.00 [[ 9.94074187e-01 1.08483316e-01 6.91965717e-03 2.46858361e+02] [-1.08479029e-01 9.94098242e-01 -9.93037019e-04 -3.35643771e+01] [-6.98654698e-03 2.36514776e-04 9.99975566e-01 -7.00021930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.554203822 meters 0.046194692633507436 Centerline is valid? [True, True] Translation: X:246.89, Y:-33.58, Z:-7.00 [[ 9.94117132e-01 1.08101778e-01 6.71810527e-03 2.46888414e+02] [-1.08097749e-01 9.94139806e-01 -9.60950497e-04 -3.35751433e+01] [-6.78261633e-03 2.29085293e-04 9.99976972e-01 -7.00167740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.584203822 meters 0.04563320465033182 Centerline is valid? [True, True] Translation: X:246.92, Y:-33.58, Z:-7.00 [[ 9.93988294e-01 1.09170529e-01 8.31063456e-03 2.46919253e+02] [-1.09164360e-01 9.94022997e-01 -1.19367397e-03 -3.35797543e+01] [-8.39127589e-03 2.79272844e-04 9.99964754e-01 -6.99967170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.614203822 meters 0.041801028811737855 Centerline is valid? [True, True] Translation: X:246.95, Y:-33.59, Z:-7.00 [[ 9.93829197e-01 1.10551445e-01 9.05012698e-03 2.46950572e+02] [-1.10544209e-01 9.93870361e-01 -1.29744915e-03 -3.35867454e+01] [-9.13808785e-03 2.89003719e-04 9.99958205e-01 -6.99762930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.644203822 meters 0.04483227926204669 Centerline is valid? [True, True] Translation: X:246.98, Y:-33.59, Z:-7.00 [[ 9.93661672e-01 1.12012684e-01 9.46785405e-03 2.46981198e+02] [-1.12004812e-01 9.93706735e-01 -1.35934766e-03 -3.35919058e+01] [-9.56053451e-03 2.90286454e-04 9.99954255e-01 -6.99970239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.674203822 meters 0.037572750342022156 Centerline is valid? [True, True] Translation: X:247.01, Y:-33.60, Z:-7.00 [[ 9.93225703e-01 1.15797324e-01 9.67903324e-03 2.47010686e+02] [-1.15789232e-01 9.93272828e-01 -1.39409201e-03 -3.35968357e+01] [-9.77535284e-03 2.63920189e-04 9.99952185e-01 -6.99967350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.704203822 meters 0.033707687222527365 Centerline is valid? [True, True] Translation: X:247.04, Y:-33.60, Z:-7.00 [[ 9.92890703e-01 1.18652180e-01 9.47164823e-03 2.47042547e+02] [-1.18644565e-01 9.92935853e-01 -1.36377359e-03 -3.35964964e+01] [-9.56655382e-03 2.30318529e-04 9.99954213e-01 -6.99972005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.734203822 meters 0.026933927633173857 Centerline is valid? [True, True] Translation: X:247.07, Y:-33.59, Z:-7.00 [[ 9.91980184e-01 1.26003688e-01 9.91888344e-03 2.47073020e+02] [-1.25995706e-01 9.92029759e-01 -1.42801734e-03 -3.35913281e+01] [-1.00197630e-02 1.66828186e-04 9.99949787e-01 -7.00038150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.764203822 meters 0.02370430414021849 Centerline is valid? [True, True] Translation: X:247.11, Y:-33.59, Z:-7.00 [[ 9.91479149e-01 1.29909914e-01 9.61832959e-03 2.47105899e+02] [-1.29902590e-01 9.91525793e-01 -1.38492898e-03 -3.35922727e+01] [-9.71673789e-03 1.23682284e-04 9.99952784e-01 -7.00206415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79420382200001 meters 0.028076581143182806 Centerline is valid? [True, True] Translation: X:247.14, Y:-33.59, Z:-7.00 [[ 9.90410984e-01 1.37856383e-01 9.03883871e-03 2.47139430e+02] [-1.37850263e-01 9.90452228e-01 -1.29969522e-03 -3.35858903e+01] [-9.13170922e-03 4.12261309e-05 9.99958304e-01 -7.00287879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82420382200002 meters 0.018157937111088283 Centerline is valid? [True, True] Translation: X:247.17, Y:-33.59, Z:-7.01 [[ 9.89874598e-01 1.41613298e-01 9.69295890e-03 2.47170376e+02] [-1.41606416e-01 9.89922054e-01 -1.39604912e-03 -3.35868258e+01] [-9.79297291e-03 9.32839174e-06 9.99952048e-01 -7.00650817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85420382200002 meters 0.01804453358156283 Centerline is valid? [True, True] Translation: X:247.20, Y:-33.59, Z:-7.01 [[ 9.89363963e-01 1.45141946e-01 9.63144713e-03 2.47203401e+02] [-1.45135308e-01 9.89410842e-01 -1.38833995e-03 -3.35862970e+01] [-9.73096458e-03 -2.42895266e-05 9.99952653e-01 -7.00683361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88420382200002 meters 0.019133161485151373 Centerline is valid? [True, True] Translation: X:247.24, Y:-33.58, Z:-7.00 [[ 9.88486060e-01 1.50965180e-01 1.02383182e-02 2.47236645e+02] [-1.50957965e-01 9.88539077e-01 -1.47834343e-03 -3.35810817e+01] [-1.03441560e-02 -8.42338058e-05 9.99946494e-01 -7.00421018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91420382200002 meters 0.022714047237251296 Centerline is valid? [True, True] Translation: X:247.27, Y:-33.57, Z:-7.01 [[ 9.87904471e-01 1.54683910e-01 1.08463752e-02 2.47268921e+02] [-1.54676010e-01 9.87964003e-01 -1.56848071e-03 -3.35740328e+01] [-1.09584470e-02 -1.28164933e-04 9.99939946e-01 -7.00737013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94420382200002 meters 0.023538376518334302 Centerline is valid? [True, True] Translation: X:247.30, Y:-33.58, Z:-7.01 [[ 9.87773166e-01 1.55527234e-01 1.07448470e-02 2.47300207e+02] [-1.55519489e-01 9.87831596e-01 -1.55772723e-03 -3.35764994e+01] [-1.08563684e-02 -1.32351968e-04 9.99941059e-01 -7.00881531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97420382200002 meters 0.021393388739028168 Centerline is valid? [True, True] Translation: X:247.33, Y:-33.58, Z:-7.01 [[ 9.87730165e-01 1.55797241e-01 1.07861713e-02 2.47332562e+02] [-1.55789483e-01 9.87789047e-01 -1.56094996e-03 -3.35841049e+01] [-1.08976536e-02 -1.38574686e-04 9.99940609e-01 -7.00587107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00420382200002 meters 0.026779519665632908 Centerline is valid? [True, True] Translation: X:247.36, Y:-33.59, Z:-7.01 [[ 9.87843959e-01 1.55090649e-01 1.05452714e-02 2.47364084e+02] [-1.55083167e-01 9.87900235e-01 -1.52846747e-03 -3.35872979e+01] [-1.06547271e-02 -1.25506732e-04 9.99943229e-01 -7.00850580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03420382200002 meters 0.02102524330334428 Centerline is valid? [True, True] Translation: X:247.40, Y:-33.59, Z:-7.01 [[ 9.87951911e-01 1.54409959e-01 1.04204680e-02 2.47395089e+02] [-1.54402595e-01 9.88006858e-01 -1.51234255e-03 -3.35912223e+01] [-1.05290146e-02 -1.14825591e-04 9.99944562e-01 -7.01073082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06420382200002 meters 0.01904730694800428 Centerline is valid? [True, True] Translation: X:247.43, Y:-33.60, Z:-7.01 [[ 9.88392304e-01 1.51562970e-01 1.04556372e-02 2.47426292e+02] [-1.51555381e-01 9.88447601e-01 -1.51895156e-03 -3.35999010e+01] [-1.05650663e-02 -8.32880541e-05 9.99944185e-01 -7.01140324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09420382200003 meters 0.01765611193401634 Centerline is valid? [True, True] Translation: X:247.46, Y:-33.61, Z:-7.01 [[ 9.88647197e-01 1.49884411e-01 1.05538046e-02 2.47458332e+02] [-1.49876545e-01 9.88703525e-01 -1.53688241e-03 -3.36068891e+01] [-1.06649385e-02 -6.23332697e-05 9.99943126e-01 -7.01018247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12420382200003 meters 0.01713753061365106 Centerline is valid? [True, True] Translation: X:247.49, Y:-33.61, Z:-7.01 [[ 9.89135372e-01 1.46636533e-01 1.04375363e-02 2.47489379e+02] [-1.46628669e-01 9.89190440e-01 -1.51884395e-03 -3.36103554e+01] [-1.05474291e-02 -2.80997784e-05 9.99944374e-01 -7.01232127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15420382200003 meters 0.016872675535930106 Centerline is valid? [True, True] Translation: X:247.52, Y:-33.61, Z:-7.01 [[ 9.89393003e-01 1.44871726e-01 1.06615945e-02 2.47520670e+02] [-1.44863401e-01 9.89450445e-01 -1.55310544e-03 -3.36149823e+01] [-1.07741205e-02 -7.84318060e-06 9.99941957e-01 -7.01352392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.184203822 meters 0.01700591187017966 Centerline is valid? [True, True] Translation: X:247.55, Y:-33.62, Z:-7.01 [[ 9.90014912e-01 1.40529681e-01 1.10400860e-02 2.47552805e+02] [-1.40520468e-01 9.90076465e-01 -1.60972210e-03 -3.36248034e+01] [-1.11567431e-02 4.22908259e-05 9.99937761e-01 -7.01203469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.214203822 meters 0.018919720847256686 Centerline is valid? [True, True] Translation: X:247.58, Y:-33.63, Z:-7.02 [[ 9.90328214e-01 1.38330992e-01 1.07034723e-02 2.47583173e+02] [-1.38322175e-01 9.90386052e-01 -1.56327710e-03 -3.36339859e+01] [-1.08168193e-02 6.76298546e-05 9.99941494e-01 -7.01556771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.244203822 meters 0.02139582493769549 Centerline is valid? [True, True] Translation: X:247.61, Y:-33.65, Z:-7.02 [[ 9.90860357e-01 1.34518166e-01 1.00307031e-02 2.47613670e+02] [-1.34510215e-01 9.90911122e-01 -1.46622111e-03 -3.36455315e+01] [-1.01367687e-02 1.03588338e-04 9.99948616e-01 -7.01754776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.274203822 meters 0.02164521709097944 Centerline is valid? [True, True] Translation: X:247.64, Y:-33.65, Z:-7.02 [[ 9.91094627e-01 1.32797090e-01 9.81701876e-03 2.47644849e+02] [-1.32789373e-01 9.91143238e-01 -1.43664217e-03 -3.36516539e+01] [-9.92085366e-03 1.20252571e-04 9.99950780e-01 -7.01637580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.304203822 meters 0.033192836307263475 Centerline is valid? [True, True] Translation: X:247.68, Y:-33.66, Z:-7.02 [[ 9.91469780e-01 1.29943132e-01 1.01221279e-02 2.47675510e+02] [-1.29934748e-01 9.91521436e-01 -1.48434643e-03 -3.36579622e+01] [-1.02291874e-02 1.56468494e-04 9.99947668e-01 -7.01872618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.334203822 meters 0.02529414352546823 Centerline is valid? [True, True] Translation: X:247.71, Y:-33.66, Z:-7.02 [[ 9.91602708e-01 1.28896382e-01 1.04781957e-02 2.47706327e+02] [-1.28887341e-01 9.91658052e-01 -1.53646496e-03 -3.36639530e+01] [-1.05888319e-02 1.73056028e-04 9.99943922e-01 -7.01824213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.364203822 meters 0.02693248636620389 Centerline is valid? [True, True] Translation: X:247.74, Y:-33.67, Z:-7.02 [[ 9.91773061e-01 1.27623337e-01 9.92363919e-03 2.47737113e+02] [-1.27615137e-01 9.91822692e-01 -1.45776776e-03 -3.36699563e+01] [-1.00285357e-02 1.79368221e-04 9.99949697e-01 -7.02080272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.394203822 meters 0.026880677271822175 Centerline is valid? [True, True] Translation: X:247.77, Y:-33.68, Z:-7.02 [[ 9.91809788e-01 1.27355031e-01 9.69744893e-03 2.47769254e+02] [-1.27347195e-01 9.91857180e-01 -1.42388439e-03 -3.36754130e+01] [-9.79982318e-03 1.77279561e-04 9.99951965e-01 -7.02141708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.424203822 meters 0.02736912192905595 Centerline is valid? [True, True] Translation: X:247.80, Y:-33.68, Z:-7.02 [[ 9.91758363e-01 1.27827056e-01 8.69440804e-03 2.47799555e+02] [-1.27820764e-01 9.91796461e-01 -1.27785725e-03 -3.36826193e+01] [-8.78642786e-03 1.55999734e-04 9.99961386e-01 -7.02437028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.454203822 meters 0.026866624139492663 Centerline is valid? [True, True] Translation: X:247.83, Y:-33.69, Z:-7.02 [[ 9.91684830e-01 1.28392004e-01 8.75732837e-03 2.47831349e+02] [-1.28385631e-01 9.91723485e-01 -1.28829562e-03 -3.36874364e+01] [-8.85025506e-03 1.53268091e-04 9.99960824e-01 -7.02478859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.484203822 meters 0.02633333138805249 Centerline is valid? [True, True] Translation: X:247.86, Y:-33.69, Z:-7.02 [[ 9.91568436e-01 1.29208744e-01 9.85583924e-03 2.47861738e+02] [-1.29200689e-01 9.91617402e-01 -1.45241158e-03 -3.36922222e+01] [-9.96088598e-03 1.66784265e-04 9.99950375e-01 -7.02469245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.514203822 meters 0.02536364860185414 Centerline is valid? [True, True] Translation: X:247.89, Y:-33.70, Z:-7.02 [[ 9.91529627e-01 1.29490477e-01 1.00606235e-02 2.47894391e+02] [-1.29482088e-01 9.91580651e-01 -1.48351934e-03 -3.36965800e+01] [-1.01680213e-02 1.68282834e-04 9.99948290e-01 -7.02430352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54420382200001 meters 0.025383942367948196 Centerline is valid? [True, True] Translation: X:247.93, Y:-33.70, Z:-7.03 [[ 9.91501674e-01 1.29714577e-01 9.92772061e-03 2.47926557e+02] [-1.29706400e-01 9.91551361e-01 -1.46581159e-03 -3.37027060e+01] [-1.00339820e-02 1.65665741e-04 9.99949645e-01 -7.02580595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57420382200002 meters 0.02549445589287339 Centerline is valid? [True, True] Translation: X:247.96, Y:-33.71, Z:-7.03 [[ 9.91424893e-01 1.30357188e-01 9.14792194e-03 2.47957877e+02] [-1.30350258e-01 9.91467085e-01 -1.35229441e-03 -3.37099979e+01] [-9.24614480e-03 1.48264361e-04 9.99957243e-01 -7.02937204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60420382200002 meters 0.02362831614891375 Centerline is valid? [True, True] Translation: X:247.99, Y:-33.72, Z:-7.03 [[ 9.91132151e-01 1.32480581e-01 1.02934815e-02 2.47989437e+02] [-1.32471892e-01 9.91185590e-01 -1.52440011e-03 -3.37153912e+01] [-1.04047040e-02 1.47284981e-04 9.99945859e-01 -7.02863130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63420382200002 meters 0.0222964647460109 Centerline is valid? [True, True] Translation: X:248.02, Y:-33.72, Z:-7.03 [[ 9.90889204e-01 1.34208409e-01 1.12556391e-02 2.48020933e+02] [-1.34198104e-01 9.90953118e-01 -1.66927869e-03 -3.37193069e+01] [-1.13778419e-02 1.43584807e-04 9.99935260e-01 -7.02849039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66420382200002 meters 0.021220492558424783 Centerline is valid? [True, True] Translation: X:248.05, Y:-33.72, Z:-7.03 [[ 9.90568721e-01 1.36523100e-01 1.16211730e-02 2.48051674e+02] [-1.36512247e-01 9.90636880e-01 -1.72583938e-03 -3.37227844e+01] [-1.17479795e-02 1.23130074e-04 9.99930983e-01 -7.03009659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69420382200002 meters 0.017237420732785565 Centerline is valid? [True, True] Translation: X:248.08, Y:-33.72, Z:-7.03 [[ 9.89806565e-01 1.41929033e-01 1.17946373e-02 2.48084408e+02] [-1.41918217e-01 9.89876834e-01 -1.75330222e-03 -3.37210034e+01] [-1.19240827e-02 6.15561584e-05 9.99928904e-01 -7.02950517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72420382200002 meters 0.015957002271034495 Centerline is valid? [True, True] Translation: X:248.12, Y:-33.72, Z:-7.03 [[ 9.89277183e-01 1.45504748e-01 1.26104739e-02 2.48115943e+02] [-1.45492640e-01 9.89357553e-01 -1.87725203e-03 -3.37219558e+01] [-1.27494167e-02 2.23914651e-05 9.99918723e-01 -7.02993255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75420382200002 meters 0.015549055186263315 Centerline is valid? [True, True] Translation: X:248.15, Y:-33.72, Z:-7.03 [[ 9.88270965e-01 1.52124676e-01 1.33634837e-02 2.48150033e+02] [-1.52111660e-01 9.88361310e-01 -1.99104160e-03 -3.37176378e+01] [-1.35108368e-02 -6.50530826e-05 9.99908722e-01 -7.02678211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78420382200002 meters 0.017990908143156268 Centerline is valid? [True, True] Translation: X:248.18, Y:-33.71, Z:-7.03 [[ 9.87773544e-01 1.55339793e-01 1.31519650e-02 2.48182274e+02] [-1.55327428e-01 9.87861092e-01 -1.96269685e-03 -3.37146290e+01] [-1.32971994e-02 -1.04160873e-04 9.99911583e-01 -7.03139058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81420382200002 meters 0.018609772035168747 Centerline is valid? [True, True] Translation: X:248.21, Y:-33.71, Z:-7.03 [[ 9.87374414e-01 1.57902943e-01 1.25868027e-02 2.48214816e+02] [-1.57891805e-01 9.87454629e-01 -1.88006419e-03 -3.37142231e+01] [-1.27257642e-02 -1.31025710e-04 9.99919016e-01 -7.03142463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84420382200003 meters 0.022820578353799126 Centerline is valid? [True, True] Translation: X:248.25, Y:-33.71, Z:-7.04 [[ 9.86870143e-01 1.61094669e-01 1.16545639e-02 2.48246504e+02] [-1.61085293e-01 9.86938946e-01 -1.74494227e-03 -3.37094552e+01] [-1.17834439e-02 -1.55347411e-04 9.99930561e-01 -7.03854431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87420382200003 meters 0.02090475248514035 Centerline is valid? [True, True] Translation: X:248.28, Y:-33.72, Z:-7.04 [[ 9.87022194e-01 1.60300364e-01 9.53847400e-03 2.48277595e+02] [-1.60294072e-01 9.87068274e-01 -1.42547008e-03 -3.37172337e+01] [-9.64362844e-03 -1.21990240e-04 9.99953492e-01 -7.04014042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90420382200003 meters 0.0201295934580056 Centerline is valid? [True, True] Translation: X:248.31, Y:-33.72, Z:-7.04 [[ 9.87303181e-01 1.58567024e-01 9.43009565e-03 2.48307289e+02] [-1.58560752e-01 9.87348211e-01 -1.41385900e-03 -3.37219699e+01] [-9.53497948e-03 -9.93355692e-05 9.99954536e-01 -7.04277955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.934203822 meters 0.016732161950410794 Centerline is valid? [True, True] Translation: X:248.34, Y:-33.73, Z:-7.04 [[ 9.88180687e-01 1.52938643e-01 1.04259631e-02 2.48337596e+02] [-1.52930666e-01 9.88235685e-01 -1.56289391e-03 -3.37334899e+01] [-1.05423356e-02 -5.00278867e-05 9.99944427e-01 -7.04222215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.964203822 meters 0.01636509052278493 Centerline is valid? [True, True] Translation: X:248.37, Y:-33.74, Z:-7.04 [[ 9.88672945e-01 1.49742220e-01 1.01526164e-02 2.48368513e+02] [-1.49734511e-01 9.88725072e-01 -1.51960731e-03 -3.37435727e+01] [-1.02656958e-02 -1.78024179e-05 9.99947306e-01 -7.04442345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.994203822 meters 0.01636509052278493 Centerline is valid? [True, True] Translation: X:248.40, Y:-33.75, Z:-7.05 [[ 9.88644446e-01 1.49930279e-01 1.01523651e-02 2.48400620e+02] [-1.49922562e-01 9.88696572e-01 -1.52128312e-03 -3.37485931e+01] [-1.02656949e-02 -1.80604648e-05 9.99947306e-01 -7.04534886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02420382200006 meters 0.02050437751669617 Centerline is valid? [True, True] Translation: X:248.43, Y:-33.76, Z:-7.05 [[ 9.89114578e-01 1.46831389e-01 9.63816274e-03 2.48430487e+02] [-1.46824264e-01 9.89161535e-01 -1.44652240e-03 -3.37583519e+01] [-9.74609475e-03 1.56602459e-05 9.99952506e-01 -7.04839605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05420382200003 meters 0.03230910677151606 Centerline is valid? [True, True] Translation: X:248.46, Y:-33.77, Z:-7.05 [[ 9.90030143e-01 1.40561425e-01 9.09949519e-03 2.48460450e+02] [-1.40554801e-01 9.90071957e-01 -1.36659343e-03 -3.37746782e+01] [-9.20124533e-03 7.39909486e-05 9.99957665e-01 -7.05034337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08420382200006 meters 0.021926726169358497 Centerline is valid? [True, True] Translation: X:248.49, Y:-33.79, Z:-7.05 [[ 9.90460226e-01 1.37471449e-01 9.49430685e-03 2.48490306e+02] [-1.37464076e-01 9.90505724e-01 -1.42796634e-03 -3.37864821e+01] [-9.60046988e-03 1.09217742e-04 9.99953908e-01 -7.05035243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11420382200004 meters 0.03413368914048291 Centerline is valid? [True, True] Translation: X:248.52, Y:-33.80, Z:-7.06 [[ 9.91000587e-01 1.33630709e-01 7.78908273e-03 2.48519477e+02] [-1.33625601e-01 9.91031189e-01 -1.17489793e-03 -3.38008840e+01] [-7.87622637e-03 1.23503676e-04 9.99968974e-01 -7.05519489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14420382200007 meters 0.02580607234786187 Centerline is valid? [True, True] Translation: X:248.55, Y:-33.81, Z:-7.05 [[ 9.91139400e-01 1.32529242e-01 8.87075229e-03 2.48552100e+02] [-1.32522603e-01 9.91179085e-01 -1.33467997e-03 -3.38088486e+01] [-8.96938826e-03 1.47278723e-04 9.99959763e-01 -7.05185386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17420382200004 meters 0.024586300801504396 Centerline is valid? [True, True] Translation: X:248.58, Y:-33.81, Z:-7.05 [[ 9.90978760e-01 1.33711274e-01 9.07706800e-03 2.48584253e+02] [-1.33704351e-01 9.91020320e-01 -1.36806872e-03 -3.38129397e+01] [-9.17848505e-03 1.42083557e-04 9.99957867e-01 -7.05228412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20420382200007 meters 0.02300781183805897 Centerline is valid? [True, True] Translation: X:248.62, Y:-33.82, Z:-7.05 [[ 9.90766383e-01 1.35279340e-01 9.02637744e-03 2.48616169e+02] [-1.35272545e-01 9.90807491e-01 -1.36189681e-03 -3.38166781e+01] [-9.12763889e-03 1.28300529e-04 9.99958334e-01 -7.05263393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23420382200004 meters 0.02145403949919142 Centerline is valid? [True, True] Translation: X:248.65, Y:-33.82, Z:-7.05 [[ 9.90442055e-01 1.37607683e-01 9.41596326e-03 2.48647073e+02] [-1.37600375e-01 9.90486806e-01 -1.42277697e-03 -3.38208553e+01] [-9.52217242e-03 1.13538075e-04 9.99954657e-01 -7.05326400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26420382200007 meters 0.03371208481085518 Centerline is valid? [True, True] Translation: X:248.68, Y:-33.82, Z:-7.06 [[ 9.89813718e-01 1.42167464e-01 7.56413780e-03 2.48679001e+02] [-1.42162863e-01 9.89842618e-01 -1.14532126e-03 -3.38233552e+01] [-7.65013339e-03 5.83152163e-05 9.99970736e-01 -7.05779822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29420382200004 meters 0.01826122742673298 Centerline is valid? [True, True] Translation: X:248.71, Y:-33.83, Z:-7.06 [[ 9.89548400e-01 1.43976554e-01 8.04457022e-03 2.48710209e+02] [-1.43971421e-01 9.89581098e-01 -1.21666831e-03 -3.38281679e+01] [-8.13592635e-03 4.57639739e-05 9.99966902e-01 -7.05740219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324203822 meters 0.017971184575727456 Centerline is valid? [True, True] Translation: X:248.74, Y:-33.83, Z:-7.06 [[ 9.88889979e-01 1.48528917e-01 5.98080099e-03 2.48741286e+02] [-1.48526164e-01 9.88908065e-01 -9.04387373e-04 -3.38292719e+01] [-6.04879001e-03 6.03418431e-06 9.99981706e-01 -7.06379748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35420382200004 meters 0.017395852382974697 Centerline is valid? [True, True] Translation: X:248.77, Y:-33.83, Z:-7.06 [[ 9.88498011e-01 1.51103731e-01 6.27253130e-03 2.48773570e+02] [-1.51100748e-01 9.88517912e-01 -9.49498855e-04 -3.38300163e+01] [-6.34398236e-03 -9.20643872e-06 9.99979877e-01 -7.06345151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384203822 meters 0.017289314304958038 Centerline is valid? [True, True] Translation: X:248.81, Y:-33.83, Z:-7.06 [[ 9.87781164e-01 1.55615353e-01 8.49901687e-03 2.48806415e+02] [-1.55610016e-01 9.87817726e-01 -1.28970084e-03 -3.38259271e+01] [-8.59617677e-03 -4.85899499e-05 9.99963051e-01 -7.06016884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41420382200005 meters 0.017923756896534797 Centerline is valid? [True, True] Translation: X:248.84, Y:-33.83, Z:-7.06 [[ 9.87431629e-01 1.57813771e-01 8.57859915e-03 2.48838395e+02] [-1.57808404e-01 9.87468890e-01 -1.30326652e-03 -3.38280006e+01] [-8.67677319e-03 -6.68884550e-05 9.99962354e-01 -7.06022031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444203822 meters 0.02035467005608636 Centerline is valid? [True, True] Translation: X:248.87, Y:-33.83, Z:-7.06 [[ 9.86964512e-01 1.60744006e-01 7.90047416e-03 2.48869697e+02] [-1.60739537e-01 9.86996128e-01 -1.20150125e-03 -3.38310373e+01] [-7.99087154e-03 -8.40794671e-05 9.99968069e-01 -7.06354281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47420382200005 meters 0.021155209005981928 Centerline is valid? [True, True] Translation: X:248.90, Y:-33.84, Z:-7.06 [[ 9.86762619e-01 1.61971721e-01 8.04338852e-03 2.48901258e+02] [-1.61967120e-01 9.86795396e-01 -1.22446075e-03 -3.38352359e+01] [-8.13550678e-03 -9.45123828e-05 9.99966902e-01 -7.06459926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504203822 meters 0.022160052795642777 Centerline is valid? [True, True] Translation: X:248.93, Y:-33.83, Z:-7.07 [[ 9.86559389e-01 1.63216135e-01 7.81441352e-03 2.48932774e+02] [-1.63211800e-01 9.86590332e-01 -1.19369255e-03 -3.38345633e+01] [-7.90445472e-03 -9.77559040e-05 9.99968755e-01 -7.06704597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53420382200005 meters 0.020751223537861536 Centerline is valid? [True, True] Translation: X:248.97, Y:-33.84, Z:-7.07 [[ 9.86581319e-01 1.63089709e-01 7.68427052e-03 2.48965175e+02] [-1.63085535e-01 9.86611239e-01 -1.17091404e-03 -3.38391035e+01] [-7.77235169e-03 -9.79914531e-05 9.99969790e-01 -7.06511982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564203822 meters 0.020598430885469875 Centerline is valid? [True, True] Translation: X:249.00, Y:-33.84, Z:-7.07 [[ 9.86886187e-01 1.61213752e-01 8.11055028e-03 2.48996034e+02] [-1.61209023e-01 9.86919510e-01 -1.23782108e-03 -3.38429517e+01] [-8.20401409e-03 -8.59053614e-05 9.99966343e-01 -7.06805129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59420382200005 meters 0.019363521749495717 Centerline is valid? [True, True] Translation: X:249.03, Y:-33.85, Z:-7.07 [[ 9.87093062e-01 1.59966017e-01 7.62628299e-03 2.49027455e+02] [-1.59961793e-01 9.87122519e-01 -1.16471180e-03 -3.38496016e+01] [-7.71438999e-03 -7.02349596e-05 9.99970241e-01 -7.06858500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624203822 meters 0.01785574215000288 Centerline is valid? [True, True] Translation: X:249.06, Y:-33.86, Z:-7.07 [[ 9.87479967e-01 1.57575191e-01 7.30569110e-03 2.49059245e+02] [-1.57571241e-01 9.87506991e-01 -1.11672862e-03 -3.38570907e+01] [-7.39038976e-03 -4.84196713e-05 9.99972690e-01 -7.07011196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65420382200006 meters 0.0212630630766729 Centerline is valid? [True, True] Translation: X:249.09, Y:-33.86, Z:-7.07 [[ 9.87623117e-01 1.56692651e-01 6.92764057e-03 2.49090818e+02] [-1.56689072e-01 9.87647413e-01 -1.05987040e-03 -3.38636863e+01] [-7.00814019e-03 -3.87330606e-05 9.99975442e-01 -7.07224385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68420382200003 meters 0.016105211022172848 Centerline is valid? [True, True] Translation: X:249.12, Y:-33.87, Z:-7.07 [[ 9.87979112e-01 1.54306333e-01 9.31827677e-03 2.49121896e+02] [-1.54299698e-01 9.88023054e-01 -1.43114384e-03 -3.38719804e+01] [-9.42750683e-03 -2.38670779e-05 9.99955560e-01 -7.06781350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71420382200006 meters 0.016416559923668476 Centerline is valid? [True, True] Translation: X:249.15, Y:-33.88, Z:-7.07 [[ 9.88003002e-01 1.54093192e-01 1.02643541e-02 2.49152725e+02] [-1.54085143e-01 9.88056318e-01 -1.57518198e-03 -3.38754692e+01] [-1.03844847e-02 -2.52999396e-05 9.99946079e-01 -7.06966171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74420382200003 meters 0.015762606410233578 Centerline is valid? [True, True] Translation: X:249.19, Y:-33.88, Z:-7.07 [[ 9.88042639e-01 1.53837533e-01 1.02838262e-02 2.49185871e+02] [-1.53829429e-01 9.88096156e-01 -1.57918126e-03 -3.38786578e+01] [-1.04043465e-02 -2.16566880e-05 9.99945873e-01 -7.06928244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77420382200006 meters 0.016103186043035254 Centerline is valid? [True, True] Translation: X:249.22, Y:-33.88, Z:-7.07 [[ 9.88067236e-01 1.53690799e-01 1.01130973e-02 2.49217416e+02] [-1.53682933e-01 9.88118990e-01 -1.55505758e-03 -3.38845881e+01] [-1.02319416e-02 -1.77090122e-05 9.99947652e-01 -7.07173928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80420382200003 meters 0.015770718025698387 Centerline is valid? [True, True] Translation: X:249.25, Y:-33.89, Z:-7.07 [[ 9.88199826e-01 1.52799370e-01 1.06515745e-02 2.49248133e+02] [-1.52790563e-01 9.88257230e-01 -1.64052739e-03 -3.38928822e+01] [-1.07771671e-02 -6.29118417e-06 9.99941925e-01 -7.07154280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83420382200006 meters 0.01569561244140986 Centerline is valid? [True, True] Translation: X:249.28, Y:-33.90, Z:-7.07 [[ 9.88250028e-01 1.52435957e-01 1.11875316e-02 2.49279805e+02] [-1.52426198e-01 9.88313351e-01 -1.72484649e-03 -3.38983831e+01] [-1.13197155e-02 -6.93320276e-07 9.99935930e-01 -7.07243761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86420382200004 meters 0.01563613545513157 Centerline is valid? [True, True] Translation: X:249.31, Y:-33.91, Z:-7.07 [[ 9.88441715e-01 1.51287032e-01 9.75759991e-03 2.49311059e+02] [-1.51279544e-01 9.88489875e-01 -1.50522996e-03 -3.39051125e+01] [-9.87301049e-03 1.17068140e-05 9.99951261e-01 -7.07340536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89420382200007 meters 0.016045306525870422 Centerline is valid? [True, True] Translation: X:249.34, Y:-33.91, Z:-7.08 [[ 9.88528601e-01 1.50774194e-01 8.85139238e-03 2.49342725e+02] [-1.50768002e-01 9.88568228e-01 -1.36652540e-03 -3.39116539e+01] [-8.95624205e-03 1.63426908e-05 9.99959892e-01 -7.07572096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92420382200004 meters 0.017293386606051692 Centerline is valid? [True, True] Translation: X:249.37, Y:-33.92, Z:-7.08 [[ 9.88713801e-01 1.49523194e-01 9.37195553e-03 2.49372528e+02] [-1.49516175e-01 9.88758218e-01 -1.44907092e-03 -3.39212258e+01] [-9.48326776e-03 3.14574710e-05 9.99955032e-01 -7.08023773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95420382200007 meters 0.016408669711923615 Centerline is valid? [True, True] Translation: X:249.41, Y:-33.93, Z:-7.08 [[ 9.88776617e-01 1.49115342e-01 9.24206630e-03 2.49405237e+02] [-1.49108493e-01 9.88819808e-01 -1.42967019e-03 -3.39287306e+01] [-9.35192399e-03 3.55538738e-05 9.99956269e-01 -7.07759880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98420382200004 meters 0.02478869050301019 Centerline is valid? [True, True] Translation: X:249.44, Y:-33.94, Z:-7.09 [[ 9.88760898e-01 1.49318965e-01 7.46541549e-03 2.49435610e+02] [-1.49314482e-01 9.88789081e-01 -1.15745600e-03 -3.39360026e+01] [-7.55455145e-03 2.97525895e-05 9.99971464e-01 -7.08752206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01420382200007 meters 0.01799332753802744 Centerline is valid? [True, True] Translation: X:249.47, Y:-33.94, Z:-7.09 [[ 9.88683468e-01 1.49759772e-01 8.77556194e-03 2.49467462e+02] [-1.49753594e-01 9.88722413e-01 -1.36062531e-03 -3.39395602e+01] [-8.88036172e-03 3.10558049e-05 9.99960568e-01 -7.08545778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04420382200004 meters 0.01569362777895458 Centerline is valid? [True, True] Translation: X:249.50, Y:-33.94, Z:-7.08 [[ 9.88586977e-01 1.50354287e-01 9.45397749e-03 2.49500158e+02] [-1.50347129e-01 9.88632180e-01 -1.46734224e-03 -3.39423773e+01] [-9.56712757e-03 2.92170584e-05 9.99954234e-01 -7.08098066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074203822 meters 0.016542440139047224 Centerline is valid? [True, True] Translation: X:249.53, Y:-33.95, Z:-7.09 [[ 9.88554974e-01 1.50564511e-01 9.45471825e-03 2.49531008e+02] [-1.50557348e-01 9.88600186e-01 -1.46892391e-03 -3.39492974e+01] [-9.56810403e-03 2.86347345e-05 9.99954224e-01 -7.08539208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10420382200004 meters 0.024842959691285922 Centerline is valid? [True, True] Translation: X:249.56, Y:-33.96, Z:-7.09 [[ 9.88601512e-01 1.50324412e-01 8.34393044e-03 2.49562362e+02] [-1.50318814e-01 9.88636723e-01 -1.29762116e-03 -3.39566802e+01] [-8.44418019e-03 2.85805143e-05 9.99964347e-01 -7.08826598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134203822 meters 0.01639525533513186 Centerline is valid? [True, True] Translation: X:249.59, Y:-33.96, Z:-7.09 [[ 9.88630161e-01 1.50117609e-01 8.66654268e-03 2.49594354e+02] [-1.50111552e-01 9.88668146e-01 -1.34893605e-03 -3.39632264e+01] [-8.77083373e-03 3.26506967e-05 9.99961535e-01 -7.08716169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16420382200005 meters 0.017379468506881983 Centerline is valid? [True, True] Translation: X:249.62, Y:-33.97, Z:-7.09 [[ 9.88621002e-01 1.50224232e-01 7.82268799e-03 2.49624957e+02] [-1.50219286e-01 9.88651951e-01 -1.21941522e-03 -3.39691531e+01] [-7.91710145e-03 3.04208986e-05 9.99968659e-01 -7.09169864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194203822 meters 0.01644142555220668 Centerline is valid? [True, True] Translation: X:249.66, Y:-33.97, Z:-7.09 [[ 9.88485270e-01 1.51131250e-01 7.49772618e-03 2.49657525e+02] [-1.51126731e-01 9.88513705e-01 -1.16897893e-03 -3.39734983e+01] [-7.58827433e-03 2.24116109e-05 9.99971208e-01 -7.09105133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22420382200005 meters 0.01687901089850211 Centerline is valid? [True, True] Translation: X:249.69, Y:-33.98, Z:-7.09 [[ 9.88263913e-01 1.52580453e-01 7.32413315e-03 2.49689558e+02] [-1.52576158e-01 9.88291053e-01 -1.14489953e-03 -3.39771416e+01] [-7.41306455e-03 1.39747908e-05 9.99972523e-01 -7.09429758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254203822 meters 0.015924759821150873 Centerline is valid? [True, True] Translation: X:249.72, Y:-33.98, Z:-7.09 [[ 9.87713541e-01 1.56082923e-01 7.75119635e-03 2.49722693e+02] [-1.56078219e-01 9.87743955e-01 -1.21186085e-03 -3.39757828e+01] [-7.84534813e-03 -1.28215538e-05 9.99969225e-01 -7.09245129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28420382200005 meters 0.029627436766392262 Centerline is valid? [True, True] Translation: X:249.75, Y:-33.98, Z:-7.10 [[ 9.87358029e-01 1.58348084e-01 7.07150021e-03 2.49753772e+02] [-1.58344219e-01 9.87383352e-01 -1.10669338e-03 -3.39756114e+01] [-7.15752436e-03 -2.70285822e-05 9.99974384e-01 -7.09733256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314203822 meters 0.01677407549202469 Centerline is valid? [True, True] Translation: X:249.79, Y:-33.97, Z:-7.09 [[ 9.86917964e-01 1.60890402e-01 1.03542316e-02 2.49785927e+02] [-1.60882215e-01 9.86972276e-01 -1.62427218e-03 -3.39737218e+01] [-1.04806694e-02 -6.27883295e-05 9.99945074e-01 -7.09421009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34420382200005 meters 0.026515898386265262 Centerline is valid? [True, True] Translation: X:249.82, Y:-33.97, Z:-7.10 [[ 9.86709467e-01 1.62182858e-01 1.00572876e-02 2.49817239e+02] [-1.62175173e-01 9.86760718e-01 -1.58043164e-03 -3.39736673e+01] [-1.01804552e-02 -7.16154933e-05 9.99948175e-01 -7.10114351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374203822 meters 0.01615557902239234 Centerline is valid? [True, True] Translation: X:249.85, Y:-33.98, Z:-7.09 [[ 9.86651360e-01 1.62380182e-01 1.23195451e-02 2.49849157e+02] [-1.62368662e-01 9.86728265e-01 -1.93632349e-03 -3.39807750e+01] [-1.24704639e-02 -8.98318466e-05 9.99922237e-01 -7.09100095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40420382200006 meters 0.016593687165809348 Centerline is valid? [True, True] Translation: X:249.88, Y:-33.98, Z:-7.09 [[ 9.86643253e-01 1.62433116e-01 1.22709051e-02 2.49880678e+02] [-1.62421666e-01 9.86719552e-01 -1.93062117e-03 -3.39846751e+01] [-1.24215388e-02 -8.82265015e-05 9.99922846e-01 -7.09248045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43420382200003 meters 0.016242437319607318 Centerline is valid? [True, True] Translation: X:249.91, Y:-33.99, Z:-7.10 [[ 9.86675234e-01 1.62267418e-01 1.18856341e-02 2.49913274e+02] [-1.62256642e-01 9.86746816e-01 -1.87185515e-03 -3.39876774e+01] [-1.20318527e-02 -8.16099515e-05 9.99927611e-01 -7.09500407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46420382200006 meters 0.016118747895447785 Centerline is valid? [True, True] Translation: X:249.95, Y:-33.99, Z:-7.10 [[ 9.86645525e-01 1.62511095e-01 1.09887005e-02 2.49945311e+02] [-1.62501876e-01 9.86706713e-01 -1.73268553e-03 -3.39915919e+01] [-1.11242052e-02 -7.61380198e-05 9.99938121e-01 -7.09664029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49420382200003 meters 0.02655059229183287 Centerline is valid? [True, True] Translation: X:249.98, Y:-34.00, Z:-7.10 [[ 9.86605321e-01 1.62850276e-01 9.47245711e-03 2.49977246e+02] [-1.62843431e-01 9.86650791e-01 -1.49460036e-03 -3.39960207e+01] [-9.58940338e-03 -6.79467432e-05 9.99954018e-01 -7.10208895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52420382200006 meters 0.015930320111331872 Centerline is valid? [True, True] Translation: X:250.01, Y:-34.00, Z:-7.10 [[ 9.86658111e-01 1.62393979e-01 1.15744118e-02 2.50008423e+02] [-1.62383689e-01 9.86725995e-01 -1.82958174e-03 -3.40003973e+01] [-1.17178861e-02 -7.43240316e-05 9.99931340e-01 -7.09906291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55420382200003 meters 0.015739605463298535 Centerline is valid? [True, True] Translation: X:250.04, Y:-34.00, Z:-7.10 [[ 9.86646705e-01 1.62447794e-01 1.17895768e-02 2.50040814e+02] [-1.62437106e-01 9.86717137e-01 -1.86498262e-03 -3.40041566e+01] [-1.19359398e-02 -7.49857707e-05 9.99928761e-01 -7.09934563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58420382200006 meters 0.016402029639385574 Centerline is valid? [True, True] Translation: X:250.07, Y:-34.01, Z:-7.10 [[ 9.86629764e-01 1.62632678e-01 1.05981140e-02 2.50072022e+02] [-1.62624028e-01 9.86686681e-01 -1.67870255e-03 -3.40076668e+01] [-1.07300298e-02 -6.72500849e-05 9.99942429e-01 -7.10308034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61420382200004 meters 0.01691280881178826 Centerline is valid? [True, True] Translation: X:250.10, Y:-34.01, Z:-7.10 [[ 9.86492325e-01 1.63465737e-01 1.05757037e-02 2.50102580e+02] [-1.63457134e-01 9.86549009e-01 -1.67866118e-03 -3.40108182e+01] [-1.07078536e-02 -7.26878435e-05 9.99942667e-01 -7.10484040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64420382200007 meters 0.017521374636922087 Centerline is valid? [True, True] Translation: X:250.13, Y:-34.01, Z:-7.11 [[ 9.86328599e-01 1.64404145e-01 1.12771010e-02 2.50132878e+02] [-1.64394416e-01 9.86393060e-01 -1.79061613e-03 -3.40120801e+01] [-1.14180389e-02 -8.77565399e-05 9.99934808e-01 -7.10572423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67420382200004 meters 0.02181526688416398 Centerline is valid? [True, True] Translation: X:250.16, Y:-34.01, Z:-7.11 [[ 9.85944647e-01 1.66738867e-01 1.05500500e-02 2.50164349e+02] [-1.66730469e-01 9.86001085e-01 -1.67682238e-03 -3.40094282e+01] [-1.06819522e-02 -1.05760733e-04 9.99942941e-01 -7.10809145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70420382200007 meters 0.019220553693240775 Centerline is valid? [True, True] Translation: X:250.19, Y:-34.01, Z:-7.11 [[ 9.85917517e-01 1.66916901e-01 1.02663703e-02 2.50194533e+02] [-1.66908958e-01 9.85970962e-01 -1.63173439e-03 -3.40124618e+01] [-1.03947070e-02 -1.04793645e-04 9.99945968e-01 -7.10810870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73420382200004 meters 0.019716661457765277 Centerline is valid? [True, True] Translation: X:250.22, Y:-34.01, Z:-7.11 [[ 9.85825182e-01 1.67431714e-01 1.07392847e-02 2.50224147e+02] [-1.67423051e-01 9.85883668e-01 -1.70710699e-03 -3.40118543e+01] [-1.08735093e-02 -1.15094757e-04 9.99940875e-01 -7.10852700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76420382200007 meters 0.01907421107877187 Centerline is valid? [True, True] Translation: X:250.25, Y:-34.02, Z:-7.11 [[ 9.85931340e-01 1.66798959e-01 1.08397214e-02 2.50253271e+02] [-1.66790094e-01 9.85990921e-01 -1.72314581e-03 -3.40160428e+01] [-1.09752858e-02 -1.09054683e-04 9.99939764e-01 -7.10935230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79420382200004 meters 0.017482387823338098 Centerline is valid? [True, True] Translation: X:250.28, Y:-34.03, Z:-7.11 [[ 9.86427233e-01 1.63880039e-01 1.02297294e-02 2.50282287e+02] [-1.63871994e-01 9.86480272e-01 -1.62554359e-03 -3.40267015e+01] [-1.03578204e-02 -7.28856884e-05 9.99946354e-01 -7.11235302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824203822 meters 0.015653487149203584 Centerline is valid? [True, True] Translation: X:250.31, Y:-34.03, Z:-7.11 [[ 9.86694143e-01 1.62280000e-01 9.99350865e-03 2.50312927e+02] [-1.62272244e-01 9.86744748e-01 -1.58754577e-03 -3.40349115e+01] [-1.01186691e-02 -5.52469548e-05 9.99948803e-01 -7.11035420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85420382200004 meters 0.016178781950836392 Centerline is valid? [True, True] Translation: X:250.34, Y:-34.04, Z:-7.12 [[ 9.87142516e-01 1.59546560e-01 9.72357076e-03 2.50342452e+02] [-1.59539080e-01 9.87190404e-01 -1.54512841e-03 -3.40383136e+01] [-9.84553567e-03 -2.60275805e-05 9.99951531e-01 -7.11729106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884203822 meters 0.015643501750923095 Centerline is valid? [True, True] Translation: X:250.37, Y:-34.04, Z:-7.12 [[ 9.87339576e-01 1.58355531e-01 9.16993453e-03 2.50372432e+02] [-1.58348824e-01 9.87382158e-01 -1.45748782e-03 -3.40431212e+01] [-9.28503101e-03 -1.30129396e-05 9.99956893e-01 -7.11707787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91420382200005 meters 0.016617511902113528 Centerline is valid? [True, True] Translation: X:250.40, Y:-34.05, Z:-7.12 [[ 9.87735554e-01 1.55908645e-01 8.42438250e-03 2.50401528e+02] [-1.55902905e-01 9.87771479e-01 -1.33793058e-03 -3.40518546e+01] [-8.52995970e-03 8.13589990e-06 9.99963619e-01 -7.12172327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944203822 meters 0.016617511902113528 Centerline is valid? [True, True] Translation: X:250.43, Y:-34.06, Z:-7.12 [[ 9.87735549e-01 1.55908687e-01 8.42414823e-03 2.50431150e+02] [-1.55902934e-01 9.87771472e-01 -1.33940400e-03 -3.40565634e+01] [-8.52995802e-03 9.62752204e-06 9.99963619e-01 -7.12257715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97420382200005 meters 0.015672609848553582 Centerline is valid? [True, True] Translation: X:250.46, Y:-34.06, Z:-7.12 [[ 9.87880471e-01 1.54984196e-01 8.48969018e-03 2.50461803e+02] [-1.54978323e-01 9.87916949e-01 -1.34933338e-03 -3.40625609e+01] [-8.59623417e-03 1.72621445e-05 9.99963052e-01 -7.11952778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004203822 meters 0.027962847143201897 Centerline is valid? [True, True] Translation: X:250.49, Y:-34.07, Z:-7.12 [[ 9.87896948e-01 1.54891190e-01 8.26675867e-03 2.50491645e+02] [-1.54885614e-01 9.87931536e-01 -1.31433937e-03 -3.40657524e+01] [-8.37057118e-03 1.80298607e-05 9.99964966e-01 -7.12436180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03420382200005 meters 0.016094393183724905 Centerline is valid? [True, True] Translation: X:250.52, Y:-34.07, Z:-7.12 [[ 9.87888683e-01 1.54915328e-01 8.78589785e-03 2.50522076e+02] [-1.54909032e-01 9.87927751e-01 -1.39677441e-03 -3.40711493e+01] [-8.89621407e-03 1.88426970e-05 9.99960428e-01 -7.12302200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064203822 meters 0.015416511813668179 Centerline is valid? [True, True] Translation: X:250.55, Y:-34.08, Z:-7.12 [[ 9.87841612e-01 1.55190282e-01 9.21555680e-03 2.50552687e+02] [-1.55183365e-01 9.87884596e-01 -1.46533819e-03 -3.40759346e+01] [-9.33131286e-03 1.74209243e-05 9.99956462e-01 -7.12188345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09420382200005 meters 0.015216996443554483 Centerline is valid? [True, True] Translation: X:250.58, Y:-34.08, Z:-7.12 [[ 9.87718872e-01 1.55895235e-01 1.03974335e-02 2.50583081e+02] [-1.55886473e-01 9.87773595e-01 -1.65287221e-03 -3.40790959e+01] [-1.05279852e-02 1.17538471e-05 9.99944579e-01 -7.12266508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124203822 meters 0.015214331844306714 Centerline is valid? [True, True] Translation: X:250.61, Y:-34.08, Z:-7.12 [[ 9.87592422e-01 1.56773258e-01 9.12982845e-03 2.50613780e+02] [-1.56766526e-01 9.87634622e-01 -1.45277286e-03 -3.40823510e+01] [-9.24469060e-03 3.49597963e-06 9.99957267e-01 -7.12384835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15420382200006 meters 0.015111259241429656 Centerline is valid? [True, True] Translation: X:250.64, Y:-34.09, Z:-7.12 [[ 9.87487761e-01 1.57443598e-01 8.91263695e-03 2.50644564e+02] [-1.57437212e-01 9.87527981e-01 -1.41807050e-03 -3.40870615e+01] [-9.02474450e-03 -2.85345246e-06 9.99959276e-01 -7.12484487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18420382200003 meters 0.01538119219922768 Centerline is valid? [True, True] Translation: X:250.67, Y:-34.09, Z:-7.13 [[ 9.87409658e-01 1.57928194e-01 8.99181278e-03 2.50674490e+02] [-1.57921710e-01 9.87450599e-01 -1.43114255e-03 -3.40909408e+01] [-9.10498868e-03 -6.87847392e-06 9.99958549e-01 -7.12694589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21420382200006 meters 0.017595755434260157 Centerline is valid? [True, True] Translation: X:250.70, Y:-34.09, Z:-7.13 [[ 9.87227266e-01 1.59062382e-01 9.02685326e-03 2.50704828e+02] [-1.59055891e-01 9.87268534e-01 -1.43707347e-03 -3.40925504e+01] [-9.14051252e-03 -1.70560831e-05 9.99958225e-01 -7.12856518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24420382200003 meters 0.021195396291531637 Centerline is valid? [True, True] Translation: X:250.73, Y:-34.10, Z:-7.13 [[ 9.87220559e-01 1.59104555e-01 9.01715840e-03 2.50734835e+02] [-1.59098080e-01 9.87261738e-01 -1.43553005e-03 -3.40978300e+01] [-9.13069484e-03 -1.74278120e-05 9.99958314e-01 -7.13035451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27420382200006 meters 0.015213568012518773 Centerline is valid? [True, True] Translation: X:250.76, Y:-34.10, Z:-7.13 [[ 9.87250252e-01 1.58868064e-01 9.89334790e-03 2.50763921e+02] [-1.58860255e-01 9.87299822e-01 -1.57524575e-03 -3.41028586e+01] [-1.00179569e-02 -1.64980041e-05 9.99949819e-01 -7.13011528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30420382200003 meters 0.014881312301161164 Centerline is valid? [True, True] Translation: X:250.80, Y:-34.11, Z:-7.13 [[ 9.87230844e-01 1.58998641e-01 9.73106841e-03 2.50795007e+02] [-1.58991100e-01 9.87278801e-01 -1.54859926e-03 -3.41077029e+01] [-9.85350274e-03 -1.83283179e-05 9.99951453e-01 -7.12956018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33420382200006 meters 0.023653551087481402 Centerline is valid? [True, True] Translation: X:250.82, Y:-34.11, Z:-7.13 [[ 9.87059347e-01 1.60092198e-01 9.18329118e-03 2.50824763e+02] [-1.60085526e-01 9.87102065e-01 -1.46185852e-03 -3.41117118e+01] [-9.29887784e-03 -2.71708901e-05 9.99956764e-01 -7.13441918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36420382200004 meters 0.014974324748502531 Centerline is valid? [True, True] Translation: X:250.85, Y:-34.12, Z:-7.13 [[ 9.86944369e-01 1.60706370e-01 1.06899234e-02 2.50854768e+02] [-1.60697360e-01 9.87002260e-01 -1.70210537e-03 -3.41165190e+01] [-1.08245177e-02 -3.79591575e-05 9.99941412e-01 -7.13005595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39420382200007 meters 0.01636435898019971 Centerline is valid? [True, True] Translation: X:250.88, Y:-34.12, Z:-7.13 [[ 9.86373770e-01 1.64075282e-01 1.20866841e-02 2.50884945e+02] [-1.64064015e-01 9.86447816e-01 -1.92470356e-03 -3.41160116e+01] [-1.22386794e-02 -8.45128165e-05 9.99925101e-01 -7.12919621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42420382200004 meters 0.018042436364982796 Centerline is valid? [True, True] Translation: X:250.91, Y:-34.12, Z:-7.13 [[ 9.86002323e-01 1.66332801e-01 1.15247221e-02 2.50914361e+02] [-1.66322716e-01 9.86069667e-01 -1.83477990e-03 -3.41166382e+01] [-1.16693630e-02 -1.07725840e-04 9.99931905e-01 -7.13102036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45420382200007 meters 0.02181742968568903 Centerline is valid? [True, True] Translation: X:250.94, Y:-34.11, Z:-7.13 [[ 9.85281639e-01 1.70666614e-01 9.64361255e-03 2.50944148e+02] [-1.70659752e-01 9.85328823e-01 -1.53612121e-03 -3.41149715e+01] [-9.76429401e-03 -1.32264499e-04 9.99952319e-01 -7.13467548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48420382200004 meters 0.022121230657101375 Centerline is valid? [True, True] Translation: X:250.97, Y:-34.12, Z:-7.13 [[ 9.85061512e-01 1.71926974e-01 9.74338026e-03 2.50972540e+02] [-1.71920032e-01 9.85109686e-01 -1.55189390e-03 -3.41181429e+01] [-9.86511069e-03 -1.46371300e-04 9.99951328e-01 -7.13452192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51420382200007 meters 0.024086892916697494 Centerline is valid? [True, True] Translation: X:251.00, Y:-34.12, Z:-7.13 [[ 9.84660542e-01 1.74115177e-01 1.12926094e-02 2.51000983e+02] [-1.74106003e-01 9.84725275e-01 -1.79806725e-03 -3.41165242e+01] [-1.14331887e-02 -1.95625206e-04 9.99934620e-01 -7.13448720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54420382200004 meters 0.025758399709620704 Centerline is valid? [True, True] Translation: X:251.03, Y:-34.12, Z:-7.14 [[ 9.84554512e-01 1.74722263e-01 1.11598972e-02 2.51028794e+02] [-1.74713348e-01 9.84617738e-01 -1.77636315e-03 -3.41168186e+01] [-1.12986029e-02 -2.00856648e-04 9.99936149e-01 -7.13724138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574203822 meters 0.025978831404709447 Centerline is valid? [True, True] Translation: X:251.06, Y:-34.12, Z:-7.14 [[ 9.84538270e-01 1.74844736e-01 1.06636838e-02 2.51057348e+02] [-1.74836614e-01 9.84595999e-01 -1.69638071e-03 -3.41193468e+01] [-1.07960236e-02 -1.94250636e-04 9.99941702e-01 -7.13891983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60420382200004 meters 0.025130735066821317 Centerline is valid? [True, True] Translation: X:251.09, Y:-34.12, Z:-7.14 [[ 9.84664770e-01 1.74123163e-01 1.07896030e-02 2.51086349e+02] [-1.74114811e-01 9.84723864e-01 -1.71588522e-03 -3.41230878e+01] [-1.09235550e-02 -1.89057969e-04 9.99940318e-01 -7.13948339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634203822 meters 0.024026914251351703 Centerline is valid? [True, True] Translation: X:251.11, Y:-34.13, Z:-7.14 [[ 9.84836902e-01 1.73211922e-01 9.69052093e-03 2.51114511e+02] [-1.73205144e-01 9.84884564e-01 -1.54078146e-03 -3.41287364e+01] [-9.81092620e-03 -1.61029634e-04 9.99951859e-01 -7.14059687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66420382200005 meters 0.023541547234419362 Centerline is valid? [True, True] Translation: X:251.14, Y:-34.13, Z:-7.14 [[ 9.85237480e-01 1.70987590e-01 8.38762873e-03 2.51142272e+02] [-1.70982431e-01 9.85273175e-01 -1.33363394e-03 -3.41326717e+01] [-8.49214045e-03 -1.20191004e-04 9.99963934e-01 -7.14497450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694203822 meters 0.021437292142543196 Centerline is valid? [True, True] Translation: X:251.17, Y:-34.14, Z:-7.14 [[ 9.85502300e-01 1.69427412e-01 8.92017273e-03 2.51170788e+02] [-1.69421521e-01 9.85542662e-01 -1.41741918e-03 -3.41380859e+01] [-9.03136045e-03 -1.14399375e-04 9.99959210e-01 -7.14410144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72420382200005 meters 0.02011745451590189 Centerline is valid? [True, True] Translation: X:251.20, Y:-34.14, Z:-7.14 [[ 9.85806722e-01 1.67615492e-01 9.49494791e-03 2.51198106e+02] [-1.67608737e-01 9.85852441e-01 -1.50842328e-03 -3.41430969e+01] [-9.61345269e-03 -1.04422423e-04 9.99953784e-01 -7.14441955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754203822 meters 0.017676117673368248 Centerline is valid? [True, True] Translation: X:251.23, Y:-34.15, Z:-7.15 [[ 9.86530604e-01 1.63325481e-01 9.06390838e-03 2.51225813e+02] [-1.63319153e-01 9.86572239e-01 -1.43901137e-03 -3.41516828e+01] [-9.17722761e-03 -6.06810791e-05 9.99957887e-01 -7.14631453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78420382200005 meters 0.016186219846771578 Centerline is valid? [True, True] Translation: X:251.25, Y:-34.16, Z:-7.15 [[ 9.86939269e-01 1.60782674e-01 9.99051853e-03 2.51254612e+02] [-1.60774862e-01 9.86989833e-01 -1.58544227e-03 -3.41587718e+01] [-1.01154519e-02 -4.14890055e-05 9.99948837e-01 -7.14629147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814203822 meters 0.014686069829348902 Centerline is valid? [True, True] Translation: X:251.28, Y:-34.17, Z:-7.14 [[ 9.87759960e-01 1.55519719e-01 1.19949180e-02 2.51282863e+02] [-1.55508077e-01 9.87832788e-01 -1.90291131e-03 -3.41687700e+01] [-1.21449135e-02 1.43129654e-05 9.99926248e-01 -7.14442991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84420382200005 meters 0.015526288396259653 Centerline is valid? [True, True] Translation: X:251.31, Y:-34.18, Z:-7.15 [[ 9.88201333e-01 1.52699614e-01 1.18724142e-02 2.51311885e+02] [-1.52688009e-01 9.88272647e-01 -1.88314498e-03 -3.41785728e+01] [-1.20207377e-02 4.81510907e-05 9.99927747e-01 -7.14556395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874203822 meters 0.017480404234665473 Centerline is valid? [True, True] Translation: X:251.34, Y:-34.19, Z:-7.14 [[ 9.88960247e-01 1.47751638e-01 1.12731583e-02 2.51342403e+02] [-1.47740887e-01 9.89024491e-01 -1.78514810e-03 -3.41921966e+01] [-1.14131882e-02 9.99340997e-05 9.99934862e-01 -7.14458674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90420382200006 meters 0.019526902251078025 Centerline is valid? [True, True] Translation: X:251.37, Y:-34.20, Z:-7.15 [[ 9.89235630e-01 1.45971667e-01 1.02538493e-02 2.51372640e+02] [-1.45962660e-01 9.89288765e-01 -1.62533197e-03 -3.41997553e+01] [-1.03812703e-02 1.11157182e-04 9.99946107e-01 -7.14788725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93420382200003 meters 0.028429025645482414 Centerline is valid? [True, True] Translation: X:251.40, Y:-34.21, Z:-7.15 [[ 9.89421089e-01 1.44811355e-01 8.69365902e-03 2.51404412e+02] [-1.44804833e-01 9.89459277e-01 -1.37842785e-03 -3.42060877e+01] [-8.80163357e-03 1.04961739e-04 9.99961259e-01 -7.15240265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96420382200006 meters 0.02057935116259336 Centerline is valid? [True, True] Translation: X:251.44, Y:-34.22, Z:-7.15 [[ 9.89458621e-01 1.44604186e-01 7.82735238e-03 2.51435450e+02] [-1.44598885e-01 9.89489575e-01 -1.24198211e-03 -3.42154518e+01] [-7.92467939e-03 9.70634740e-05 9.99968595e-01 -7.15288488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99420382200003 meters 0.02042244921610891 Centerline is valid? [True, True] Translation: X:251.47, Y:-34.22, Z:-7.15 [[ 9.89336912e-01 1.45388937e-01 8.63314519e-03 2.51465750e+02] [-1.45382487e-01 9.89374573e-01 -1.37334877e-03 -3.42215540e+01] [-8.74108406e-03 1.03596509e-04 9.99961791e-01 -7.15332007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02420382200006 meters 0.01833053816707195 Centerline is valid? [True, True] Translation: X:251.50, Y:-34.23, Z:-7.15 [[ 9.89041427e-01 1.47295875e-01 1.00489523e-02 2.51497486e+02] [-1.47287234e-01 9.89092470e-01 -1.59866407e-03 -3.42264561e+01] [-1.01748196e-02 1.01062609e-04 9.99948230e-01 -7.14993565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05420382200003 meters 0.01988201547869393 Centerline is valid? [True, True] Translation: X:251.53, Y:-34.23, Z:-7.15 [[ 9.88856822e-01 1.48511091e-01 1.03267505e-02 2.51527760e+02] [-1.48502009e-01 9.88910738e-01 -1.64506999e-03 -3.42331191e+01] [-1.04565456e-02 9.31954821e-05 9.99945324e-01 -7.15479128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08420382200006 meters 0.016861677374875213 Centerline is valid? [True, True] Translation: X:251.56, Y:-34.23, Z:-7.15 [[ 9.88615051e-01 1.50111058e-01 1.03417312e-02 2.51560399e+02] [-1.50102021e-01 9.88669138e-01 -1.64893544e-03 -3.42336720e+01] [-1.04720739e-02 7.78476318e-05 9.99945163e-01 -7.15144827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11420382200004 meters 0.025789230520886375 Centerline is valid? [True, True] Translation: X:251.59, Y:-34.24, Z:-7.16 [[ 9.88210212e-01 1.52851470e-01 8.77528218e-03 2.51591838e+02] [-1.52845065e-01 9.88249172e-01 -1.39993668e-03 -3.42368201e+01] [-8.88614773e-03 4.21731529e-05 9.99960517e-01 -7.15794579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14420382200007 meters 0.018028713537296927 Centerline is valid? [True, True] Translation: X:251.62, Y:-34.24, Z:-7.16 [[ 9.88041600e-01 1.53972009e-01 8.14971834e-03 2.51620860e+02] [-1.53966486e-01 9.88075209e-01 -1.30453429e-03 -3.42445285e+01] [-8.25339642e-03 3.41506480e-05 9.99965940e-01 -7.16392115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17420382200004 meters 0.01596676449131438 Centerline is valid? [True, True] Translation: X:251.65, Y:-34.25, Z:-7.16 [[ 9.87856805e-01 1.55193720e-01 7.33771059e-03 2.51651916e+02] [-1.55189278e-01 9.87884056e-01 -1.17435144e-03 -3.42508233e+01] [-7.43105927e-03 2.13570473e-05 9.99972389e-01 -7.15999609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20420382200007 meters 0.017859336386750132 Centerline is valid? [True, True] Translation: X:251.68, Y:-34.26, Z:-7.17 [[ 9.87733017e-01 1.55967856e-01 7.58391731e-03 2.51681706e+02] [-1.55963131e-01 9.87762131e-01 -1.21422961e-03 -3.42565948e+01] [-7.68048711e-03 1.65231907e-05 9.99970504e-01 -7.16763498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23420382200004 meters 0.015125769207515724 Centerline is valid? [True, True] Translation: X:251.71, Y:-34.26, Z:-7.16 [[ 9.87430248e-01 1.57834754e-01 8.34842122e-03 2.51712380e+02] [-1.57829093e-01 9.87465539e-01 -1.33677119e-03 -3.42625043e+01] [-8.45476721e-03 2.34455666e-06 9.99964258e-01 -7.15854837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26420382200007 meters 0.015227211831923498 Centerline is valid? [True, True] Translation: X:251.74, Y:-34.27, Z:-7.16 [[ 9.87251031e-01 1.58931069e-01 8.73598031e-03 2.51742844e+02] [-1.58924912e-01 9.87289682e-01 -1.39895703e-03 -3.42663641e+01] [-8.84728095e-03 -7.24312997e-06 9.99960862e-01 -7.15949385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29420382200004 meters 0.01528817471435119 Centerline is valid? [True, True] Translation: X:251.77, Y:-34.27, Z:-7.16 [[ 9.87037596e-01 1.60262982e-01 8.51824433e-03 2.51774254e+02] [-1.60257179e-01 9.87074352e-01 -1.36394120e-03 -3.42694932e+01] [-8.62672979e-03 -1.88485637e-05 9.99962789e-01 -7.16014098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324203822 meters 0.016318064483426004 Centerline is valid? [True, True] Translation: X:251.80, Y:-34.27, Z:-7.16 [[ 9.86529408e-01 1.63416378e-01 7.40374085e-03 2.51804218e+02] [-1.63412079e-01 9.86557188e-01 -1.18610227e-03 -3.42746509e+01] [-7.49804230e-03 -3.97359103e-05 9.99971889e-01 -7.16294899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35420382200004 meters 0.01755716532253733 Centerline is valid? [True, True] Translation: X:251.83, Y:-34.28, Z:-7.17 [[ 9.86261933e-01 1.65013776e-01 7.60615574e-03 2.51833104e+02] [-1.65009283e-01 9.86291261e-01 -1.21878766e-03 -3.42796853e+01] [-7.70300169e-03 -5.30424274e-05 9.99970330e-01 -7.16524513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384203822 meters 0.031165677852474667 Centerline is valid? [True, True] Translation: X:251.86, Y:-34.28, Z:-7.16 [[ 9.85654003e-01 1.68537397e-01 9.01843093e-03 2.51863037e+02] [-1.68531228e-01 9.85695256e-01 -1.44514655e-03 -3.42825428e+01] [-9.13298582e-03 -9.54727527e-05 9.99958289e-01 -7.16433466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41420382200005 meters 0.019981933360709726 Centerline is valid? [True, True] Translation: X:251.89, Y:-34.29, Z:-7.16 [[ 9.85322501e-01 1.70433025e-01 9.59966245e-03 2.51892158e+02] [-1.70426130e-01 9.85369255e-01 -1.53776369e-03 -3.42852468e+01] [-9.72129796e-03 -1.20840153e-04 9.99952740e-01 -7.16173730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444203822 meters 0.02467637107011233 Centerline is valid? [True, True] Translation: X:251.92, Y:-34.28, Z:-7.17 [[ 9.84618781e-01 1.74527356e-01 8.12764878e-03 2.51921776e+02] [-1.74522552e-01 9.84652316e-01 -1.30216017e-03 -3.42838187e+01] [-8.23017077e-03 -1.36326647e-04 9.99966122e-01 -7.16612772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47420382200005 meters 0.025719824542662577 Centerline is valid? [True, True] Translation: X:251.95, Y:-34.29, Z:-7.17 [[ 9.84281601e-01 1.76434029e-01 7.79502507e-03 2.51951092e+02] [-1.76429671e-01 9.84312457e-01 -1.24870167e-03 -3.42863341e+01] [-7.89305374e-03 -1.46199622e-04 9.99968839e-01 -7.16566487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504203822 meters 0.028674258047777408 Centerline is valid? [True, True] Translation: X:251.98, Y:-34.29, Z:-7.17 [[ 9.83766909e-01 1.79199825e-01 9.49160205e-03 2.51979743e+02] [-1.79193489e-01 9.83812676e-01 -1.52077597e-03 -3.42855963e+01] [-9.61048120e-03 -2.04744211e-04 9.99953797e-01 -7.16514698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53420382200005 meters 0.02969026393840205 Centerline is valid? [True, True] Translation: X:252.01, Y:-34.29, Z:-7.17 [[ 9.83690096e-01 1.79630503e-01 9.31003759e-03 2.52007671e+02] [-1.79624431e-01 9.83734131e-01 -1.49113259e-03 -3.42889468e+01] [-9.42645463e-03 -2.05497843e-04 9.99955549e-01 -7.16678003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564203822 meters 0.029344388545412756 Centerline is valid? [True, True] Translation: X:252.04, Y:-34.29, Z:-7.17 [[ 9.83726128e-01 1.79435835e-01 9.25666691e-03 2.52036596e+02] [-1.79429832e-01 9.83769658e-01 -1.48180880e-03 -3.42924567e+01] [-9.37231764e-03 -2.03228155e-04 9.99956058e-01 -7.16720356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59420382200005 meters 0.028913993199831 Centerline is valid? [True, True] Translation: X:252.07, Y:-34.30, Z:-7.17 [[ 9.83797451e-01 1.78995473e-01 1.01585324e-02 2.52065066e+02] [-1.78988225e-01 9.83849873e-01 -1.62555937e-03 -3.42954807e+01] [-1.02854386e-02 -2.19036519e-04 9.99947079e-01 -7.16674853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624203822 meters 0.028300068675175146 Centerline is valid? [True, True] Translation: X:252.09, Y:-34.30, Z:-7.17 [[ 9.83873933e-01 1.78524862e-01 1.09981041e-02 2.52094077e+02] [-1.78516345e-01 9.83935374e-01 -1.75926438e-03 -3.42986703e+01] [-1.11354961e-02 -2.32446982e-04 9.99937971e-01 -7.16600044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65420382200006 meters 0.030723892685967716 Centerline is valid? [True, True] Translation: X:252.12, Y:-34.30, Z:-7.17 [[ 9.84121515e-01 1.77119666e-01 1.15528558e-02 2.52122848e+02] [-1.77110178e-01 9.84189297e-01 -1.84737881e-03 -3.42972194e+01] [-1.16974041e-02 -2.28083113e-04 9.99931557e-01 -7.16914380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68420382200003 meters 0.025147000375930945 Centerline is valid? [True, True] Translation: X:252.15, Y:-34.31, Z:-7.17 [[ 9.84584241e-01 1.74539327e-01 1.13972028e-02 2.52151295e+02] [-1.74529931e-01 9.84650184e-01 -1.82156556e-03 -3.43067180e+01] [-1.15401927e-02 -1.95668284e-04 9.99933391e-01 -7.16669518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71420382200006 meters 0.023566521236056043 Centerline is valid? [True, True] Translation: X:252.18, Y:-34.31, Z:-7.17 [[ 9.84845414e-01 1.73049574e-01 1.15479533e-02 2.52179763e+02] [-1.73039824e-01 9.84913099e-01 -1.84576948e-03 -3.43118092e+01] [-1.16931401e-02 -1.80458198e-04 9.99931617e-01 -7.16659537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74420382200003 meters 0.021563705491899315 Centerline is valid? [True, True] Translation: X:252.21, Y:-34.32, Z:-7.17 [[ 9.85128608e-01 1.71407189e-01 1.18827946e-02 2.52209491e+02] [-1.71396760e-01 9.85200258e-01 -1.89811735e-03 -3.43171432e+01] [-1.20322833e-02 -1.66782788e-04 9.99927596e-01 -7.16681696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77420382200006 meters 0.019073756371407017 Centerline is valid? [True, True] Translation: X:252.24, Y:-34.32, Z:-7.17 [[ 9.85807254e-01 1.67444101e-01 1.21049801e-02 2.52237424e+02] [-1.67432977e-01 9.85881564e-01 -1.93383832e-03 -3.43225106e+01] [-1.22578865e-02 -1.20381007e-04 9.99924862e-01 -7.16911836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80420382200003 meters 0.027630678210857025 Centerline is valid? [True, True] Translation: X:252.27, Y:-34.33, Z:-7.17 [[ 9.86604191e-01 1.62570558e-01 1.35271808e-02 2.52266606e+02] [-1.62556223e-01 9.86696919e-01 -2.15991765e-03 -3.43327938e+01] [-1.36983666e-02 -6.79436141e-05 9.99906171e-01 -7.17019381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83420382200006 meters 0.027630678210857025 Centerline is valid? [True, True] Translation: X:252.30, Y:-34.34, Z:-7.17 [[ 9.86604191e-01 1.62570558e-01 1.35271808e-02 2.52296222e+02] [-1.62556223e-01 9.86696919e-01 -2.15991765e-03 -3.43375227e+01] [-1.36983666e-02 -6.79436141e-05 9.99906171e-01 -7.17104754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86420382200004 meters 0.014694781894958634 Centerline is valid? [True, True] Translation: X:252.33, Y:-34.35, Z:-7.17 [[ 9.86915544e-01 1.60684188e-01 1.33529551e-02 2.52325412e+02] [-1.60670049e-01 9.87005871e-01 -2.13192345e-03 -3.43453792e+01] [-1.35220114e-02 -4.13915585e-05 9.99908573e-01 -7.17079069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89420382200007 meters 0.01439105138765097 Centerline is valid? [True, True] Translation: X:252.36, Y:-34.35, Z:-7.17 [[ 9.87245841e-01 1.58753476e-01 1.19575313e-02 2.52356037e+02] [-1.58741998e-01 9.87318253e-01 -1.90904168e-03 -3.43538995e+01] [-1.21089559e-02 -1.34689469e-05 9.99926684e-01 -7.17238086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92420382200004 meters 0.015632867205888062 Centerline is valid? [True, True] Translation: X:252.39, Y:-34.36, Z:-7.18 [[ 9.87504093e-01 1.57254490e-01 1.03291915e-02 2.52385597e+02] [-1.57245839e-01 9.87558112e-01 -1.64944568e-03 -3.43607992e+01] [-1.04600596e-02 4.61198336e-06 9.99945292e-01 -7.17768574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95420382200007 meters 0.01466385453665056 Centerline is valid? [True, True] Translation: X:252.42, Y:-34.37, Z:-7.17 [[ 9.87688833e-01 1.56119522e-01 9.87239556e-03 2.52416717e+02] [-1.56111564e-01 9.87738171e-01 -1.57636107e-03 -3.43660274e+01] [-9.99744267e-03 1.57591207e-05 9.99950024e-01 -7.17445417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98420382200004 meters 0.021483599783943163 Centerline is valid? [True, True] Translation: X:252.45, Y:-34.37, Z:-7.18 [[ 9.87549832e-01 1.57059316e-01 8.81478641e-03 2.52446397e+02] [-1.57053005e-01 9.87589171e-01 -1.40788129e-03 -3.43687948e+01] [-8.92650848e-03 5.96423066e-06 9.99960158e-01 -7.18099828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01420382200007 meters 0.015375092100441247 Centerline is valid? [True, True] Translation: X:252.48, Y:-34.37, Z:-7.18 [[ 9.87399977e-01 1.58030936e-01 8.21640514e-03 2.52477317e+02] [-1.58025485e-01 9.87434161e-01 -1.31263824e-03 -3.43719712e+01] [-8.32059657e-03 -2.30244097e-06 9.99965383e-01 -7.17896557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04420382200004 meters 0.01509579891177109 Centerline is valid? [True, True] Translation: X:252.51, Y:-34.37, Z:-7.18 [[ 9.87259175e-01 1.58879885e-01 8.74660796e-03 2.52507971e+02] [-1.58873740e-01 9.87297920e-01 -1.39734249e-03 -3.43743384e+01] [-8.85751745e-03 -1.00671243e-05 9.99960771e-01 -7.17853952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074203822 meters 0.015296478431179553 Centerline is valid? [True, True] Translation: X:252.54, Y:-34.38, Z:-7.18 [[ 9.87108081e-01 1.59772256e-01 9.51115508e-03 2.52537018e+02] [-1.59765029e-01 9.87153902e-01 -1.51971628e-03 -3.43764249e+01] [-9.63178235e-03 -1.94257510e-05 9.99953613e-01 -7.18022679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10420382200004 meters 0.015370637789470336 Centerline is valid? [True, True] Translation: X:252.57, Y:-34.38, Z:-7.18 [[ 9.86893872e-01 1.61145810e-01 8.51551418e-03 2.52567735e+02] [-1.61140071e-01 9.86930609e-01 -1.36031745e-03 -3.43785338e+01] [-8.62343106e-03 -2.97016018e-05 9.99962817e-01 -7.18053280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134203822 meters 0.01704763113279389 Centerline is valid? [True, True] Translation: X:252.60, Y:-34.38, Z:-7.19 [[ 9.86752079e-01 1.62087006e-01 6.93807090e-03 2.52596599e+02] [-1.62083214e-01 9.86776470e-01 -1.10912792e-03 -3.43774405e+01] [-7.02610034e-03 -3.01105547e-05 9.99975316e-01 -7.18710159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16420382200005 meters 0.01715746003711669 Centerline is valid? [True, True] Translation: X:252.62, Y:-34.38, Z:-7.19 [[ 9.86668644e-01 1.62576584e-01 7.33771067e-03 2.52624978e+02] [-1.62572357e-01 9.86695927e-01 -1.17289848e-03 -3.43794618e+01] [-7.43077506e-03 -3.56467624e-05 9.99972391e-01 -7.18807355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194203822 meters 0.016559241752392383 Centerline is valid? [True, True] Translation: X:252.65, Y:-34.38, Z:-7.19 [[ 9.86574383e-01 1.63168216e-01 6.86446006e-03 2.52654191e+02] [-1.63164536e-01 9.86598263e-01 -1.09651764e-03 -3.43834249e+01] [-6.95138120e-03 -3.82402262e-05 9.99975838e-01 -7.18607837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22420382200005 meters 0.01768280188543944 Centerline is valid? [True, True] Translation: X:252.68, Y:-34.39, Z:-7.19 [[ 9.86505765e-01 1.63570840e-01 7.13834338e-03 2.52681587e+02] [-1.63566867e-01 9.86531590e-01 -1.14084837e-03 -3.43857352e+01] [-7.22881077e-03 -4.21429733e-05 9.99973871e-01 -7.18977889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254203822 meters 0.018043907109046766 Centerline is valid? [True, True] Translation: X:252.71, Y:-34.39, Z:-7.19 [[ 9.86366027e-01 1.64384036e-01 7.74271954e-03 2.52710915e+02] [-1.64379394e-01 9.86396414e-01 -1.23648550e-03 -3.43853304e+01] [-7.84064927e-03 -5.31162568e-05 9.99969260e-01 -7.18931785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28420382200005 meters 0.017007067527008608 Centerline is valid? [True, True] Translation: X:252.74, Y:-34.39, Z:-7.19 [[ 9.86357808e-01 1.64430644e-01 7.79984242e-03 2.52739655e+02] [-1.64425937e-01 9.86388646e-01 -1.24527663e-03 -3.43898338e+01] [-7.89843764e-03 -5.42080747e-05 9.99968805e-01 -7.18783631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314203822 meters 0.01668473196372934 Centerline is valid? [True, True] Translation: X:252.77, Y:-34.40, Z:-7.19 [[ 9.86563489e-01 1.63233380e-01 6.88088974e-03 2.52768085e+02] [-1.63229690e-01 9.86587483e-01 -1.09838691e-03 -3.43962094e+01] [-6.96789310e-03 -3.95370760e-05 9.99975723e-01 -7.18990490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34420382200005 meters 0.01612999909032276 Centerline is valid? [True, True] Translation: X:252.80, Y:-34.40, Z:-7.19 [[ 9.86696985e-01 1.62386925e-01 7.71657834e-03 2.52797203e+02] [-1.62382258e-01 9.86727159e-01 -1.23171030e-03 -3.43999837e+01] [-7.81417107e-03 -3.77105745e-05 9.99969468e-01 -7.18891993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374203822 meters 0.015518753693596387 Centerline is valid? [True, True] Translation: X:252.83, Y:-34.40, Z:-7.19 [[ 9.87061303e-01 1.60128482e-01 8.29779554e-03 2.52825039e+02] [-1.60123014e-01 9.87096180e-01 -1.32347235e-03 -3.44017398e+01] [-8.40264790e-03 -2.23196929e-05 9.99964697e-01 -7.18965574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40420382200006 meters 0.0168105997411436 Centerline is valid? [True, True] Translation: X:252.85, Y:-34.41, Z:-7.20 [[ 9.87329114e-01 1.58494351e-01 7.79500039e-03 2.52852902e+02] [-1.58489482e-01 9.87359884e-01 -1.24237191e-03 -3.44079778e+01] [-7.89337961e-03 -8.79561970e-06 9.99968847e-01 -7.19662049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43420382200003 meters 0.015695023061669245 Centerline is valid? [True, True] Translation: X:252.88, Y:-34.42, Z:-7.19 [[ 9.87622685e-01 1.56694388e-01 6.94992038e-03 2.52882070e+02] [-1.56690476e-01 9.87647138e-01 -1.10727709e-03 -3.44163363e+01] [-7.03757307e-03 4.58564127e-06 9.99975236e-01 -7.19463375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46420382200006 meters 0.015896245213862004 Centerline is valid? [True, True] Translation: X:252.91, Y:-34.43, Z:-7.20 [[ 9.88001654e-01 1.54280901e-01 7.08069004e-03 2.52910499e+02] [-1.54276779e-01 9.88027026e-01 -1.12792225e-03 -3.44253511e+01] [-7.16992998e-03 2.20029916e-05 9.99974295e-01 -7.19512375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49420382200003 meters 0.01506390673305877 Centerline is valid? [True, True] Translation: X:252.94, Y:-34.42, Z:-7.19 [[ 9.87831899e-01 1.55291727e-01 8.52169943e-03 2.52940925e+02] [-1.55285798e-01 9.87868655e-01 -1.35711176e-03 -3.44247382e+01] [-8.62906798e-03 1.72993903e-05 9.99962769e-01 -7.19307940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52420382200006 meters 0.014920023006176722 Centerline is valid? [True, True] Translation: X:252.97, Y:-34.42, Z:-7.19 [[ 9.87556115e-01 1.57039667e-01 8.45352824e-03 2.52970606e+02] [-1.57033896e-01 9.87592296e-01 -1.34629326e-03 -3.44248288e+01] [-8.56006081e-03 2.04967141e-06 9.99963362e-01 -7.19365160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55420382200003 meters 0.015415197023841552 Centerline is valid? [True, True] Translation: X:253.00, Y:-34.43, Z:-7.20 [[ 9.87260929e-01 1.58920638e-01 7.75164405e-03 2.52999456e+02] [-1.58915843e-01 9.87291361e-01 -1.23455917e-03 -3.44250013e+01] [-7.84932813e-03 -1.30270139e-05 9.99969193e-01 -7.19580231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58420382200006 meters 0.01579276881963658 Centerline is valid? [True, True] Translation: X:253.03, Y:-34.42, Z:-7.20 [[ 9.86836516e-01 1.61562816e-01 7.15169789e-03 2.53029092e+02] [-1.61558806e-01 9.86862430e-01 -1.13879119e-03 -3.44243091e+01] [-7.24172827e-03 -3.16190362e-05 9.99973778e-01 -7.19622749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61420382200004 meters 0.016678089671980683 Centerline is valid? [True, True] Translation: X:253.06, Y:-34.42, Z:-7.20 [[ 9.86615154e-01 1.62890338e-01 7.56806291e-03 2.53057492e+02] [-1.62885887e-01 9.86644179e-01 -1.20487644e-03 -3.44238327e+01] [-7.66324795e-03 -4.39812931e-05 9.99970636e-01 -7.19851155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64420382200007 meters 0.01687054246902715 Centerline is valid? [True, True] Translation: X:253.09, Y:-34.43, Z:-7.20 [[ 9.86525644e-01 1.63423275e-01 7.74515807e-03 2.53086563e+02] [-1.63418637e-01 9.86556045e-01 -1.23225137e-03 -3.44250606e+01] [-7.84241107e-03 -5.00555956e-05 9.99969247e-01 -7.19941545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67420382200004 meters 0.018025298516569845 Centerline is valid? [True, True] Translation: X:253.11, Y:-34.42, Z:-7.20 [[ 9.86494234e-01 1.63613228e-01 7.73555852e-03 2.53114364e+02] [-1.63608608e-01 9.86524561e-01 -1.23058267e-03 -3.44249852e+01] [-7.83265808e-03 -5.16412561e-05 9.99969323e-01 -7.20335682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70420382200007 meters 0.017333093301437903 Centerline is valid? [True, True] Translation: X:253.14, Y:-34.43, Z:-7.21 [[ 9.86622836e-01 1.62945686e-01 4.90743084e-03 2.53144292e+02] [-1.62943821e-01 9.86635040e-01 -7.80160618e-04 -3.44276073e+01] [-4.96896703e-03 -2.99112500e-05 9.99987654e-01 -7.20562826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73420382200004 meters 0.017659609689965813 Centerline is valid? [True, True] Translation: X:253.17, Y:-34.43, Z:-7.21 [[ 9.86736072e-01 1.62262661e-01 4.77003376e-03 2.53171777e+02] [-1.62260887e-01 9.86747601e-01 -7.59111265e-04 -3.44320118e+01] [-4.82999478e-03 -2.49474433e-05 9.99988335e-01 -7.20860839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76420382200007 meters 0.016406599510794966 Centerline is valid? [True, True] Translation: X:253.20, Y:-34.44, Z:-7.21 [[ 9.87034786e-01 1.60398403e-01 5.88932358e-03 2.53199763e+02] [-1.60395673e-01 9.87052355e-01 -9.36135525e-04 -3.44407778e+01] [-5.96322535e-03 -2.06236895e-05 9.99982220e-01 -7.20694808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79420382200004 meters 0.029162234379539773 Centerline is valid? [True, True] Translation: X:253.23, Y:-34.45, Z:-7.21 [[ 9.87238793e-01 1.59155625e-01 5.39008852e-03 2.53227721e+02] [-1.59153320e-01 9.87253507e-01 -8.56626410e-04 -3.44458089e+01] [-5.45772071e-03 -1.21556581e-05 9.99985106e-01 -7.20967487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824203822 meters 0.016053652939413698 Centerline is valid? [True, True] Translation: X:253.26, Y:-34.45, Z:-7.21 [[ 9.87520913e-01 1.57386629e-01 5.64750845e-03 2.53256102e+02] [-1.57384072e-01 9.87537062e-01 -8.97180389e-04 -3.44492116e+01] [-5.71832810e-03 -2.84347979e-06 9.99983650e-01 -7.20852555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85420382200004 meters 0.023527464562021407 Centerline is valid? [True, True] Translation: X:253.28, Y:-34.45, Z:-7.21 [[ 9.87644275e-01 1.56587322e-01 6.26065161e-03 2.53284867e+02] [-1.56584167e-01 9.87664118e-01 -9.94114011e-04 -3.44538217e+01] [-6.33908660e-03 1.51209608e-06 9.99979908e-01 -7.21046795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884203822 meters 0.015388161320744796 Centerline is valid? [True, True] Translation: X:253.31, Y:-34.46, Z:-7.21 [[ 9.87744530e-01 1.55919535e-01 7.05982897e-03 2.53313099e+02] [-1.55915509e-01 9.87769760e-01 -1.12048393e-03 -3.44592913e+01] [-7.14819089e-03 6.01504204e-06 9.99974451e-01 -7.20774233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91420382200005 meters 0.01568193281931687 Centerline is valid? [True, True] Translation: X:253.34, Y:-34.46, Z:-7.21 [[ 9.87985790e-01 1.54303920e-01 8.62431169e-03 2.53340232e+02] [-1.54297855e-01 9.88023431e-01 -1.36827215e-03 -3.44648394e+01] [-8.73215178e-03 2.11206470e-05 9.99961874e-01 -7.20819842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944203822 meters 0.015146376798777901 Centerline is valid? [True, True] Translation: X:253.37, Y:-34.47, Z:-7.21 [[ 9.88168618e-01 1.53105546e-01 9.02633026e-03 2.53369002e+02] [-1.53098860e-01 9.88209842e-01 -1.43116306e-03 -3.44700251e+01] [-9.13902739e-03 3.23095518e-05 9.99958238e-01 -7.20620767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97420382200005 meters 0.01609975484054703 Centerline is valid? [True, True] Translation: X:253.40, Y:-34.48, Z:-7.21 [[ 9.88600135e-01 1.50243967e-01 9.82464702e-03 2.53396277e+02] [-1.50235913e-01 9.88648950e-01 -1.55688984e-03 -3.44785051e+01] [-9.94704027e-03 6.31266831e-05 9.99950525e-01 -7.20680671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004203822 meters 0.01684267147275391 Centerline is valid? [True, True] Translation: X:253.43, Y:-34.49, Z:-7.21 [[ 9.88904578e-01 1.48232403e-01 9.74120942e-03 2.53425284e+02] [-1.48224394e-01 9.88952551e-01 -1.54308695e-03 -3.44866659e+01] [-9.86232939e-03 8.20808854e-05 9.99951363e-01 -7.20676181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03420382200005 meters 0.019932047671109645 Centerline is valid? [True, True] Translation: X:253.45, Y:-34.50, Z:-7.21 [[ 9.89459673e-01 1.44494103e-01 9.53992856e-03 2.53453148e+02] [-1.44486252e-01 9.89505655e-01 -1.51074156e-03 -3.44990278e+01] [-9.65810650e-03 1.16429319e-04 9.99953353e-01 -7.20891672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064203822 meters 0.02037143060072128 Centerline is valid? [True, True] Translation: X:253.48, Y:-34.51, Z:-7.21 [[ 9.89594876e-01 1.43546052e-01 9.82411133e-03 2.53482536e+02] [-1.43537683e-01 9.89643630e-01 -1.55538387e-03 -3.45055248e+01] [-9.94563841e-03 1.29069727e-04 9.99950533e-01 -7.20919779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09420382200005 meters 0.03017451055477857 Centerline is valid? [True, True] Translation: X:253.51, Y:-34.51, Z:-7.21 [[ 9.89728613e-01 1.42705499e-01 8.50955078e-03 2.53512349e+02] [-1.42699189e-01 9.89765187e-01 -1.34725855e-03 -3.45136449e+01] [-8.61471833e-03 1.19114341e-04 9.99962886e-01 -7.21378451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124203822 meters 0.020028841315625004 Centerline is valid? [True, True] Translation: X:253.54, Y:-34.52, Z:-7.21 [[ 9.89558182e-01 1.43912977e-01 7.97867196e-03 2.53542424e+02] [-1.43907469e-01 9.89590342e-01 -1.26320816e-03 -3.45193074e+01] [-8.07740876e-03 1.01827486e-04 9.99967372e-01 -7.21251519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15420382200006 meters 0.019245110554400435 Centerline is valid? [True, True] Translation: X:253.57, Y:-34.52, Z:-7.21 [[ 9.89368952e-01 1.45214958e-01 7.85453848e-03 2.53573008e+02] [-1.45209661e-01 9.89400125e-01 -1.24355496e-03 -3.45236283e+01] [-7.95186413e-03 8.97798024e-05 9.99968379e-01 -7.21405594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18420382200003 meters 0.018681666587973406 Centerline is valid? [True, True] Translation: X:253.60, Y:-34.53, Z:-7.22 [[ 9.89178833e-01 1.46520381e-01 7.55077505e-03 2.53602562e+02] [-1.46515522e-01 9.89207649e-01 -1.19572041e-03 -3.45277836e+01] [-7.64448184e-03 7.64755667e-05 9.99970778e-01 -7.21548145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21420382200006 meters 0.017565804810728846 Centerline is valid? [True, True] Translation: X:253.63, Y:-34.53, Z:-7.22 [[ 9.88730241e-01 1.49512551e-01 7.64896198e-03 2.53630808e+02] [-1.49507653e-01 9.88759826e-01 -1.21141520e-03 -3.45305601e+01] [-7.74410809e-03 5.41844901e-05 9.99970012e-01 -7.21796952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24420382200003 meters 0.01670505206866165 Centerline is valid? [True, True] Translation: X:253.66, Y:-34.53, Z:-7.22 [[ 9.88432338e-01 1.51440627e-01 8.20062026e-03 2.53659065e+02] [-1.51435064e-01 9.88466355e-01 -1.29876201e-03 -3.45330008e+01] [-8.30272255e-03 4.18769147e-05 9.99965531e-01 -7.21882145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27420382200006 meters 0.014801291240137201 Centerline is valid? [True, True] Translation: X:253.69, Y:-34.53, Z:-7.22 [[ 9.87814602e-01 1.55430824e-01 7.97314829e-03 2.53688109e+02] [-1.55425695e-01 9.87846779e-01 -1.26276763e-03 -3.45331088e+01] [-8.07252187e-03 8.14818761e-06 9.99967417e-01 -7.21663518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30420382200003 meters 0.01592115489612731 Centerline is valid? [True, True] Translation: X:253.72, Y:-34.54, Z:-7.22 [[ 9.87522737e-01 1.57291461e-01 7.63147706e-03 2.53715804e+02] [-1.57286818e-01 9.87552225e-01 -1.20858182e-03 -3.45356722e+01] [-7.72658174e-03 -6.82872081e-06 9.99970150e-01 -7.22109496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33420382200006 meters 0.01551539674268687 Centerline is valid? [True, True] Translation: X:253.74, Y:-34.54, Z:-7.22 [[ 9.87062334e-01 1.60157855e-01 7.57701182e-03 2.53744627e+02] [-1.60153368e-01 9.87091415e-01 -1.19925068e-03 -3.45373210e+01] [-7.67127273e-03 -2.97487888e-05 9.99970575e-01 -7.21857292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36420382200004 meters 0.016934558375492733 Centerline is valid? [True, True] Translation: X:253.77, Y:-34.54, Z:-7.22 [[ 9.86862352e-01 1.61364186e-01 8.01856952e-03 2.53771919e+02] [-1.61359202e-01 9.86894927e-01 -1.26890068e-03 -3.45397382e+01] [-8.11824071e-03 -4.16396742e-05 9.99967046e-01 -7.22227010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39420382200007 meters 0.01619065373259197 Centerline is valid? [True, True] Translation: X:253.80, Y:-34.55, Z:-7.22 [[ 9.86716767e-01 1.62221474e-01 8.61483189e-03 2.53800858e+02] [-1.62215758e-01 9.86754372e-01 -1.36284739e-03 -3.45450738e+01] [-8.72180615e-03 -5.27171147e-05 9.99961963e-01 -7.21954952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42420382200004 meters 0.016564585788795494 Centerline is valid? [True, True] Translation: X:253.83, Y:-34.55, Z:-7.22 [[ 9.86618052e-01 1.62763144e-01 9.64256347e-03 2.53827509e+02] [-1.62756021e-01 9.86665169e-01 -1.52413241e-03 -3.45520664e+01] [-9.76205409e-03 -6.56487120e-05 9.99952348e-01 -7.22053162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45420382200007 meters 0.024375429804847446 Centerline is valid? [True, True] Translation: X:253.86, Y:-34.56, Z:-7.22 [[ 9.86634881e-01 1.62727989e-01 8.43882730e-03 2.53855898e+02] [-1.62722537e-01 9.86670968e-01 -1.33331978e-03 -3.45578043e+01] [-8.54331434e-03 -5.76875884e-05 9.99963504e-01 -7.22426695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48420382200004 meters 0.01818301520632296 Centerline is valid? [True, True] Translation: X:253.88, Y:-34.56, Z:-7.23 [[ 9.86623827e-01 1.62851880e-01 7.25875896e-03 2.53882805e+02] [-1.62847849e-01 9.86650527e-01 -1.14684456e-03 -3.45617096e+01] [-7.34862415e-03 -5.05691171e-05 9.99972997e-01 -7.22836528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51420382200007 meters 0.017967389236301215 Centerline is valid? [True, True] Translation: X:253.91, Y:-34.57, Z:-7.23 [[ 9.86664235e-01 1.62599570e-01 7.42071610e-03 2.53911282e+02] [-1.62595355e-01 9.86692139e-01 -1.17177821e-03 -3.45670263e+01] [-7.51249288e-03 -5.04223210e-05 9.99971780e-01 -7.22928986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54420382200004 meters 0.018507054904434272 Centerline is valid? [True, True] Translation: X:253.94, Y:-34.58, Z:-7.23 [[ 9.86688814e-01 1.62415664e-01 8.14473027e-03 2.53938607e+02] [-1.62410585e-01 9.86722428e-01 -1.28557179e-03 -3.45753147e+01] [-8.24538501e-03 -5.43311070e-05 9.99966005e-01 -7.23169091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574203822 meters 0.017418703237352662 Centerline is valid? [True, True] Translation: X:253.97, Y:-34.58, Z:-7.23 [[ 9.86681305e-01 1.62453371e-01 8.30090839e-03 2.53966474e+02] [-1.62448100e-01 9.86716220e-01 -1.30980967e-03 -3.45832888e+01] [-8.40342395e-03 -5.61020815e-05 9.99964689e-01 -7.22900661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60420382200004 meters 0.017952074043946407 Centerline is valid? [True, True] Translation: X:253.99, Y:-34.59, Z:-7.23 [[ 9.86566940e-01 1.63162980e-01 7.96958319e-03 2.53994389e+02] [-1.63158146e-01 9.86599127e-01 -1.25744321e-03 -3.45883032e+01] [-8.06795201e-03 -5.97505165e-05 9.99967452e-01 -7.22973305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634203822 meters 0.018261709431761874 Centerline is valid? [True, True] Translation: X:254.02, Y:-34.59, Z:-7.23 [[ 9.86516223e-01 1.63486057e-01 7.61911769e-03 2.54023468e+02] [-1.63481653e-01 9.86545643e-01 -1.20150527e-03 -3.45913577e+01] [-7.71303672e-03 -6.02815116e-05 9.99970252e-01 -7.23110497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66420382200005 meters 0.018163141101415693 Centerline is valid? [True, True] Translation: X:254.05, Y:-34.60, Z:-7.23 [[ 9.86581932e-01 1.63071236e-01 7.99142834e-03 2.54050782e+02] [-1.63066379e-01 9.86614296e-01 -1.26006455e-03 -3.45973818e+01] [-8.08993773e-03 -5.99763589e-05 9.99967274e-01 -7.23235897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694203822 meters 0.01608667019378697 Centerline is valid? [True, True] Translation: X:254.08, Y:-34.61, Z:-7.23 [[ 9.86733382e-01 1.62147237e-01 8.09356636e-03 2.54079348e+02] [-1.62142235e-01 9.86766573e-01 -1.27487044e-03 -3.46069244e+01] [-8.19317746e-03 -5.43517140e-05 9.99966434e-01 -7.22860081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72420382200005 meters 0.01725340180834641 Centerline is valid? [True, True] Translation: X:254.11, Y:-34.61, Z:-7.23 [[ 9.86924324e-01 1.60998874e-01 7.72920218e-03 2.54107665e+02] [-1.60994276e-01 9.86954589e-01 -1.21756886e-03 -3.46133930e+01] [-7.82439877e-03 -4.27089777e-05 9.99969388e-01 -7.23458036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754203822 meters 0.01725340180834641 Centerline is valid? [True, True] Translation: X:254.14, Y:-34.62, Z:-7.24 [[ 9.86931919e-01 1.60952312e-01 7.72921876e-03 2.54135661e+02] [-1.60947713e-01 9.86962183e-01 -1.21746364e-03 -3.46177060e+01] [-7.82440021e-03 -4.24463600e-05 9.99969388e-01 -7.23538663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78420382200005 meters 0.01562873824484025 Centerline is valid? [True, True] Translation: X:254.16, Y:-34.63, Z:-7.23 [[ 9.87247503e-01 1.59027283e-01 7.25881361e-03 2.54164363e+02] [-1.59023184e-01 9.87274188e-01 -1.14209191e-03 -3.46291420e+01] [-7.34806308e-03 -2.67922597e-05 9.99973002e-01 -7.23419863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814203822 meters 0.016706449285898314 Centerline is valid? [True, True] Translation: X:254.19, Y:-34.63, Z:-7.24 [[ 9.87287181e-01 1.58786576e-01 7.13058052e-03 2.54192820e+02] [-1.58782613e-01 9.87312930e-01 -1.12218364e-03 -3.46347812e+01] [-7.21830205e-03 -2.42946868e-05 9.99973947e-01 -7.23897620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84420382200005 meters 0.01609364482020525 Centerline is valid? [True, True] Translation: X:254.22, Y:-34.64, Z:-7.24 [[ 9.87091038e-01 1.59957239e-01 8.06003124e-03 2.54221628e+02] [-1.59952213e-01 9.87123944e-01 -1.26855132e-03 -3.46415147e+01] [-8.15916380e-03 -3.70441915e-05 9.99966713e-01 -7.23702068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874203822 meters 0.01645104780699539 Centerline is valid? [True, True] Translation: X:254.25, Y:-34.64, Z:-7.24 [[ 9.86835826e-01 1.61533238e-01 7.87816788e-03 2.54251584e+02] [-1.61528488e-01 9.86867271e-01 -1.23975604e-03 -3.46442483e+01] [-7.97496784e-03 -4.91128702e-05 9.99968198e-01 -7.23700371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90420382200006 meters 0.0172633967625472 Centerline is valid? [True, True] Translation: X:254.28, Y:-34.65, Z:-7.24 [[ 9.86587804e-01 1.63051530e-01 7.66184597e-03 2.54281284e+02] [-1.63047084e-01 9.86617553e-01 -1.20553684e-03 -3.46458964e+01] [-7.75587635e-03 -5.98737033e-05 9.99969921e-01 -7.23809637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93420382200003 meters 0.018879216863099523 Centerline is valid? [True, True] Translation: X:254.31, Y:-34.65, Z:-7.24 [[ 9.86188249e-01 1.65446371e-01 7.76119593e-03 2.54310690e+02] [-1.65441883e-01 9.86218785e-01 -1.22121659e-03 -3.46465543e+01] [-7.85628308e-03 -7.96774128e-05 9.99969136e-01 -7.23968890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96420382200006 meters 0.019055398329875243 Centerline is valid? [True, True] Translation: X:254.34, Y:-34.66, Z:-7.24 [[ 9.86118734e-01 1.65874743e-01 7.44387237e-03 2.54339280e+02] [-1.65870631e-01 9.86146826e-01 -1.17079360e-03 -3.46551296e+01] [-7.53495621e-03 -8.01783033e-05 9.99971609e-01 -7.24114835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99420382200003 meters 0.01897181699242519 Centerline is valid? [True, True] Translation: X:254.37, Y:-34.66, Z:-7.24 [[ 9.86151474e-01 1.65682671e-01 7.38392873e-03 2.54368593e+02] [-1.65678621e-01 9.86179115e-01 -1.16118345e-03 -3.46603347e+01] [-7.47426427e-03 -7.82563586e-05 9.99972064e-01 -7.24221308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02420382200006 meters 0.020193458085096 Centerline is valid? [True, True] Translation: X:254.40, Y:-34.66, Z:-7.25 [[ 9.86242586e-01 1.65149114e-01 7.16464905e-03 2.54396679e+02] [-1.65145286e-01 9.86268607e-01 -1.12680012e-03 -3.46635446e+01] [-7.25235848e-03 -7.19097476e-05 9.99973699e-01 -7.24734179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05420382200003 meters 0.018577822782100656 Centerline is valid? [True, True] Translation: X:254.42, Y:-34.67, Z:-7.25 [[ 9.86648816e-01 1.62704981e-01 7.15562451e-03 2.54424912e+02] [-1.62701102e-01 9.86674762e-01 -1.12482380e-03 -3.46722501e+01] [-7.24328855e-03 -5.44219249e-05 9.99973766e-01 -7.24816170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08420382200006 meters 0.01712051527882081 Centerline is valid? [True, True] Translation: X:254.45, Y:-34.68, Z:-7.25 [[ 9.86877004e-01 1.61277220e-01 7.96478116e-03 2.54454057e+02] [-1.61272370e-01 9.86909143e-01 -1.25176305e-03 -3.46807907e+01] [-8.06239621e-03 -4.91629600e-05 9.99967497e-01 -7.24700845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11420382200004 meters 0.01607739481634493 Centerline is valid? [True, True] Translation: X:254.48, Y:-34.69, Z:-7.25 [[ 9.87289676e-01 1.58692338e-01 8.70845120e-03 2.54481699e+02] [-1.58686449e-01 9.87328082e-01 -1.36752903e-03 -3.46932059e+01] [-8.81511480e-03 -3.17659079e-05 9.99961146e-01 -7.24743514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14420382200007 meters 0.01549198243898135 Centerline is valid? [True, True] Translation: X:254.51, Y:-34.70, Z:-7.25 [[ 9.87457931e-01 1.57618909e-01 9.11665154e-03 2.54511712e+02] [-1.57612404e-01 9.87500015e-01 -1.43218218e-03 -3.47003630e+01] [-9.22843252e-03 -2.26777085e-05 9.99957417e-01 -7.24717215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17420382200004 meters 0.014282498308182711 Centerline is valid? [True, True] Translation: X:254.54, Y:-34.71, Z:-7.25 [[ 9.87792808e-01 1.55401052e-01 1.07648118e-02 2.54541604e+02] [-1.55391855e-01 9.87851463e-01 -1.69067048e-03 -3.47098222e+01] [-1.08967671e-02 -2.73193163e-06 9.99940628e-01 -7.24524554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20420382200007 meters 0.014414497262803203 Centerline is valid? [True, True] Translation: X:254.57, Y:-34.72, Z:-7.25 [[ 9.87979485e-01 1.54197727e-01 1.09361428e-02 2.54572776e+02] [-1.54188188e-01 9.88040010e-01 -1.71510803e-03 -3.47198804e+01] [-1.10698124e-02 8.26750130e-06 9.99938728e-01 -7.24675265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23420382200004 meters 0.015268653124972083 Centerline is valid? [True, True] Translation: X:254.60, Y:-34.73, Z:-7.25 [[ 9.88258335e-01 1.52434288e-01 1.04523392e-02 2.54602219e+02] [-1.52425453e-01 9.88313608e-01 -1.64140605e-03 -3.47339456e+01] [-1.05803957e-02 2.89306621e-05 9.99944026e-01 -7.24870694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26420382200007 meters 0.01512823969062072 Centerline is valid? [True, True] Translation: X:254.63, Y:-34.74, Z:-7.25 [[ 9.88339159e-01 1.51929337e-01 1.01578879e-02 2.54634312e+02] [-1.51920959e-01 9.88391357e-01 -1.59589923e-03 -3.47408993e+01] [-1.02824325e-02 3.40936340e-05 9.99947134e-01 -7.24887715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29420382200004 meters 0.016453700721354964 Centerline is valid? [True, True] Translation: X:254.66, Y:-34.75, Z:-7.25 [[ 9.88471737e-01 1.51155814e-01 8.69170273e-03 2.54664777e+02] [-1.51149623e-01 9.88509949e-01 -1.36852918e-03 -3.47494376e+01] [-8.79869576e-03 3.90048222e-05 9.99961290e-01 -7.25410936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324203822 meters 0.017857061585935797 Centerline is valid? [True, True] Translation: X:254.69, Y:-34.76, Z:-7.26 [[ 9.88496017e-01 1.51057280e-01 7.57117557e-03 2.54694575e+02] [-1.51052588e-01 9.88525011e-01 -1.19118290e-03 -3.47578290e+01] [-7.66423326e-03 3.38338944e-05 9.99970629e-01 -7.25983922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35420382200004 meters 0.016107427647666168 Centerline is valid? [True, True] Translation: X:254.73, Y:-34.77, Z:-7.26 [[ 9.88418592e-01 1.51601676e-01 6.75413147e-03 2.54725988e+02] [-1.51597953e-01 9.88441668e-01 -1.06274782e-03 -3.47663720e+01] [-6.83717932e-03 2.65272016e-05 9.99976626e-01 -7.25678882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384203822 meters 0.018052247246974483 Centerline is valid? [True, True] Translation: X:254.76, Y:-34.77, Z:-7.26 [[ 9.88313856e-01 1.52293438e-01 6.51391984e-03 2.54756681e+02] [-1.52289986e-01 9.88335322e-01 -1.02568813e-03 -3.47749165e+01] [-6.59414263e-03 2.16970355e-05 9.99978258e-01 -7.26374248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41420382200005 meters 0.016073752206433756 Centerline is valid? [True, True] Translation: X:254.79, Y:-34.78, Z:-7.26 [[ 9.88168811e-01 1.53230685e-01 6.53903338e-03 2.54789111e+02] [-1.53227219e-01 9.88190446e-01 -1.03067850e-03 -3.47813563e+01] [-6.61974188e-03 1.65264477e-05 9.99978089e-01 -7.25932983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444203822 meters 0.015489356709178623 Centerline is valid? [True, True] Translation: X:254.82, Y:-34.79, Z:-7.26 [[ 9.87805646e-01 1.55542443e-01 6.82303457e-03 2.54820469e+02] [-1.55538710e-01 9.87829210e-01 -1.07759694e-03 -3.47874709e+01] [-6.90760491e-03 3.21035038e-06 9.99976142e-01 -7.25975340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47420382200005 meters 0.03138185654709567 Centerline is valid? [True, True] Translation: X:254.85, Y:-34.79, Z:-7.27 [[ 9.87537480e-01 1.57216594e-01 7.25724505e-03 2.54850973e+02] [-1.57212402e-01 9.87564146e-01 -1.14807515e-03 -3.47918060e+01] [-7.34749148e-03 -7.16169022e-06 9.99973007e-01 -7.26630195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504203822 meters 0.024445515409334047 Centerline is valid? [True, True] Translation: X:254.88, Y:-34.80, Z:-7.27 [[ 9.87153355e-01 1.59576115e-01 7.98230489e-03 2.54881855e+02] [-1.59571106e-01 9.87185627e-01 -1.26464531e-03 -3.47978290e+01] [-8.08182385e-03 -2.53463537e-05 9.99967341e-01 -7.26883027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53420382200005 meters 0.016269348476887383 Centerline is valid? [True, True] Translation: X:254.91, Y:-34.81, Z:-7.27 [[ 9.87001660e-01 1.60576113e-01 6.56013168e-03 2.54912569e+02] [-1.60572752e-01 9.87023460e-01 -1.03929308e-03 -3.48089481e+01] [-6.64188951e-03 -2.75944007e-05 9.99977942e-01 -7.26551863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564203822 meters 0.029789450338576957 Centerline is valid? [True, True] Translation: X:254.95, Y:-34.82, Z:-7.27 [[ 9.86876270e-01 1.61329922e-01 6.91975770e-03 2.54945213e+02] [-1.61326195e-01 9.86900529e-01 -1.09716981e-03 -3.48156955e+01] [-7.00611886e-03 -3.35673297e-05 9.99975456e-01 -7.26965299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59420382200005 meters 0.01738393182527754 Centerline is valid? [True, True] Translation: X:254.98, Y:-34.82, Z:-7.27 [[ 9.86802697e-01 1.61767341e-01 7.19480807e-03 2.54976769e+02] [-1.61763309e-01 9.86828924e-01 -1.14273448e-03 -3.48198379e+01] [-7.28490183e-03 -3.62024894e-05 9.99973464e-01 -7.27035321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624203822 meters 0.01684399802530101 Centerline is valid? [True, True] Translation: X:255.01, Y:-34.83, Z:-7.27 [[ 9.86649668e-01 1.62683714e-01 7.51279995e-03 2.55009050e+02] [-1.62679333e-01 9.86678269e-01 -1.19475496e-03 -3.48256559e+01] [-7.60708363e-03 -4.33726965e-05 9.99971065e-01 -7.26879544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65420382200006 meters 0.016435121921713026 Centerline is valid? [True, True] Translation: X:255.04, Y:-34.84, Z:-7.27 [[ 9.86586927e-01 1.63051490e-01 7.77475554e-03 2.55041151e+02] [-1.63046797e-01 9.86617560e-01 -1.23805879e-03 -3.48366395e+01] [-7.87257767e-03 -4.61963727e-05 9.99969010e-01 -7.26673026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68420382200003 meters 0.01621278331817626 Centerline is valid? [True, True] Translation: X:255.07, Y:-34.84, Z:-7.27 [[ 9.86540751e-01 1.63285944e-01 8.66296237e-03 2.55072831e+02] [-1.63280101e-01 9.86578784e-01 -1.38232380e-03 -3.48445021e+01] [-8.77240894e-03 -5.07706098e-05 9.99961520e-01 -7.26619414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71420382200006 meters 0.016063063364301754 Centerline is valid? [True, True] Translation: X:255.10, Y:-34.85, Z:-7.27 [[ 9.86529109e-01 1.63336235e-01 9.03280480e-03 2.55103929e+02] [-1.63329868e-01 9.86570460e-01 -1.44309010e-03 -3.48548044e+01] [-9.14720729e-03 -5.16764293e-05 9.99958162e-01 -7.26623784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74420382200003 meters 0.01554615791798482 Centerline is valid? [True, True] Translation: X:255.14, Y:-34.86, Z:-7.27 [[ 9.86517154e-01 1.63394744e-01 9.27695325e-03 2.55135877e+02] [-1.63388020e-01 9.86560771e-01 -1.48327760e-03 -3.48615888e+01] [-9.39463791e-03 -5.24642225e-05 9.99955868e-01 -7.26549089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77420382200006 meters 0.015500922333553796 Centerline is valid? [True, True] Translation: X:255.17, Y:-34.87, Z:-7.27 [[ 9.86321104e-01 1.64512022e-01 1.03186707e-02 2.55167876e+02] [-1.64503731e-01 9.86375076e-01 -1.65295861e-03 -3.48667874e+01] [-1.04500112e-02 -6.71118757e-05 9.99945395e-01 -7.26581442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80420382200003 meters 0.016807591411792853 Centerline is valid? [True, True] Translation: X:255.20, Y:-34.87, Z:-7.27 [[ 9.86150562e-01 1.65551879e-01 9.98218980e-03 2.55199066e+02] [-1.65544155e-01 9.86201080e-01 -1.60089025e-03 -3.48713421e+01] [-1.01094767e-02 -7.37743554e-05 9.99948895e-01 -7.26965488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83420382200006 meters 0.017671540083050614 Centerline is valid? [True, True] Translation: X:255.23, Y:-34.88, Z:-7.27 [[ 9.85707784e-01 1.68181597e-01 9.75268647e-03 2.55230810e+02] [-1.68174340e-01 9.85756025e-01 -1.56535355e-03 -3.48772265e+01] [-9.87703311e-03 -9.71704252e-05 9.99951216e-01 -7.26900782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86420382200004 meters 0.018376244517397198 Centerline is valid? [True, True] Translation: X:255.26, Y:-34.88, Z:-7.27 [[ 9.85440362e-01 1.69731228e-01 9.92987221e-03 2.55262921e+02] [-1.69723765e-01 9.85490384e-01 -1.59559510e-03 -3.48816656e+01] [-1.00566159e-02 -1.12971490e-04 9.99949425e-01 -7.26937386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89420382200007 meters 0.021628036790049637 Centerline is valid? [True, True] Translation: X:255.29, Y:-34.88, Z:-7.27 [[ 9.85103090e-01 1.71719164e-01 9.18861111e-03 2.55294570e+02] [-1.71712836e-01 9.85145935e-01 -1.47920320e-03 -3.48816291e+01] [-9.30613042e-03 -1.20634821e-04 9.99956690e-01 -7.27445779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92420382200004 meters 0.02102762964670644 Centerline is valid? [True, True] Translation: X:255.33, Y:-34.89, Z:-7.27 [[ 9.84982167e-01 1.72434293e-01 8.74900956e-03 2.55325799e+02] [-1.72428588e-01 9.85021015e-01 -1.40792320e-03 -3.48872037e+01] [-8.86073252e-03 -1.21800122e-04 9.99960736e-01 -7.27449217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95420382200007 meters 0.03239165186499039 Centerline is valid? [True, True] Translation: X:255.36, Y:-34.89, Z:-7.28 [[ 9.84955159e-01 1.72586395e-01 8.79041496e-03 2.55357936e+02] [-1.72580636e-01 9.84994376e-01 -1.41525135e-03 -3.48933373e+01] [-8.90276243e-03 -1.23096291e-04 9.99960362e-01 -7.27916253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98420382200004 meters 0.019630614812761592 Centerline is valid? [True, True] Translation: X:255.39, Y:-34.90, Z:-7.28 [[ 9.85109518e-01 1.71709680e-01 8.66156545e-03 2.55389655e+02] [-1.71704036e-01 9.85147590e-01 -1.39659764e-03 -3.48988302e+01] [-8.77272966e-03 -1.11424121e-04 9.99961513e-01 -7.27570262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01420382200007 meters 0.01923878776279243 Centerline is valid? [True, True] Translation: X:255.42, Y:-34.90, Z:-7.28 [[ 9.85174188e-01 1.71342928e-01 8.56860634e-03 2.55422512e+02] [-1.71337383e-01 9.85211444e-01 -1.38254376e-03 -3.49033545e+01] [-8.67877813e-03 -1.06076165e-04 9.99962333e-01 -7.27680176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04420382200004 meters 0.01784810436849626 Centerline is valid? [True, True] Translation: X:255.45, Y:-34.91, Z:-7.28 [[ 9.85498357e-01 1.69441038e-01 9.09525534e-03 2.55453051e+02] [-1.69434683e-01 9.85540322e-01 -1.47043441e-03 -3.49097972e+01] [-9.21289281e-03 -9.19410030e-05 9.99957556e-01 -7.27729225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074203822 meters 0.016371333896406562 Centerline is valid? [True, True] Translation: X:255.48, Y:-34.92, Z:-7.28 [[ 9.85752831e-01 1.67975216e-01 8.69962085e-03 2.55484077e+02] [-1.67969337e-01 9.85791216e-01 -1.40733194e-03 -3.49173456e+01] [-8.81240670e-03 -7.39880984e-05 9.99961167e-01 -7.27690280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10420382200004 meters 0.015811246158675078 Centerline is valid? [True, True] Translation: X:255.51, Y:-34.92, Z:-7.28 [[ 9.86332903e-01 1.64604622e-01 7.26102626e-03 2.55514969e+02] [-1.64600433e-01 9.86359629e-01 -1.17481169e-03 -3.49249383e+01] [-7.35536260e-03 -3.64126470e-05 9.99972948e-01 -7.28123318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134203822 meters 0.015580705722167411 Centerline is valid? [True, True] Translation: X:255.55, Y:-34.93, Z:-7.28 [[ 9.86594788e-01 1.63038319e-01 7.01649227e-03 2.55547626e+02] [-1.63034345e-01 9.86619737e-01 -1.13861535e-03 -3.49323974e+01] [-7.10824769e-03 -2.05772532e-05 9.99974736e-01 -7.28221317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16420382200005 meters 0.01576369594843266 Centerline is valid? [True, True] Translation: X:255.58, Y:-34.94, Z:-7.28 [[ 9.87068709e-01 1.60143710e-01 7.02539980e-03 2.55578336e+02] [-1.60139662e-01 9.87093710e-01 -1.13855703e-03 -3.49399803e+01] [-7.11706070e-03 -1.21113541e-06 9.99974673e-01 -7.28389024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194203822 meters 0.03143675971701376 Centerline is valid? [True, True] Translation: X:255.61, Y:-34.95, Z:-7.29 [[ 9.87303518e-01 1.58700217e-01 6.78268420e-03 2.55611132e+02] [-1.58696405e-01 9.87326816e-01 -1.10003953e-03 -3.49458629e+01] [-6.87130250e-03 9.68529957e-06 9.99976392e-01 -7.28917839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22420382200005 meters 0.017463714974096156 Centerline is valid? [True, True] Translation: X:255.64, Y:-34.95, Z:-7.29 [[ 9.87983311e-01 1.54418483e-01 6.62646645e-03 2.55640967e+02] [-1.54414735e-01 9.88005532e-01 -1.07676161e-03 -3.49547947e+01] [-6.71325741e-03 4.05984446e-05 9.99977465e-01 -7.28671729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254203822 meters 0.018899076026119694 Centerline is valid? [True, True] Translation: X:255.67, Y:-34.96, Z:-7.29 [[ 9.88277743e-01 1.52521875e-01 6.64681955e-03 2.55671323e+02] [-1.52518053e-01 9.88300093e-01 -1.08120192e-03 -3.49630107e+01] [-6.73395932e-03 5.47678136e-05 9.99977325e-01 -7.28797178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28420382200005 meters 0.020581663732307087 Centerline is valid? [True, True] Translation: X:255.70, Y:-34.97, Z:-7.29 [[ 9.88694813e-01 1.49772617e-01 7.12250481e-03 2.55702184e+02] [-1.49768136e-01 9.88720464e-01 -1.16149651e-03 -3.49707074e+01] [-7.21612663e-03 8.16413029e-05 9.99973960e-01 -7.28741658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314203822 meters 0.02265438298795472 Centerline is valid? [True, True] Translation: X:255.73, Y:-34.98, Z:-7.29 [[ 9.88797108e-01 1.49081878e-01 7.40762267e-03 2.55733719e+02] [-1.49077009e-01 9.88824851e-01 -1.20820052e-03 -3.49782828e+01] [-7.50496218e-03 9.03589432e-05 9.99971833e-01 -7.29110438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34420382200005 meters 0.02150303392746339 Centerline is valid? [True, True] Translation: X:255.77, Y:-34.98, Z:-7.29 [[ 9.88757008e-01 1.49359728e-01 7.15903140e-03 2.55766235e+02] [-1.49355193e-01 9.88782921e-01 -1.16688816e-03 -3.49826167e+01] [-7.25301407e-03 8.45303264e-05 9.99973693e-01 -7.28981681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374203822 meters 0.02566532606527628 Centerline is valid? [True, True] Translation: X:255.80, Y:-34.99, Z:-7.29 [[ 9.88560363e-01 1.50651628e-01 7.24543970e-03 2.55797026e+02] [-1.50647002e-01 9.88586911e-01 -1.18326481e-03 -3.49857731e+01] [-7.34100762e-03 7.82249255e-05 9.99973051e-01 -7.29498410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40420382200006 meters 0.02169311004333742 Centerline is valid? [True, True] Translation: X:255.83, Y:-34.99, Z:-7.29 [[ 9.88188590e-01 1.53045835e-01 7.76422505e-03 2.55830067e+02] [-1.53040586e-01 9.88219089e-01 -1.26925695e-03 -3.49857377e+01] [-7.86700990e-03 6.60236884e-05 9.99969052e-01 -7.29301825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43420382200003 meters 0.016905552173729445 Centerline is valid? [True, True] Translation: X:255.86, Y:-34.99, Z:-7.29 [[ 9.88002502e-01 1.54220664e-01 8.18795226e-03 2.55862560e+02] [-1.54214854e-01 9.88036428e-01 -1.34008476e-03 -3.49883208e+01] [-8.29666387e-03 6.13032368e-05 9.99965580e-01 -7.28750258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46420382200006 meters 0.017172872586990434 Centerline is valid? [True, True] Translation: X:255.89, Y:-34.99, Z:-7.29 [[ 9.87816126e-01 1.55383896e-01 8.66863174e-03 2.55893983e+02] [-1.55377410e-01 9.87854160e-01 -1.42091565e-03 -3.49905380e+01] [-8.78413134e-03 5.66938441e-05 9.99961417e-01 -7.28940267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49420382200003 meters 0.01688781775972789 Centerline is valid? [True, True] Translation: X:255.93, Y:-35.00, Z:-7.29 [[ 9.87788205e-01 1.55590668e-01 8.12436870e-03 2.55925511e+02] [-1.55584971e-01 9.87821614e-01 -1.33258450e-03 -3.49950019e+01] [-8.23276472e-03 5.22815873e-05 9.99966109e-01 -7.29025375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52420382200006 meters 0.01747087003733138 Centerline is valid? [True, True] Translation: X:255.96, Y:-35.00, Z:-7.29 [[ 9.87744838e-01 1.55896174e-01 7.51785104e-03 2.55956043e+02] [-1.55891295e-01 9.87773446e-01 -1.23433941e-03 -3.50010829e+01] [-7.61836242e-03 4.72448465e-05 9.99970979e-01 -7.29418984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55420382200003 meters 0.017898836302719243 Centerline is valid? [True, True] Translation: X:255.99, Y:-35.01, Z:-7.30 [[ 9.87646861e-01 1.56610958e-01 5.16578051e-03 2.55987185e+02] [-1.56608667e-01 9.87660370e-01 -8.47605353e-04 -3.50059284e+01] [-5.23478097e-03 2.81287668e-05 9.99986298e-01 -7.29820668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58420382200006 meters 0.026792387485735057 Centerline is valid? [True, True] Translation: X:256.02, Y:-35.01, Z:-7.30 [[ 9.87351005e-01 1.58443285e-01 5.80679760e-03 2.56020045e+02] [-1.58440399e-01 9.87368080e-01 -9.56540364e-04 -3.50065023e+01] [-5.88500400e-03 2.44097572e-05 9.99982683e-01 -7.30278768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61420382200004 meters 0.019642617000493634 Centerline is valid? [True, True] Translation: X:256.05, Y:-35.01, Z:-7.30 [[ 9.87181000e-01 1.59492433e-01 5.98640811e-03 2.56052540e+02] [-1.59489399e-01 9.87199151e-01 -9.83980094e-04 -3.50104347e+01] [-6.06671438e-03 1.65978236e-05 9.99981597e-01 -7.30100548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64420382200007 meters 0.019642617000493634 Centerline is valid? [True, True] Translation: X:256.08, Y:-35.02, Z:-7.30 [[ 9.87149015e-01 1.59690281e-01 5.98632691e-03 2.56084566e+02] [-1.59687247e-01 9.87167166e-01 -9.84474309e-04 -3.50159148e+01] [-6.06671635e-03 1.58827789e-05 9.99981597e-01 -7.30193090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67420382200004 meters 0.016058319076246965 Centerline is valid? [True, True] Translation: X:256.12, Y:-35.02, Z:-7.30 [[ 9.86919514e-01 1.61104539e-01 5.93300676e-03 2.56115993e+02] [-1.61101567e-01 9.86937347e-01 -9.78596922e-04 -3.50203116e+01] [-6.01316236e-03 9.97971420e-06 9.99981921e-01 -7.29937017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70420382200007 meters 0.01649236800422139 Centerline is valid? [True, True] Translation: X:256.15, Y:-35.02, Z:-7.30 [[ 9.86753984e-01 1.62121763e-01 5.75397751e-03 2.56147560e+02] [-1.62118989e-01 9.86770761e-01 -9.48353318e-04 -3.50240551e+01] [-5.83160548e-03 2.96239513e-06 9.99982996e-01 -7.30164003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73420382200004 meters 0.016489907804960853 Centerline is valid? [True, True] Translation: X:256.18, Y:-35.03, Z:-7.30 [[ 9.86611776e-01 1.62979966e-01 5.89356728e-03 2.56180473e+02] [-1.62977065e-01 9.86629379e-01 -9.72411540e-04 -3.50277931e+01] [-5.97325023e-03 -1.12362074e-06 9.99982160e-01 -7.30326077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76420382200007 meters 0.017214885599193996 Centerline is valid? [True, True] Translation: X:256.21, Y:-35.03, Z:-7.31 [[ 9.86499152e-01 1.63675899e-01 5.44266156e-03 2.56210638e+02] [-1.63673419e-01 9.86514166e-01 -9.00981116e-04 -3.50335419e+01] [-5.51673162e-03 -2.00192000e-06 9.99984783e-01 -7.30760636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79420382200004 meters 0.016950222267768388 Centerline is valid? [True, True] Translation: X:256.24, Y:-35.04, Z:-7.31 [[ 9.86266744e-01 1.65087700e-01 4.89495405e-03 2.56243269e+02] [-1.65085719e-01 9.86278891e-01 -8.08725758e-04 -3.50359577e+01] [-4.96130053e-03 -1.04676909e-05 9.99987693e-01 -7.30807453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824203822 meters 0.016448087524583665 Centerline is valid? [True, True] Translation: X:256.28, Y:-35.04, Z:-7.31 [[ 9.86138323e-01 1.65846413e-01 5.11615895e-03 2.56276829e+02] [-1.65844258e-01 9.86151594e-01 -8.45687932e-04 -3.50383424e+01] [-5.18556262e-03 -1.45203046e-05 9.99986555e-01 -7.30741398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85420382200004 meters 0.01554768275717846 Centerline is valid? [True, True] Translation: X:256.31, Y:-35.04, Z:-7.30 [[ 9.85950913e-01 1.66928967e-01 5.95964732e-03 2.56308479e+02] [-1.66926046e-01 9.85968924e-01 -9.87659384e-04 -3.50430425e+01] [-6.04089602e-03 -2.10366936e-05 9.99981753e-01 -7.30456770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884203822 meters 0.027267295955550518 Centerline is valid? [True, True] Translation: X:256.34, Y:-35.05, Z:-7.31 [[ 9.85789052e-01 1.67869728e-01 6.30078898e-03 2.56339470e+02] [-1.67866462e-01 9.85809187e-01 -1.04738649e-03 -3.50472340e+01] [-6.38720015e-03 -2.51890193e-05 9.99979601e-01 -7.31013244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91420382200005 meters 0.017235719587822124 Centerline is valid? [True, True] Translation: X:256.37, Y:-35.05, Z:-7.31 [[ 9.85437749e-01 1.69916731e-01 6.38329829e-03 2.56372334e+02] [-1.69913430e-01 9.85458423e-01 -1.05989263e-03 -3.50455857e+01] [-6.47056856e-03 -4.01499004e-05 9.99979065e-01 -7.30735048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944203822 meters 0.016914178125921657 Centerline is valid? [True, True] Translation: X:256.40, Y:-35.05, Z:-7.31 [[ 9.85308471e-01 1.70660815e-01 6.48874908e-03 2.56404921e+02] [-1.70657410e-01 9.85329835e-01 -1.07899766e-03 -3.50486002e+01] [-6.57770068e-03 -4.42075722e-05 9.99978366e-01 -7.30756038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97420382200005 meters 0.03250166386381801 Centerline is valid? [True, True] Translation: X:256.44, Y:-35.05, Z:-7.32 [[ 9.85266264e-01 1.70956407e-01 4.92914411e-03 2.56435227e+02] [-1.70954437e-01 9.85278593e-01 -8.21268185e-04 -3.50525581e+01] [-4.99698123e-03 -3.34912208e-05 9.99987514e-01 -7.31859615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004203822 meters 0.01848014128093518 Centerline is valid? [True, True] Translation: X:256.47, Y:-35.06, Z:-7.32 [[ 9.85353037e-01 1.70473988e-01 4.24415379e-03 2.56465494e+02] [-1.70472530e-01 9.85362176e-01 -7.05597939e-04 -3.50589521e+01] [-4.30231471e-03 -2.82485634e-05 9.99990745e-01 -7.31662156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03420382200005 meters 0.03160829339121143 Centerline is valid? [True, True] Translation: X:256.50, Y:-35.07, Z:-7.32 [[ 9.85798320e-01 1.67840764e-01 5.58128085e-03 2.56497182e+02] [-1.67838190e-01 9.85814119e-01 -9.29739983e-04 -3.50659210e+01] [-5.65815374e-03 -2.02159621e-05 9.99983992e-01 -7.31738882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064203822 meters 0.016737303516892045 Centerline is valid? [True, True] Translation: X:256.53, Y:-35.07, Z:-7.32 [[ 9.86050411e-01 1.66334201e-01 6.12548597e-03 2.56528395e+02] [-1.66331061e-01 9.86069437e-01 -1.02198471e-03 -3.50716431e+01] [-6.21014551e-03 -1.11301407e-05 9.99980717e-01 -7.31620490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09420382200005 meters 0.017087308569688386 Centerline is valid? [True, True] Translation: X:256.56, Y:-35.08, Z:-7.32 [[ 9.86559803e-01 1.63346225e-01 4.21504746e-03 2.56559292e+02] [-1.63344713e-01 9.86568807e-01 -7.02768319e-04 -3.50794260e+01] [-4.27322889e-03 4.81725590e-06 9.99990870e-01 -7.31739287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124203822 meters 0.01824197919893562 Centerline is valid? [True, True] Translation: X:256.59, Y:-35.09, Z:-7.32 [[ 9.86752596e-01 1.62195901e-01 3.43577059e-03 2.56589714e+02] [-1.62194890e-01 9.86758577e-01 -5.72578102e-04 -3.50867406e+01] [-3.48314592e-03 7.72849421e-06 9.99993934e-01 -7.32121544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15420382200006 meters 0.01796187263981709 Centerline is valid? [True, True] Translation: X:256.62, Y:-35.09, Z:-7.32 [[ 9.86996944e-01 1.60700894e-01 3.50077235e-03 2.56622063e+02] [-1.60699837e-01 9.87003152e-01 -5.83039378e-04 -3.50942087e+01] [-3.54896829e-03 1.28845384e-05 9.99993702e-01 -7.32004773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18420382200003 meters 0.020059802832759568 Centerline is valid? [True, True] Translation: X:256.65, Y:-35.11, Z:-7.32 [[ 9.87416329e-01 1.58083244e-01 4.32225117e-03 2.56652120e+02] [-1.58081596e-01 9.87425788e-01 -7.22418565e-04 -3.51060535e+01] [-4.38210454e-03 3.00595234e-05 9.99990398e-01 -7.32215376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21420382200006 meters 0.020386103829040287 Centerline is valid? [True, True] Translation: X:256.68, Y:-35.11, Z:-7.32 [[ 9.87749539e-01 1.56015719e-01 3.15345412e-03 2.56683193e+02] [-1.56014833e-01 9.87754572e-01 -5.26472593e-04 -3.51142049e+01] [-3.19697673e-03 2.80374432e-05 9.99994889e-01 -7.32086810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24420382200003 meters 0.029803659366757693 Centerline is valid? [True, True] Translation: X:256.71, Y:-35.12, Z:-7.33 [[ 9.87782957e-01 1.55793260e-01 3.64546513e-03 2.56713436e+02] [-1.55792068e-01 9.87789684e-01 -6.10398724e-04 -3.51196221e+01] [-3.69604886e-03 3.50069035e-05 9.99993169e-01 -7.32916690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27420382200006 meters 0.020279540707058792 Centerline is valid? [True, True] Translation: X:256.75, Y:-35.12, Z:-7.32 [[ 9.87755081e-01 1.55971635e-01 3.57066876e-03 2.56746386e+02] [-1.55970495e-01 9.87761534e-01 -5.97363065e-04 -3.51239550e+01] [-3.62014094e-03 3.31294291e-05 9.99993447e-01 -7.32183423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30420382200003 meters 0.02023718509265676 Centerline is valid? [True, True] Translation: X:256.78, Y:-35.13, Z:-7.32 [[ 9.87691612e-01 1.56354069e-01 4.32248233e-03 2.56776709e+02] [-1.56352388e-01 9.87701070e-01 -7.26198845e-04 -3.51305400e+01] [-4.38286456e-03 4.14300746e-05 9.99990394e-01 -7.32269972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33420382200006 meters 0.02091172347219634 Centerline is valid? [True, True] Translation: X:256.81, Y:-35.14, Z:-7.32 [[ 9.87644908e-01 1.56661145e-01 3.84986823e-03 2.56807303e+02] [-1.56659814e-01 9.87652411e-01 -6.46967807e-04 -3.51369273e+01] [-3.90368636e-03 3.58548208e-05 9.99992380e-01 -7.32495464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36420382200004 meters 0.019794098160325613 Centerline is valid? [True, True] Translation: X:256.84, Y:-35.14, Z:-7.33 [[ 9.87598974e-01 1.56977660e-01 2.50607191e-03 2.56838966e+02] [-1.56977101e-01 9.87602154e-01 -4.19455336e-04 -3.51421519e+01] [-2.54084713e-03 2.08577567e-05 9.99996772e-01 -7.32500060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39420382200007 meters 0.027128619013291028 Centerline is valid? [True, True] Translation: X:256.87, Y:-35.15, Z:-7.33 [[ 9.87564102e-01 1.57197517e-01 2.46691134e-03 2.56869625e+02] [-1.57196976e-01 9.87567183e-01 -4.12960979e-04 -3.51494765e+01] [-2.50115713e-03 2.00344365e-05 9.99996872e-01 -7.33323340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42420382200004 meters 0.01998560838172288 Centerline is valid? [True, True] Translation: X:256.90, Y:-35.16, Z:-7.33 [[ 9.87378945e-01 1.58341336e-01 3.29247232e-03 2.56901006e+02] [-1.58340368e-01 9.87384434e-01 -5.54114572e-04 -3.51566007e+01] [-3.33867516e-03 2.57897813e-05 9.99994426e-01 -7.32814189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45420382200007 meters 0.020318558309687335 Centerline is valid? [True, True] Translation: X:256.93, Y:-35.16, Z:-7.33 [[ 9.87279836e-01 1.58945191e-01 3.86678059e-03 2.56931749e+02] [-1.58943853e-01 9.87287408e-01 -6.52650856e-04 -3.51638258e+01] [-3.92135950e-03 2.97480229e-05 9.99992311e-01 -7.33005310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48420382200004 meters 0.019733344342761527 Centerline is valid? [True, True] Translation: X:256.96, Y:-35.17, Z:-7.33 [[ 9.87285213e-01 1.58904166e-01 4.16831502e-03 2.56963640e+02] [-1.58902611e-01 9.87294011e-01 -7.03685144e-04 -3.51739056e+01] [-4.22717096e-03 3.23817973e-05 9.99991065e-01 -7.32930611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51420382200007 meters 0.020033536075369854 Centerline is valid? [True, True] Translation: X:257.00, Y:-35.18, Z:-7.33 [[ 9.87307795e-01 1.58766180e-01 4.07643206e-03 2.56995329e+02] [-1.58764681e-01 9.87316210e-01 -6.90686791e-04 -3.51813156e+01] [-4.13438516e-03 3.47270156e-05 9.99991453e-01 -7.33057587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54420382200004 meters 0.03307729210827644 Centerline is valid? [True, True] Translation: X:257.03, Y:-35.19, Z:-7.34 [[ 9.87244622e-01 1.59163191e-01 3.89030710e-03 2.57027333e+02] [-1.59161835e-01 9.87252287e-01 -6.57588111e-04 -3.51895859e+01] [-3.94537840e-03 3.00119093e-05 9.99992217e-01 -7.33593005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574203822 meters 0.025574330138012948 Centerline is valid? [True, True] Translation: X:257.06, Y:-35.20, Z:-7.34 [[ 9.87090464e-01 1.60134392e-01 3.06472752e-03 2.57058924e+02] [-1.60133555e-01 9.87095221e-01 -5.18102752e-04 -3.51958385e+01] [-3.10814396e-03 2.06485736e-05 9.99995170e-01 -7.33689621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60420382200004 meters 0.018621228626173266 Centerline is valid? [True, True] Translation: X:257.09, Y:-35.20, Z:-7.34 [[ 9.86599890e-01 1.63142818e-01 2.25330235e-03 2.57091983e+02] [-1.63142377e-01 9.86602463e-01 -3.79372202e-04 -3.52001118e+01] [-2.28500550e-03 6.67947017e-06 9.99997389e-01 -7.33509167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634203822 meters 0.01801179531060454 Centerline is valid? [True, True] Translation: X:257.12, Y:-35.20, Z:-7.34 [[ 9.86285283e-01 1.65019064e-01 3.17010956e-03 2.57122683e+02] [-1.65018183e-01 9.86290377e-01 -5.39229346e-04 -3.52037008e+01] [-3.21563168e-03 8.70824924e-06 9.99994830e-01 -7.33507388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66420382200005 meters 0.016856600290179487 Centerline is valid? [True, True] Translation: X:257.16, Y:-35.21, Z:-7.33 [[ 9.85708382e-01 1.68413737e-01 3.97480925e-03 2.57155560e+02] [-1.68412371e-01 9.85716396e-01 -6.78147933e-04 -3.52053361e+01] [-4.03224407e-03 -9.50948176e-07 9.99991870e-01 -7.33376885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694203822 meters 0.01643181352657696 Centerline is valid? [True, True] Translation: X:257.19, Y:-35.21, Z:-7.33 [[ 9.85465331e-01 1.69808297e-01 4.81912420e-03 2.57187211e+02] [-1.69806316e-01 9.85477114e-01 -8.20258349e-04 -3.52086772e+01] [-4.88842328e-03 -9.98156306e-06 9.99988052e-01 -7.33381321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72420382200005 meters 0.01605075149649427 Centerline is valid? [True, True] Translation: X:257.22, Y:-35.21, Z:-7.33 [[ 9.85157972e-01 1.71516042e-01 6.78358323e-03 2.57218104e+02] [-1.71512133e-01 9.85181327e-01 -1.15812851e-03 -3.52130301e+01] [-6.88169714e-03 -2.25272904e-05 9.99976321e-01 -7.33265267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754203822 meters 0.016054801312473974 Centerline is valid? [True, True] Translation: X:257.25, Y:-35.22, Z:-7.33 [[ 9.85140915e-01 1.71615081e-01 6.75583833e-03 2.57250731e+02] [-1.71611205e-01 9.85164079e-01 -1.15369012e-03 -3.52189850e+01] [-6.85359987e-03 -2.28302092e-05 9.99976514e-01 -7.33358669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78420382200005 meters 0.01567676116571016 Centerline is valid? [True, True] Translation: X:257.28, Y:-35.23, Z:-7.33 [[ 9.85443959e-01 1.69871065e-01 6.63516884e-03 2.57282717e+02] [-1.69867279e-01 9.85466296e-01 -1.13422330e-03 -3.52270673e+01] [-6.73140699e-03 -9.38457481e-06 9.99977344e-01 -7.33464998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814203822 meters 0.0153087086959177 Centerline is valid? [True, True] Translation: X:257.31, Y:-35.24, Z:-7.33 [[ 9.85725998e-01 1.68220338e-01 6.79514176e-03 2.57314663e+02] [-1.68216318e-01 9.85749419e-01 -1.16297687e-03 -3.52357613e+01] [-6.89394341e-03 3.32280980e-06 9.99976236e-01 -7.33484469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84420382200005 meters 0.022728761203423306 Centerline is valid? [True, True] Translation: X:257.34, Y:-35.25, Z:-7.34 [[ 9.86412599e-01 1.64211472e-01 4.97764068e-03 2.57344587e+02] [-1.64209248e-01 9.86425158e-01 -8.54956211e-04 -3.52478235e+01] [-5.05046361e-03 2.59649459e-05 9.99987246e-01 -7.34276664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874203822 meters 0.019434796220865833 Centerline is valid? [True, True] Translation: X:257.37, Y:-35.26, Z:-7.34 [[ 9.86670706e-01 1.62674803e-01 4.22212053e-03 2.57374629e+02] [-1.62673201e-01 9.86679739e-01 -7.22427775e-04 -3.52581222e+01] [-4.28340158e-03 2.59724609e-05 9.99990826e-01 -7.34397313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90420382200006 meters 0.0346275470104645 Centerline is valid? [True, True] Translation: X:257.40, Y:-35.27, Z:-7.35 [[ 9.87251749e-01 1.59096182e-01 4.73177544e-03 2.57403681e+02] [-1.59094114e-01 9.87263087e-01 -8.12728793e-04 -3.52727872e+01] [-4.80080927e-03 4.95703010e-05 9.99988475e-01 -7.34922820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93420382200003 meters 0.023814282407706514 Centerline is valid? [True, True] Translation: X:257.43, Y:-35.28, Z:-7.35 [[ 9.87429423e-01 1.57998173e-01 4.43975600e-03 2.57433429e+02] [-1.57996347e-01 9.87439403e-01 -7.61312462e-04 -3.52835981e+01] [-4.50427599e-03 5.02770965e-05 9.99989854e-01 -7.34790590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96420382200006 meters 0.033697472828673976 Centerline is valid? [True, True] Translation: X:257.46, Y:-35.30, Z:-7.35 [[ 9.87928584e-01 1.54870973e-01 3.47776558e-03 2.57463318e+02] [-1.54869834e-01 9.87934704e-01 -5.95966994e-04 -3.52961358e+01] [-3.52810329e-03 5.01718509e-05 9.99993775e-01 -7.35334593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99420382200003 meters 0.02543995550941999 Centerline is valid? [True, True] Translation: X:257.49, Y:-35.31, Z:-7.34 [[ 9.88105603e-01 1.53673397e-01 5.63957745e-03 2.57494926e+02] [-1.53670351e-01 9.88121692e-01 -9.72126484e-04 -3.53064693e+01] [-5.72197879e-03 9.39277795e-05 9.99983625e-01 -7.34421109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02420382200006 meters 0.02564421056282859 Centerline is valid? [True, True] Translation: X:257.53, Y:-35.32, Z:-7.34 [[ 9.88133075e-01 1.53457901e-01 6.61050508e-03 2.57526235e+02] [-1.53453722e-01 9.88155180e-01 -1.13781413e-03 -3.53162917e+01] [-6.70681140e-03 1.09905165e-04 9.99977503e-01 -7.34442146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05420382200003 meters 0.029554903863990192 Centerline is valid? [True, True] Translation: X:257.56, Y:-35.33, Z:-7.35 [[ 9.88105997e-01 1.53661288e-01 5.89476107e-03 2.57557217e+02] [-1.53657965e-01 9.88123575e-01 -1.01510880e-03 -3.53251028e+01] [-5.98073531e-03 9.72580976e-05 9.99982111e-01 -7.34886698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08420382200006 meters 0.02436749312903225 Centerline is valid? [True, True] Translation: X:257.59, Y:-35.33, Z:-7.35 [[ 9.87896165e-01 1.55055166e-01 4.36603095e-03 2.57588279e+02] [-1.55053359e-01 9.87905811e-01 -7.51242157e-04 -3.53343480e+01] [-4.42971132e-03 6.51814808e-05 9.99990187e-01 -7.34785774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11420382200004 meters 0.02519556986329309 Centerline is valid? [True, True] Translation: X:257.62, Y:-35.34, Z:-7.35 [[ 9.87684945e-01 1.56410683e-01 3.76125765e-03 2.57618850e+02] [-1.56409353e-01 9.87692106e-01 -6.46866986e-04 -3.53417842e+01] [-3.81614140e-03 5.06049070e-05 9.99992717e-01 -7.35289971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14420382200007 meters 0.023873027092059716 Centerline is valid? [True, True] Translation: X:257.65, Y:-35.35, Z:-7.36 [[ 9.87087720e-01 1.60155122e-01 2.85833504e-03 2.57651097e+02] [-1.60154371e-01 9.87091858e-01 -4.91249303e-04 -3.53459070e+01] [-2.90011533e-03 2.71313046e-05 9.99995794e-01 -7.35685832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17420382200004 meters 0.020578052340546563 Centerline is valid? [True, True] Translation: X:257.68, Y:-35.35, Z:-7.36 [[ 9.86660542e-01 1.62776503e-01 2.18722152e-03 2.57683113e+02] [-1.62776072e-01 9.86662967e-01 -3.75108566e-04 -3.53507620e+01] [-2.21910933e-03 1.40774945e-05 9.99997538e-01 -7.35630108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20420382200007 meters 0.0188924422744921 Centerline is valid? [True, True] Translation: X:257.71, Y:-35.35, Z:-7.36 [[ 9.85664460e-01 1.68706262e-01 1.94140542e-03 2.57714182e+02] [-1.68705933e-01 9.85666372e-01 -3.33089065e-04 -3.53514659e+01] [-1.96977225e-03 7.87440862e-07 9.99998060e-01 -7.35922684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23420382200004 meters 0.017487133251818738 Centerline is valid? [True, True] Translation: X:257.75, Y:-35.35, Z:-7.36 [[ 9.85120131e-01 1.71857754e-01 1.79994564e-03 2.57746923e+02] [-1.71857479e-01 9.85121775e-01 -3.07684745e-04 -3.53540175e+01] [-1.82604365e-03 -6.22768398e-06 9.99998333e-01 -7.35665474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26420382200007 meters 0.029579687140580162 Centerline is valid? [True, True] Translation: X:257.78, Y:-35.35, Z:-7.36 [[ 9.84143902e-01 1.77363715e-01 1.70071599e-03 2.57778370e+02] [-1.77363476e-01 9.84145372e-01 -2.91798541e-04 -3.53542368e+01] [-1.72550624e-03 -1.44731437e-05 9.99998511e-01 -7.36106729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29420382200004 meters 0.021127818686688532 Centerline is valid? [True, True] Translation: X:257.81, Y:-35.35, Z:-7.36 [[ 9.83205047e-01 1.82469906e-01 3.54534280e-03 2.57809950e+02] [-1.82468878e-01 9.83211438e-01 -6.13919059e-04 -3.53527740e+01] [-3.59784335e-03 -4.33064074e-05 9.99993527e-01 -7.35757423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324203822 meters 0.02325788746804444 Centerline is valid? [True, True] Translation: X:257.84, Y:-35.35, Z:-7.36 [[ 9.82818878e-01 1.84509437e-01 4.82921199e-03 2.57841278e+02] [-1.84507543e-01 9.82830740e-01 -8.38830017e-04 -3.53539619e+01] [-4.90107005e-03 -6.66080602e-05 9.99987987e-01 -7.35877268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35420382200004 meters 0.022185909090480994 Centerline is valid? [True, True] Translation: X:257.87, Y:-35.36, Z:-7.35 [[ 9.82517525e-01 1.86085402e-01 5.61572675e-03 2.57874071e+02] [-1.86082862e-01 9.82533570e-01 -9.76124993e-04 -3.53599245e+01] [-5.69928266e-03 -8.59305927e-05 9.99983755e-01 -7.35438544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384203822 meters 0.024384859267018437 Centerline is valid? [True, True] Translation: X:257.91, Y:-35.36, Z:-7.35 [[ 9.82102370e-01 1.88226056e-01 6.77396356e-03 2.57906284e+02] [-1.88222391e-01 9.82125724e-01 -1.18020760e-03 -3.53639119e+01] [-6.87502969e-03 -1.15926934e-04 9.99976360e-01 -7.35440528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41420382200005 meters 0.023511064549283863 Centerline is valid? [True, True] Translation: X:257.94, Y:-35.37, Z:-7.35 [[ 9.81937764e-01 1.89064655e-01 7.26518904e-03 2.57938194e+02] [-1.89060453e-01 9.81964632e-01 -1.26718906e-03 -3.53710993e+01] [-7.37373935e-03 -1.29259138e-04 9.99972805e-01 -7.35249779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444203822 meters 0.023765904361597225 Centerline is valid? [True, True] Translation: X:257.97, Y:-35.37, Z:-7.35 [[ 9.81769518e-01 1.89911341e-01 7.89281341e-03 2.57971581e+02] [-1.89906392e-01 9.81801233e-01 -1.37871267e-03 -3.53745785e+01] [-8.01100711e-03 -1.45317639e-04 9.99967901e-01 -7.35247491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47420382200005 meters 0.025117522576852336 Centerline is valid? [True, True] Translation: X:258.00, Y:-35.37, Z:-7.36 [[ 9.81573869e-01 1.90963792e-01 6.75052975e-03 2.58003269e+02] [-1.90960177e-01 9.81597073e-01 -1.18200994e-03 -3.53726125e+01] [-6.85202134e-03 -1.28852287e-04 9.99976516e-01 -7.35655221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504203822 meters 0.02900852247978212 Centerline is valid? [True, True] Translation: X:258.03, Y:-35.37, Z:-7.36 [[ 9.81427722e-01 1.91726584e-01 6.36744556e-03 2.58034721e+02] [-1.91723391e-01 9.81448369e-01 -1.11387842e-03 -3.53709669e+01] [-6.46287916e-03 -1.27597098e-04 9.99979107e-01 -7.36258425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53420382200005 meters 0.02625484333689784 Centerline is valid? [True, True] Translation: X:258.07, Y:-35.38, Z:-7.36 [[ 9.81324670e-01 1.92248365e-01 6.51605380e-03 2.58067378e+02] [-1.92245030e-01 9.81346294e-01 -1.14019688e-03 -3.53783746e+01] [-6.61370623e-03 -1.33775637e-04 9.99978120e-01 -7.35925446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564203822 meters 0.02625484333689784 Centerline is valid? [True, True] Translation: X:258.10, Y:-35.38, Z:-7.36 [[ 9.81287896e-01 1.92435986e-01 6.51583533e-03 2.58099350e+02] [-1.92432647e-01 9.81309520e-01 -1.14144168e-03 -3.53841817e+01] [-6.61370569e-03 -1.33776537e-04 9.99978120e-01 -7.36018012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59420382200005 meters 0.026754761224088274 Centerline is valid? [True, True] Translation: X:258.13, Y:-35.39, Z:-7.36 [[ 9.81163595e-01 1.93090008e-01 5.85223299e-03 2.58131795e+02] [-1.93087320e-01 9.81181040e-01 -1.02632970e-03 -3.53856786e+01] [-5.94027406e-03 -1.22994643e-04 9.99982349e-01 -7.36171144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624203822 meters 0.025849733678201873 Centerline is valid? [True, True] Translation: X:258.16, Y:-35.39, Z:-7.36 [[ 9.81153830e-01 1.93192252e-01 3.73047110e-03 2.58163807e+02] [-1.93191165e-01 9.81160918e-01 -6.52990154e-04 -3.53885931e+01] [-3.78634508e-03 -8.00102683e-05 9.99992829e-01 -7.36308569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65420382200006 meters 0.0283616035797672 Centerline is valid? [True, True] Translation: X:258.20, Y:-35.39, Z:-7.37 [[ 9.81159527e-01 1.93164129e-01 3.68799965e-03 2.58196695e+02] [-1.93163065e-01 9.81166455e-01 -6.45863378e-04 -3.53884146e+01] [-3.74329918e-03 -7.86903088e-05 9.99992991e-01 -7.36785385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68420382200003 meters 0.026137983170120963 Centerline is valid? [True, True] Translation: X:258.23, Y:-35.39, Z:-7.37 [[ 9.81293579e-01 1.92482563e-01 3.65709828e-03 2.58228295e+02] [-1.92481508e-01 9.81300391e-01 -6.41495022e-04 -3.53929932e+01] [-3.71218858e-03 -7.44288477e-05 9.99993107e-01 -7.36614710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71420382200006 meters 0.037717382260215 Centerline is valid? [True, True] Translation: X:258.26, Y:-35.39, Z:-7.37 [[ 9.82039339e-01 1.88629873e-01 4.18420689e-03 2.58258542e+02] [-1.88628435e-01 9.82048251e-01 -7.39224278e-04 -3.53938743e+01] [-4.24853284e-03 -6.33130776e-05 9.99990973e-01 -7.37259741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74420382200003 meters 0.03525971321425868 Centerline is valid? [True, True] Translation: X:258.29, Y:-35.40, Z:-7.37 [[ 9.82567719e-01 1.85850543e-01 4.50045522e-03 2.58290218e+02] [-1.85848855e-01 9.82578024e-01 -7.93956374e-04 -3.54023030e+01] [-4.56960562e-03 -5.62885477e-05 9.99989558e-01 -7.36915886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77420382200006 meters 0.0184546167641557 Centerline is valid? [True, True] Translation: X:258.32, Y:-35.41, Z:-7.37 [[ 9.83847842e-01 1.78963972e-01 3.91408125e-03 2.58320234e+02] [-1.78962652e-01 9.83855628e-01 -6.87750026e-04 -3.54140170e+01] [-3.97397334e-03 -2.38329825e-05 9.99992103e-01 -7.37202383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80420382200003 meters 0.026900594090346532 Centerline is valid? [True, True] Translation: X:258.35, Y:-35.43, Z:-7.37 [[ 9.84518300e-01 1.75243170e-01 3.68073705e-03 2.58351008e+02] [-1.75241965e-01 9.84525181e-01 -6.49937996e-04 -3.54250059e+01] [-3.73767550e-03 -5.14374127e-06 9.99993015e-01 -7.37390031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83420382200006 meters 0.018198605908102017 Centerline is valid? [True, True] Translation: X:258.38, Y:-35.44, Z:-7.37 [[ 9.85532134e-01 1.69444872e-01 3.85328362e-03 2.58380488e+02] [-1.69443515e-01 9.85539667e-01 -6.78287512e-04 -3.54380472e+01] [-3.91249620e-03 1.55602159e-05 9.99992346e-01 -7.37080910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86420382200004 meters 0.030770472402143697 Centerline is valid? [True, True] Translation: X:258.41, Y:-35.45, Z:-7.38 [[ 9.85912262e-01 1.67221893e-01 3.72161106e-03 2.58411754e+02] [-1.67220611e-01 9.85919286e-01 -6.55223750e-04 -3.54450678e+01] [-3.77877588e-03 2.36630526e-05 9.99992860e-01 -7.37572315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89420382200007 meters 0.020794641863633962 Centerline is valid? [True, True] Translation: X:258.44, Y:-35.45, Z:-7.37 [[ 9.86222890e-01 1.65387372e-01 3.38064676e-03 2.58441481e+02] [-1.65386302e-01 9.86228684e-01 -5.95659888e-04 -3.54539963e+01] [-3.43260542e-03 2.83407502e-05 9.99994108e-01 -7.37428945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92420382200004 meters 0.02375343817256522 Centerline is valid? [True, True] Translation: X:258.47, Y:-35.46, Z:-7.38 [[ 9.86738875e-01 1.62265030e-01 4.05608791e-03 2.58470874e+02] [-1.62263456e-01 9.86747211e-01 -7.16330703e-04 -3.54645765e+01] [-4.11856886e-03 4.86765104e-05 9.99991517e-01 -7.37573774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95420382200007 meters 0.027860896159618117 Centerline is valid? [True, True] Translation: X:258.50, Y:-35.47, Z:-7.38 [[ 9.86872458e-01 1.61431729e-01 4.74846747e-03 2.58503963e+02] [-1.61429552e-01 9.86883880e-01 -8.40730197e-04 -3.54696424e+01] [-4.82190654e-03 6.31505005e-05 9.99988373e-01 -7.37745173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98420382200004 meters 0.028707588238125636 Centerline is valid? [True, True] Translation: X:258.53, Y:-35.48, Z:-7.38 [[ 9.86987873e-01 1.60722733e-01 4.81051354e-03 2.58534235e+02] [-1.60720490e-01 9.86999594e-01 -8.51911701e-04 -3.54759262e+01] [-4.88489649e-03 6.76784267e-05 9.99988067e-01 -7.37846861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01420382200007 meters 0.0330708382115025 Centerline is valid? [True, True] Translation: X:258.57, Y:-35.48, Z:-7.38 [[ 9.86921270e-01 1.61131468e-01 4.80168239e-03 2.58567043e+02] [-1.61129238e-01 9.86932949e-01 -8.50209925e-04 -3.54822343e+01] [-4.87593414e-03 6.53988335e-05 9.99988110e-01 -7.37860779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04420382200004 meters 0.021514927657914743 Centerline is valid? [True, True] Translation: X:258.60, Y:-35.48, Z:-7.37 [[ 9.86512792e-01 1.63589765e-01 5.55877371e-03 2.58599320e+02] [-1.63586801e-01 9.86528451e-01 -9.86776859e-04 -3.54847023e+01] [-5.64531501e-03 6.41259856e-05 9.99984063e-01 -7.37252985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074203822 meters 0.02110500513468326 Centerline is valid? [True, True] Translation: X:258.63, Y:-35.49, Z:-7.37 [[ 9.86171157e-01 1.65625902e-01 5.87443780e-03 2.58630253e+02] [-1.65622619e-01 9.86188652e-01 -1.04443198e-03 -3.54876187e+01] [-5.96628888e-03 5.70489186e-05 9.99982200e-01 -7.37494337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10420382200004 meters 0.017853084818833798 Centerline is valid? [True, True] Translation: X:258.66, Y:-35.49, Z:-7.37 [[ 9.85436443e-01 1.69974701e-01 4.85975730e-03 2.58663185e+02] [-1.69972508e-01 9.85448426e-01 -8.63676275e-04 -3.54861685e+01] [-4.93584330e-03 2.50729380e-05 9.99987818e-01 -7.37435170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134203822 meters 0.0163339771252164 Centerline is valid? [True, True] Translation: X:258.70, Y:-35.49, Z:-7.37 [[ 9.84737634e-01 1.73955915e-01 5.57952284e-03 2.58696412e+02] [-1.73953079e-01 9.84753441e-01 -9.93342856e-04 -3.54852890e+01] [-5.66725219e-03 7.60691714e-06 9.99983941e-01 -7.37408800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16420382200005 meters 0.015733762603071744 Centerline is valid? [True, True] Translation: X:258.73, Y:-35.49, Z:-7.37 [[ 9.84417951e-01 1.75771130e-01 5.08003922e-03 2.58728809e+02] [-1.75768801e-01 9.84431059e-01 -9.04762527e-04 -3.54871599e+01] [-5.15997952e-03 -2.24793234e-06 9.99986687e-01 -7.37325138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194203822 meters 0.01975727620881065 Centerline is valid? [True, True] Translation: X:258.76, Y:-35.49, Z:-7.38 [[ 9.84145920e-01 1.77299705e-01 4.65004320e-03 2.58759710e+02] [-1.77297768e-01 9.84156905e-01 -8.28930263e-04 -3.54889139e+01] [-4.72334122e-03 -8.65394271e-06 9.99988845e-01 -7.37882392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22420382200005 meters 0.016016148297213526 Centerline is valid? [True, True] Translation: X:258.79, Y:-35.49, Z:-7.38 [[ 9.84040121e-01 1.77874337e-01 5.07546251e-03 2.58791350e+02] [-1.77872031e-01 9.84053210e-01 -9.05783584e-04 -3.54944376e+01] [-5.15564083e-03 -1.14554367e-05 9.99986710e-01 -7.37637627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254203822 meters 0.01696584265486645 Centerline is valid? [True, True] Translation: X:258.82, Y:-35.50, Z:-7.38 [[ 9.84156360e-01 1.77220820e-01 5.38894116e-03 2.58821531e+02] [-1.77218202e-01 9.84171114e-01 -9.63349440e-04 -3.55017927e+01] [-5.47436580e-03 -6.93198332e-06 9.99985016e-01 -7.38058438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28420382200005 meters 0.01762477886372109 Centerline is valid? [True, True] Translation: X:258.85, Y:-35.51, Z:-7.38 [[ 9.84641243e-01 1.74524137e-01 4.79047402e-03 2.58851686e+02] [-1.74522027e-01 9.84652896e-01 -8.58282048e-04 -3.55128771e+01] [-4.86674505e-03 9.05666797e-06 9.99988157e-01 -7.38324666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314203822 meters 0.018814032511443344 Centerline is valid? [True, True] Translation: X:258.88, Y:-35.52, Z:-7.39 [[ 9.84838579e-01 1.73431515e-01 3.80576326e-03 2.58881267e+02] [-1.73430181e-01 9.84845932e-01 -6.80196139e-04 -3.55219409e+01] [-3.86605792e-03 9.84918697e-06 9.99992527e-01 -7.38689299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34420382200005 meters 0.029326888804885525 Centerline is valid? [True, True] Translation: X:258.91, Y:-35.53, Z:-7.39 [[ 9.84930059e-01 1.72931792e-01 2.71572916e-03 2.58913213e+02] [-1.72931115e-01 9.84933803e-01 -4.84017237e-04 -3.55277817e+01] [-2.75851542e-03 7.08905401e-06 9.99996195e-01 -7.39004624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374203822 meters 0.02099976582747203 Centerline is valid? [True, True] Translation: X:258.95, Y:-35.53, Z:-7.39 [[ 9.84790732e-01 1.73730341e-01 2.23240944e-03 2.58945567e+02] [-1.73729887e-01 9.84793262e-01 -3.97337405e-04 -3.55318459e+01] [-2.26749134e-03 3.45795430e-06 9.99997429e-01 -7.38902391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40420382200006 meters 0.029075057096536502 Centerline is valid? [True, True] Translation: X:258.98, Y:-35.53, Z:-7.39 [[ 9.84319885e-01 1.76383145e-01 1.83023441e-03 2.58977755e+02] [-1.76382846e-01 9.84321587e-01 -3.24858074e-04 -3.55347463e+01] [-1.85883872e-03 -3.05769116e-06 9.99998272e-01 -7.39248246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43420382200003 meters 0.017684311481086946 Centerline is valid? [True, True] Translation: X:259.01, Y:-35.54, Z:-7.39 [[ 9.84041399e-01 1.77931026e-01 1.75339650e-03 2.59010793e+02] [-1.77930754e-01 9.84042961e-01 -3.11004184e-04 -3.55395552e+01] [-1.78075478e-03 -5.94216894e-06 9.99998414e-01 -7.38834244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46420382200006 meters 0.027260152159360795 Centerline is valid? [True, True] Translation: X:259.04, Y:-35.54, Z:-7.39 [[ 9.83504917e-01 1.80869325e-01 2.08933869e-03 2.59041696e+02] [-1.80868940e-01 9.83507136e-01 -3.73158902e-04 -3.55406536e+01] [-2.12237251e-03 -1.08928601e-05 9.99997748e-01 -7.39369529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49420382200003 meters 0.02615088960158402 Centerline is valid? [True, True] Translation: X:259.07, Y:-35.54, Z:-7.39 [[ 9.83258065e-01 1.82214316e-01 1.23323192e-03 2.59073360e+02] [-1.82214185e-01 9.83258838e-01 -2.18277663e-04 -3.55445191e+01] [-1.25235950e-03 -1.00890774e-05 9.99999216e-01 -7.39493545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52420382200006 meters 0.029971321124753626 Centerline is valid? [True, True] Translation: X:259.10, Y:-35.54, Z:-7.40 [[ 9.82881852e-01 1.84232755e-01 1.24786232e-03 2.59104651e+02] [-1.84232617e-01 9.82882644e-01 -2.25861438e-04 -3.55448066e+01] [-1.26811329e-03 -7.90183193e-06 9.99999196e-01 -7.39651843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55420382200003 meters 0.01863415348232357 Centerline is valid? [True, True] Translation: X:259.14, Y:-35.55, Z:-7.39 [[ 9.82782702e-01 1.84763542e-01 7.71478926e-04 2.59135901e+02] [-1.84763490e-01 9.82783004e-01 -1.38926835e-04 -3.55498855e+01] [-7.83864991e-04 -6.00624849e-06 9.99999693e-01 -7.39102995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58420382200006 meters 0.02067322430535323 Centerline is valid? [True, True] Translation: X:259.17, Y:-35.55, Z:-7.39 [[ 9.82475262e-01 1.86388149e-01 1.34809422e-03 2.59166861e+02] [-1.86387992e-01 9.82476187e-01 -2.42246602e-04 -3.55512184e+01] [-1.36962237e-03 -1.32672804e-05 9.99999062e-01 -7.39484293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61420382200004 meters 0.019461627018718387 Centerline is valid? [True, True] Translation: X:259.20, Y:-35.56, Z:-7.39 [[ 9.82353292e-01 1.87021825e-01 2.20150267e-03 2.59197510e+02] [-1.87021402e-01 9.82355759e-01 -3.98674576e-04 -3.55560480e+01] [-2.23721967e-03 -2.00888318e-05 9.99997497e-01 -7.39100010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64420382200007 meters 0.01870742675726744 Centerline is valid? [True, True] Translation: X:259.23, Y:-35.56, Z:-7.39 [[ 9.82405232e-01 1.86723341e-01 3.78868160e-03 2.59227850e+02] [-1.86722083e-01 9.82412537e-01 -6.86100023e-04 -3.55596990e+01] [-3.85015919e-03 -3.34022677e-05 9.99992588e-01 -7.38892167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67420382200004 meters 0.024087149800077822 Centerline is valid? [True, True] Translation: X:259.26, Y:-35.56, Z:-7.39 [[ 9.82461430e-01 1.86418718e-01 4.19522409e-03 2.59257567e+02] [-1.86417174e-01 9.82470387e-01 -7.59416267e-04 -3.55641340e+01] [-4.26325284e-03 -3.59646293e-05 9.99990912e-01 -7.39270573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70420382200007 meters 0.017876798223403902 Centerline is valid? [True, True] Translation: X:259.29, Y:-35.57, Z:-7.39 [[ 9.82780328e-01 1.84717655e-01 4.71318176e-03 2.59287812e+02] [-1.84715704e-01 9.82791629e-01 -8.49735736e-04 -3.55711164e+01] [-4.78903677e-03 -3.54951209e-05 9.99988532e-01 -7.39028505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73420382200004 meters 0.029006985398942902 Centerline is valid? [True, True] Translation: X:259.32, Y:-35.58, Z:-7.39 [[ 9.82846510e-01 1.84354488e-01 5.11477239e-03 2.59319265e+02] [-1.84352180e-01 9.82859818e-01 -9.23087524e-04 -3.55773266e+01] [-5.19727959e-03 -3.56660911e-05 9.99986493e-01 -7.39387006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76420382200007 meters 0.01666523421233594 Centerline is valid? [True, True] Translation: X:259.35, Y:-35.59, Z:-7.39 [[ 9.83342167e-01 1.81696799e-01 4.94538982e-03 2.59350327e+02] [-1.81694604e-01 9.83354602e-01 -8.93240336e-04 -3.55879568e+01] [-5.02537074e-03 -2.01897587e-05 9.99987373e-01 -7.39055376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79420382200004 meters 0.016728069810404155 Centerline is valid? [True, True] Translation: X:259.38, Y:-35.60, Z:-7.39 [[ 9.83620622e-01 1.80188942e-01 4.73464314e-03 2.59382469e+02] [-1.80186913e-01 9.83632017e-01 -8.55225064e-04 -3.55970436e+01] [-4.81124868e-03 -1.19037226e-05 9.99988426e-01 -7.39284883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824203822 meters 0.017502493949525525 Centerline is valid? [True, True] Translation: X:259.41, Y:-35.61, Z:-7.40 [[ 9.84156369e-01 1.77256511e-01 4.04612067e-03 2.59412589e+02] [-1.77255000e-01 9.84164686e-01 -7.31777490e-04 -3.56071984e+01] [-4.11176140e-03 2.98835637e-06 9.99991547e-01 -7.39612178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85420382200004 meters 0.027329026595477524 Centerline is valid? [True, True] Translation: X:259.44, Y:-35.61, Z:-7.40 [[ 9.84293343e-01 1.76499741e-01 3.80201793e-03 2.59444609e+02] [-1.76498404e-01 9.84300686e-01 -6.87093512e-04 -3.56144673e+01] [-3.86360069e-03 5.25147359e-06 9.99992536e-01 -7.40083961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884203822 meters 0.02219349110191287 Centerline is valid? [True, True] Translation: X:259.48, Y:-35.63, Z:-7.40 [[ 9.84649723e-01 1.74491501e-01 4.19980880e-03 2.59475071e+02] [-1.74489844e-01 9.84658680e-01 -7.60729639e-04 -3.56266063e+01] [-4.26811905e-03 1.62282475e-05 9.99990891e-01 -7.40072310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91420382200005 meters 0.026221455414705802 Centerline is valid? [True, True] Translation: X:259.51, Y:-35.63, Z:-7.40 [[ 9.84661311e-01 1.74436276e-01 3.75344102e-03 2.59506288e+02] [-1.74434950e-01 9.84668465e-01 -6.80354078e-04 -3.56344119e+01] [-3.81457344e-03 1.51870410e-05 9.99992724e-01 -7.40326622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944203822 meters 0.01960669431491254 Centerline is valid? [True, True] Translation: X:259.54, Y:-35.64, Z:-7.40 [[ 9.84642772e-01 1.74560166e-01 2.71280853e-03 2.59536675e+02] [-1.74559475e-01 9.84646509e-01 -4.91171764e-04 -3.56413796e+01] [-2.75689647e-03 1.00822945e-05 9.99996200e-01 -7.40304843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97420382200005 meters 0.02906414110191752 Centerline is valid? [True, True] Translation: X:259.57, Y:-35.65, Z:-7.41 [[ 9.84264442e-01 1.76701182e-01 -4.48676336e-04 2.59567679e+02] [-1.76701161e-01 9.84264544e-01 8.64991345e-05 -3.56452953e+01] [ 4.56900708e-04 -5.85639276e-06 9.99999896e-01 -7.41324428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004203822 meters 0.03346697559709312 Centerline is valid? [True, True] Translation: X:259.60, Y:-35.65, Z:-7.42 [[ 9.84084304e-01 1.77698545e-01 -1.14468054e-03 2.59598838e+02] [-1.77698420e-01 9.84084970e-01 2.10041807e-04 -3.56494424e+01] [ 1.16378704e-03 -3.29092066e-06 9.99999323e-01 -7.41578075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03420382200005 meters 0.02036477871960797 Centerline is valid? [True, True] Translation: X:259.63, Y:-35.66, Z:-7.42 [[ 9.83678684e-01 1.79933307e-01 5.01097318e-04 2.59629296e+02] [-1.79933904e-01 9.83677272e-01 1.67755459e-03 -3.56553673e+01] [-1.91070098e-04 -1.74033909e-03 9.99998467e-01 -7.41537739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064203822 meters 0.030807118776565712 Centerline is valid? [True, True] Translation: X:259.66, Y:-35.66, Z:-7.42 [[ 9.83702933e-01 1.79792785e-01 -1.75891794e-03 2.59658694e+02] [-1.79795379e-01 9.83702967e-01 -1.44736387e-03 -3.56600615e+01] [ 1.47002722e-03 1.74002140e-03 9.99997406e-01 -7.41894326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09420382200005 meters 0.018297164291503118 Centerline is valid? [True, True] Translation: X:259.69, Y:-35.67, Z:-7.41 [[ 9.83918179e-01 1.78617858e-01 8.23660643e-04 2.59688837e+02] [-1.78617795e-01 9.83918524e-01 -1.50069692e-04 -3.56727737e+01] [-8.37220091e-04 5.35849989e-07 9.99999650e-01 -7.40667654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124203822 meters 0.02115246356216548 Centerline is valid? [True, True] Translation: X:259.72, Y:-35.68, Z:-7.41 [[ 9.83992459e-01 1.78189641e-01 2.70041632e-03 2.59719097e+02] [-1.78188967e-01 9.83996165e-01 -4.90193316e-04 -3.56798212e+01] [-2.74454667e-03 1.16213232e-06 9.99996234e-01 -7.40805908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15420382200006 meters 0.017566207916080063 Centerline is valid? [True, True] Translation: X:259.75, Y:-35.69, Z:-7.40 [[ 9.84093806e-01 1.77619850e-01 3.25127508e-03 2.59750508e+02] [-1.77618866e-01 9.84099176e-01 -5.91350293e-04 -3.56875770e+01] [-3.30461268e-03 4.45636901e-06 9.99994540e-01 -7.40396301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18420382200003 meters 0.019522388354418576 Centerline is valid? [True, True] Translation: X:259.78, Y:-35.70, Z:-7.41 [[ 9.84391750e-01 1.75968536e-01 2.82082059e-03 2.59780102e+02] [-1.75967788e-01 9.84395791e-01 -5.13250559e-04 -3.57000411e+01] [-2.86711987e-03 8.86605698e-06 9.99995890e-01 -7.41001591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21420382200006 meters 0.028278869066840278 Centerline is valid? [True, True] Translation: X:259.81, Y:-35.71, Z:-7.41 [[ 9.84403352e-01 1.75892253e-01 3.45779782e-03 2.59809703e+02] [-1.75891116e-01 9.84409425e-01 -6.32413083e-04 -3.57093405e+01] [-3.51512533e-03 1.43536393e-05 9.99993822e-01 -7.41419872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24420382200003 meters 0.018881767896649155 Centerline is valid? [True, True] Translation: X:259.84, Y:-35.72, Z:-7.41 [[ 9.84362938e-01 1.76130380e-01 2.77417816e-03 2.59840282e+02] [-1.76129656e-01 9.84366847e-01 -5.05160462e-04 -3.57221803e+01] [-2.81978311e-03 8.64619217e-06 9.99996024e-01 -7.40898925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27420382200006 meters 0.034098158848004684 Centerline is valid? [True, True] Translation: X:259.87, Y:-35.73, Z:-7.41 [[ 9.84138903e-01 1.77376092e-01 2.88832717e-03 2.59872398e+02] [-1.77375302e-01 9.84143141e-01 -5.29373104e-04 -3.57278378e+01] [-2.93642551e-03 8.65876087e-06 9.99995689e-01 -7.41059764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30420382200003 meters 0.01803674996394396 Centerline is valid? [True, True] Translation: X:259.90, Y:-35.73, Z:-7.41 [[ 9.83927219e-01 1.78556547e-01 2.18802622e-03 2.59903426e+02] [-1.78556104e-01 9.83929652e-01 -3.98065650e-04 -3.57333712e+01] [-2.22394110e-03 9.82191183e-07 9.99997527e-01 -7.41067239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33420382200006 meters 0.021061065965443423 Centerline is valid? [True, True] Translation: X:259.94, Y:-35.74, Z:-7.41 [[ 9.83127952e-01 1.82919065e-01 2.12517399e-04 2.59935247e+02] [-1.82919062e-01 9.83127975e-01 -3.41847396e-05 -3.57374765e+01] [-2.15184841e-04 -5.26551018e-06 9.99999977e-01 -7.41474870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36420382200004 meters 0.021266989516743585 Centerline is valid? [True, True] Translation: X:259.97, Y:-35.74, Z:-7.42 [[ 9.82296240e-01 1.87330494e-01 1.17579640e-03 2.59966193e+02] [-1.87330374e-01 9.82296944e-01 -2.12130314e-04 -3.57406492e+01] [-1.19471968e-03 -1.18875698e-05 9.99999286e-01 -7.41968041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39420382200007 meters 0.021953590510057686 Centerline is valid? [True, True] Translation: X:260.00, Y:-35.74, Z:-7.42 [[ 9.81897230e-01 1.89407321e-01 1.64215322e-03 2.59998062e+02] [-1.89407087e-01 9.81898603e-01 -2.98585653e-04 -3.57443272e+01] [-1.66898226e-03 -1.78550316e-05 9.99998607e-01 -7.41894757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42420382200004 meters 0.022629115936331455 Centerline is valid? [True, True] Translation: X:260.03, Y:-35.75, Z:-7.42 [[ 9.81598182e-01 1.90943647e-01 2.35197966e-03 2.60029296e+02] [-1.90943156e-01 9.81601000e-01 -4.33555724e-04 -3.57486265e+01] [-2.39149029e-03 -2.35169083e-05 9.99997140e-01 -7.41936914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45420382200007 meters 0.022629115936331455 Centerline is valid? [True, True] Translation: X:260.06, Y:-35.75, Z:-7.42 [[ 9.81568351e-01 1.91096933e-01 2.35260361e-03 2.60060402e+02] [-1.91096451e-01 9.81571170e-01 -4.30177672e-04 -3.57545328e+01] [-2.39145351e-03 -2.73254109e-05 9.99997140e-01 -7.42027048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48420382200004 meters 0.022237652573140396 Centerline is valid? [True, True] Translation: X:260.09, Y:-35.76, Z:-7.42 [[ 9.81252171e-01 1.92717423e-01 2.04241255e-03 2.60091675e+02] [-1.92717064e-01 9.81254296e-01 -3.72994395e-04 -3.57643532e+01] [-2.07600861e-03 -2.76061899e-05 9.99997845e-01 -7.41863082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51420382200007 meters 0.02512248810249984 Centerline is valid? [True, True] Translation: X:260.12, Y:-35.77, Z:-7.43 [[ 9.81239845e-01 1.92787748e-01 1.11823763e-03 2.60121219e+02] [-1.92787642e-01 9.81240482e-01 -2.02612739e-04 -3.57736119e+01] [-1.13632128e-03 -1.67707025e-05 9.99999354e-01 -7.42767563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54420382200004 meters 0.021172125053817412 Centerline is valid? [True, True] Translation: X:260.15, Y:-35.78, Z:-7.42 [[ 9.81196559e-01 1.93008295e-01 1.05438520e-03 2.60153147e+02] [-1.93008202e-01 9.81197125e-01 -1.89731247e-04 -3.57849208e+01] [-1.07117944e-03 -1.73413463e-05 9.99999426e-01 -7.41915405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574203822 meters 0.022081228564871092 Centerline is valid? [True, True] Translation: X:260.18, Y:-35.79, Z:-7.42 [[ 9.81127292e-01 1.93359833e-01 1.10082505e-03 2.60184600e+02] [-1.93359729e-01 9.81127910e-01 -2.00610104e-04 -3.57902915e+01] [-1.11884012e-03 -1.60311849e-05 9.99999374e-01 -7.42200480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60420382200004 meters 0.031113025877105686 Centerline is valid? [True, True] Translation: X:260.22, Y:-35.79, Z:-7.43 [[ 9.80818168e-01 1.94921674e-01 -1.12330377e-03 2.60215767e+02] [-1.94921558e-01 9.80818811e-01 2.12998746e-04 -3.57938472e+01] [ 1.14327554e-03 1.00430820e-05 9.99999346e-01 -7.42943376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634203822 meters 0.024617812390878666 Centerline is valid? [True, True] Translation: X:260.25, Y:-35.80, Z:-7.43 [[ 9.80709785e-01 1.95453669e-01 -2.48610468e-03 2.60246081e+02] [-1.95453126e-01 9.80712936e-01 4.62150672e-04 -3.57984027e+01] [ 2.52848407e-03 3.26812451e-05 9.99996803e-01 -7.43008278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66420382200005 meters 0.030106715520108258 Centerline is valid? [True, True] Translation: X:260.28, Y:-35.80, Z:-7.44 [[ 9.80326477e-01 1.97374091e-01 -1.86185053e-03 2.60277034e+02] [-1.97373790e-01 9.80328245e-01 3.45947978e-04 -3.57969719e+01] [ 1.89350583e-03 2.83385321e-05 9.99998207e-01 -7.43808321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694203822 meters 0.024072709972782914 Centerline is valid? [True, True] Translation: X:260.31, Y:-35.81, Z:-7.43 [[ 9.80204203e-01 1.97979982e-01 -1.90969885e-03 2.60308615e+02] [-1.97979655e-01 9.80206063e-01 3.60627477e-04 -3.58097815e+01] [ 1.94329541e-03 2.45929514e-05 9.99998112e-01 -7.42578148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72420382200005 meters 0.025754895237957928 Centerline is valid? [True, True] Translation: X:260.34, Y:-35.82, Z:-7.43 [[ 9.80260569e-01 1.97702032e-01 -1.76752985e-03 2.60338809e+02] [-1.97701752e-01 9.80262162e-01 3.33403580e-04 -3.58150192e+01] [ 1.79855720e-03 2.26213669e-05 9.99998382e-01 -7.42816776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754203822 meters 0.024700909896275134 Centerline is valid? [True, True] Translation: X:260.37, Y:-35.82, Z:-7.43 [[ 9.80347749e-01 1.97274497e-01 -1.03119444e-03 2.60371091e+02] [-1.97274402e-01 9.80348292e-01 1.94527273e-04 -3.58203234e+01] [ 1.04930498e-03 1.27238922e-05 9.99999449e-01 -7.42692256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78420382200005 meters 0.024471546772117974 Centerline is valid? [True, True] Translation: X:260.40, Y:-35.82, Z:-7.43 [[ 9.80490617e-01 1.96564366e-01 -7.74677507e-04 2.60402425e+02] [-1.96564309e-01 9.80490923e-01 1.48760106e-04 -3.58242426e+01] [ 7.88805199e-04 6.41606106e-06 9.99999689e-01 -7.42888023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814203822 meters 0.023653046663343464 Centerline is valid? [True, True] Translation: X:260.43, Y:-35.83, Z:-7.43 [[ 9.80861921e-01 1.94697677e-01 -1.64508750e-03 2.60434772e+02] [-1.94697427e-01 9.80863301e-01 3.12171984e-04 -3.58305563e+01] [ 1.67438511e-03 1.40966906e-05 9.99998598e-01 -7.43234941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84420382200005 meters 0.021771600287444834 Centerline is valid? [True, True] Translation: X:260.47, Y:-35.84, Z:-7.43 [[ 9.81097716e-01 1.93504791e-01 -1.78006328e-03 2.60466266e+02] [-1.93504497e-01 9.81099330e-01 3.37121932e-04 -3.58379008e+01] [ 1.81165360e-03 1.37006931e-05 9.99998359e-01 -7.43138195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874203822 meters 0.021590679695655184 Centerline is valid? [True, True] Translation: X:260.50, Y:-35.84, Z:-7.43 [[ 9.81051412e-01 1.93734923e-01 -2.21510390e-03 2.60497542e+02] [-1.93734472e-01 9.81053912e-01 4.18380514e-04 -3.58430695e+01] [ 2.25419127e-03 1.86891918e-05 9.99997459e-01 -7.43199139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90420382200006 meters 0.022814645483448005 Centerline is valid? [True, True] Translation: X:260.53, Y:-35.85, Z:-7.43 [[ 9.80839169e-01 1.94798739e-01 -2.82415976e-03 2.60528066e+02] [-1.94798013e-01 9.80843234e-01 5.32582744e-04 -3.58471318e+01] [ 2.87380444e-03 2.77626929e-05 9.99995870e-01 -7.43364838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93420382200003 meters 0.02302953788509148 Centerline is valid? [True, True] Translation: X:260.56, Y:-35.85, Z:-7.43 [[ 9.80686927e-01 1.95567414e-01 -2.55701489e-03 2.60560048e+02] [-1.95566818e-01 9.80690260e-01 4.83424458e-04 -3.58514339e+01] [ 2.60218167e-03 2.59792210e-05 9.99996614e-01 -7.43330637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96420382200006 meters 0.02462168301360278 Centerline is valid? [True, True] Translation: X:260.59, Y:-35.85, Z:-7.44 [[ 9.80554426e-01 1.96239648e-01 -1.73731104e-03 2.60591562e+02] [-1.96239372e-01 9.80555965e-01 3.29956609e-04 -3.58524824e+01] [ 1.76828127e-03 1.73884142e-05 9.99998436e-01 -7.43671715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99420382200003 meters 0.026290434204608915 Centerline is valid? [True, True] Translation: X:260.62, Y:-35.85, Z:-7.44 [[ 9.80388465e-01 1.97065664e-01 -1.89258312e-03 2.60623469e+02] [-1.97065346e-01 9.80390291e-01 3.55218641e-04 -3.58501412e+01] [ 1.92547151e-03 2.47102886e-05 9.99998146e-01 -7.43551556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02420382200006 meters 0.032639197260326686 Centerline is valid? [True, True] Translation: X:260.65, Y:-35.85, Z:-7.43 [[ 9.80307935e-01 1.97472384e-01 -1.00499245e-03 2.60654516e+02] [-1.97472294e-01 9.80308450e-01 1.89006406e-04 -3.58531840e+01] [ 1.02252614e-03 1.31736861e-05 9.99999477e-01 -7.43468476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05420382200003 meters 0.02285922947469565 Centerline is valid? [True, True] Translation: X:260.69, Y:-35.86, Z:-7.43 [[ 9.80318604e-01 1.97420859e-01 -6.63152009e-04 2.60685739e+02] [-1.97420817e-01 9.80318828e-01 1.29041972e-04 -3.58570050e+01] [ 6.75575977e-04 4.41776562e-06 9.99999772e-01 -7.43222368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08420382200006 meters 0.031934589432940155 Centerline is valid? [True, True] Translation: X:260.72, Y:-35.86, Z:-7.44 [[ 9.80664972e-01 1.95692893e-01 7.10654386e-04 2.60716688e+02] [-1.95692848e-01 9.80665229e-01 -1.32564959e-04 -3.58590868e+01] [-7.22856067e-04 -9.06816921e-06 9.99999739e-01 -7.43562761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11420382200004 meters 0.02692699716323501 Centerline is valid? [True, True] Translation: X:260.75, Y:-35.86, Z:-7.44 [[ 9.80892670e-01 1.94545084e-01 1.33425205e-03 2.60746453e+02] [-1.94544924e-01 9.80893577e-01 -2.49895152e-04 -3.58630391e+01] [-1.35737514e-03 -1.44516412e-05 9.99999079e-01 -7.43670492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14420382200007 meters 0.02885922418739648 Centerline is valid? [True, True] Translation: X:260.78, Y:-35.87, Z:-7.44 [[ 9.81390133e-01 1.92024120e-01 3.80007289e-04 2.60777281e+02] [-1.92024107e-01 9.81390207e-01 -7.05780207e-05 -3.58677110e+01] [-3.86488114e-04 -3.70598706e-06 9.99999925e-01 -7.43650735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17420382200004 meters 0.022451557138332707 Centerline is valid? [True, True] Translation: X:260.81, Y:-35.87, Z:-7.44 [[ 9.81716991e-01 1.90346394e-01 -1.53699471e-05 2.60806977e+02] [-1.90346394e-01 9.81716991e-01 2.88300266e-06 -3.58723088e+01] [ 1.56377070e-05 9.53213014e-08 1.00000000e+00 -7.43642407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20420382200007 meters 0.025921499564589428 Centerline is valid? [True, True] Translation: X:260.84, Y:-35.88, Z:-7.44 [[ 9.82528559e-01 1.86110744e-01 6.48622850e-04 2.60837118e+02] [-1.86110707e-01 9.82528774e-01 -1.17220254e-04 -3.58819216e+01] [-6.59106563e-04 -5.54341058e-06 9.99999783e-01 -7.43900045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23420382200004 meters 0.01885620951012647 Centerline is valid? [True, True] Translation: X:260.87, Y:-35.89, Z:-7.44 [[ 9.83050797e-01 1.83333314e-01 1.60121585e-04 2.60867625e+02] [-1.83333313e-01 9.83050810e-01 -2.51813733e-05 -3.58939733e+01] [-1.62024239e-04 -4.60105151e-06 9.99999987e-01 -7.43729025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26420382200007 meters 0.029979589802679917 Centerline is valid? [True, True] Translation: X:260.90, Y:-35.90, Z:-7.44 [[ 9.83960161e-01 1.78387833e-01 4.26994196e-04 2.60898097e+02] [-1.78387817e-01 9.83960254e-01 -7.54040516e-05 -3.59037584e+01] [-4.33596483e-04 -1.97597992e-06 9.99999906e-01 -7.44191992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29420382200004 meters 0.022282483779519274 Centerline is valid? [True, True] Translation: X:260.93, Y:-35.91, Z:-7.44 [[ 9.84266323e-01 1.76691263e-01 -5.05679741e-05 2.60928060e+02] [-1.76691263e-01 9.84266325e-01 1.40718486e-05 -3.59115822e+01] [ 5.22587263e-05 -4.91552746e-06 9.99999999e-01 -7.44279340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324203822 meters 0.03550767311948489 Centerline is valid? [True, True] Translation: X:260.96, Y:-35.92, Z:-7.45 [[ 9.84716091e-01 1.74164910e-01 -8.97076052e-04 2.60958716e+02] [-1.74164824e-01 9.84716499e-01 1.73864713e-04 -3.59231741e+01] [ 9.13646722e-04 -1.49682875e-05 9.99999583e-01 -7.44703219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35420382200004 meters 0.033396201342932495 Centerline is valid? [True, True] Translation: X:260.99, Y:-35.93, Z:-7.44 [[ 9.84792779e-01 1.73732252e-01 -5.36792516e-04 2.60991099e+02] [-1.73732219e-01 9.84792925e-01 1.07133332e-04 -3.59303232e+01] [ 5.47241987e-04 -1.22459772e-05 9.99999850e-01 -7.44319674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384203822 meters 0.030390671596579995 Centerline is valid? [True, True] Translation: X:261.02, Y:-35.94, Z:-7.45 [[ 9.84798882e-01 1.73698362e-01 2.00858668e-04 2.61021145e+02] [-1.73698359e-01 9.84798903e-01 -3.31746092e-05 -3.59384566e+01] [-2.03567772e-04 -2.21850303e-06 9.99999979e-01 -7.44758582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41420382200005 meters 0.030804502097169416 Centerline is valid? [True, True] Translation: X:261.05, Y:-35.94, Z:-7.45 [[ 9.84722417e-01 1.74129767e-01 -7.65176449e-04 2.61052669e+02] [-1.74129704e-01 9.84722714e-01 1.49649887e-04 -3.59434557e+01] [ 7.79545129e-04 -1.41236500e-05 9.99999696e-01 -7.44634226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444203822 meters 0.03076646140245738 Centerline is valid? [True, True] Translation: X:261.08, Y:-35.95, Z:-7.45 [[ 9.84590753e-01 1.74869225e-01 -1.34281219e-03 2.61083179e+02] [-1.74869037e-01 9.84591669e-01 2.56663329e-04 -3.59498203e+01] [ 1.36700421e-03 -1.78920655e-05 9.99999065e-01 -7.44765802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47420382200005 meters 0.02579083058027606 Centerline is valid? [True, True] Translation: X:261.11, Y:-35.95, Z:-7.45 [[ 9.84113091e-01 1.77532448e-01 -1.91175410e-03 2.61114989e+02] [-1.77532070e-01 9.84114947e-01 3.66947796e-04 -3.59529862e+01] [ 1.94653092e-03 -2.17204674e-05 9.99998105e-01 -7.44708108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504203822 meters 0.027727693865512434 Centerline is valid? [True, True] Translation: X:261.15, Y:-35.96, Z:-7.45 [[ 9.83716043e-01 1.79713915e-01 -2.37816407e-03 2.61146387e+02] [-1.79713338e-01 9.83718917e-01 4.56032623e-04 -3.59560673e+01] [ 2.42140039e-03 -2.12188042e-05 9.99997068e-01 -7.45088934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53420382200005 meters 0.018635530623840393 Centerline is valid? [True, True] Translation: X:261.18, Y:-35.96, Z:-7.45 [[ 9.82959344e-01 1.83817643e-01 -1.41492585e-03 2.61178685e+02] [-1.83817446e-01 9.82960363e-01 2.68844706e-04 -3.59562059e+01] [ 1.44023442e-03 -4.17536074e-06 9.99998963e-01 -7.44535422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564203822 meters 0.021756384985149622 Centerline is valid? [True, True] Translation: X:261.21, Y:-35.96, Z:-7.45 [[ 9.82561216e-01 1.85936389e-01 -1.05634269e-03 2.61209568e+02] [-1.85936276e-01 9.82561784e-01 2.05075016e-04 -3.59597036e+01] [ 1.07605287e-03 -5.08633063e-06 9.99999421e-01 -7.44894512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59420382200005 meters 0.025053000897705686 Centerline is valid? [True, True] Translation: X:261.24, Y:-35.96, Z:-7.45 [[ 9.81829183e-01 1.89766609e-01 3.00666808e-04 2.61240191e+02] [-1.89766601e-01 9.81829229e-01 -5.70236268e-05 -3.59589263e+01] [-3.06024641e-04 -1.06905724e-06 9.99999953e-01 -7.45167093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624203822 meters 0.018666765603430092 Centerline is valid? [True, True] Translation: X:261.27, Y:-35.96, Z:-7.44 [[ 9.81538659e-01 1.91258339e-01 1.45231543e-03 2.61271026e+02] [-1.91258141e-01 9.81539733e-01 -2.75442084e-04 -3.59618768e+01] [-1.47818589e-03 -7.41009415e-06 9.99998907e-01 -7.44495229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65420382200006 meters 0.018668890801253137 Centerline is valid? [True, True] Translation: X:261.30, Y:-35.97, Z:-7.44 [[ 9.81284608e-01 1.92552640e-01 1.99948204e-03 2.61301217e+02] [-1.92552267e-01 9.81286645e-01 -3.79216175e-04 -3.59650270e+01] [-2.03508410e-03 -1.28858049e-05 9.99997929e-01 -7.44441709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68420382200003 meters 0.022397590461529327 Centerline is valid? [True, True] Translation: X:261.33, Y:-35.96, Z:-7.45 [[ 9.80881146e-01 1.94598316e-01 1.91648070e-03 2.61330806e+02] [-1.94597977e-01 9.80883018e-01 -3.63802108e-04 -3.59648779e+01] [-1.95063865e-03 -1.60966389e-05 9.99998097e-01 -7.44844815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71420382200006 meters 0.03091861072667388 Centerline is valid? [True, True] Translation: X:261.36, Y:-35.97, Z:-7.45 [[ 9.80632611e-01 1.95844706e-01 2.12895069e-03 2.61360622e+02] [-1.95844290e-01 9.80634922e-01 -4.04388135e-04 -3.59673244e+01] [-2.16692067e-03 -2.03866433e-05 9.99997652e-01 -7.45026652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74420382200003 meters 0.02167748850248069 Centerline is valid? [True, True] Translation: X:261.39, Y:-35.97, Z:-7.45 [[ 9.80293597e-01 1.97519648e-01 3.23286352e-03 2.61389839e+02] [-1.97518697e-01 9.80298927e-01 -6.13934928e-04 -3.59680675e+01] [-3.29043686e-03 -3.67145128e-05 9.99994586e-01 -7.44771064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77420382200006 meters 0.034560020954087035 Centerline is valid? [True, True] Translation: X:261.42, Y:-35.97, Z:-7.45 [[ 9.80140004e-01 1.98298831e-01 1.77386358e-03 2.61419450e+02] [-1.98298546e-01 9.80141609e-01 -3.36955628e-04 -3.59700054e+01] [-1.80545541e-03 -2.14908785e-05 9.99998370e-01 -7.45106910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80420382200003 meters 0.024595068710518756 Centerline is valid? [True, True] Translation: X:261.45, Y:-35.97, Z:-7.46 [[ 9.79940285e-01 1.99291047e-01 3.41235961e-04 2.61448347e+02] [-1.99291036e-01 9.79940344e-01 -6.60726272e-05 -3.59676821e+01] [-3.47558568e-04 -3.25803911e-06 9.99999940e-01 -7.45591361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83420382200006 meters 0.02386655696171161 Centerline is valid? [True, True] Translation: X:261.48, Y:-35.97, Z:-7.45 [[ 9.79935689e-01 1.99313490e-01 4.21946833e-04 2.61476750e+02] [-1.99313474e-01 9.79935780e-01 -8.13213548e-05 -3.59726944e+01] [-4.29689242e-04 -4.40999111e-06 9.99999908e-01 -7.45499073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86420382200004 meters 0.032350520864129116 Centerline is valid? [True, True] Translation: X:261.50, Y:-35.98, Z:-7.46 [[ 9.79992199e-01 1.99035816e-01 -1.82347063e-04 2.61504727e+02] [-1.99035813e-01 9.79992216e-01 3.28190398e-05 -3.59759940e+01] [ 1.85230866e-04 4.13119292e-06 9.99999983e-01 -7.46110101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89420382200007 meters 0.03497295818058438 Centerline is valid? [True, True] Translation: X:261.53, Y:-35.98, Z:-7.46 [[ 9.80376231e-01 1.97133808e-01 -8.41068738e-04 2.61533353e+02] [-1.97133745e-01 9.80376592e-01 1.57848556e-04 -3.59821584e+01] [ 8.55681390e-04 1.10520573e-05 9.99999634e-01 -7.46016679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92420382200004 meters 0.025648951383970817 Centerline is valid? [True, True] Translation: X:261.56, Y:-35.99, Z:-7.46 [[ 9.81212595e-01 1.92929458e-01 2.60461573e-04 2.61560924e+02] [-1.92929452e-01 9.81212629e-01 -5.00106779e-05 -3.59928462e+01] [-2.65216718e-04 -1.17960131e-06 9.99999965e-01 -7.46058524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95420382200007 meters 0.018960525316073378 Centerline is valid? [True, True] Translation: X:261.59, Y:-36.00, Z:-7.46 [[ 9.81687007e-01 1.90498962e-01 8.74963177e-04 2.61589114e+02] [-1.90498889e-01 9.81687397e-01 -1.66327938e-04 -3.60024283e+01] [-8.90625624e-04 -3.39753729e-06 9.99999603e-01 -7.45650691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98420382200004 meters 0.023856211792685263 Centerline is valid? [True, True] Translation: X:261.62, Y:-36.01, Z:-7.46 [[ 9.82113842e-01 1.88286037e-01 8.77679862e-04 2.61618224e+02] [-1.88285963e-01 9.82114234e-01 -1.66822254e-04 -3.60090204e+01] [-8.93392186e-04 -1.41635369e-06 9.99999601e-01 -7.45951194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01420382200007 meters 0.02663170103728859 Centerline is valid? [True, True] Translation: X:261.65, Y:-36.02, Z:-7.46 [[ 9.82833053e-01 1.84494893e-01 9.08143344e-04 2.61646329e+02] [-1.84494812e-01 9.82833472e-01 -1.72224246e-04 -3.60178985e+01] [-9.24328170e-04 1.71994553e-06 9.99999573e-01 -7.46123864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04420382200004 meters 0.01839730399752477 Centerline is valid? [True, True] Translation: X:261.68, Y:-36.03, Z:-7.46 [[ 9.83083889e-01 1.83151532e-01 1.25858928e-03 2.61675889e+02] [-1.83151378e-01 9.83084694e-01 -2.38197918e-04 -3.60263541e+01] [-1.28092617e-03 3.65617481e-06 9.99999180e-01 -7.45829740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074203822 meters 0.03147817068936072 Centerline is valid? [True, True] Translation: X:261.70, Y:-36.04, Z:-7.46 [[ 9.83403275e-01 1.81432138e-01 6.14547635e-04 2.61704997e+02] [-1.81432101e-01 9.83403467e-01 -1.15959948e-04 -3.60361302e+01] [-6.25387136e-04 2.53672394e-06 9.99999804e-01 -7.46255413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10420382200004 meters 0.02405415418440549 Centerline is valid? [True, True] Translation: X:261.74, Y:-36.04, Z:-7.46 [[ 9.83546147e-01 1.80654668e-01 9.31662234e-04 2.61735855e+02] [-1.80654587e-01 9.83546588e-01 -1.71429884e-04 -3.60448864e+01] [-9.47302821e-04 3.00145867e-07 9.99999551e-01 -7.46134618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134203822 meters 0.022871008989445742 Centerline is valid? [True, True] Translation: X:261.77, Y:-36.06, Z:-7.46 [[ 9.83759178e-01 1.79491398e-01 8.46713805e-04 2.61765691e+02] [-1.79491331e-01 9.83759543e-01 -1.55872233e-04 -3.60551164e+01] [-8.60940511e-04 1.36295268e-06 9.99999629e-01 -7.46308919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16420382200005 meters 0.03347957849633854 Centerline is valid? [True, True] Translation: X:261.80, Y:-36.06, Z:-7.47 [[ 9.83772976e-01 1.79415939e-01 8.07509535e-04 2.61796904e+02] [-1.79415878e-01 9.83773308e-01 -1.48274693e-04 -3.60626342e+01] [-8.21009170e-04 9.88603700e-07 9.99999663e-01 -7.46526374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194203822 meters 0.020620059217424574 Centerline is valid? [True, True] Translation: X:261.83, Y:-36.07, Z:-7.46 [[ 9.83752697e-01 1.79528738e-01 2.50914322e-04 2.61826619e+02] [-1.79528732e-01 9.83752729e-01 -4.30523180e-05 -3.60727979e+01] [-2.54566777e-04 -2.69349611e-06 9.99999968e-01 -7.46448074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22420382200005 meters 0.026923563819058784 Centerline is valid? [True, True] Translation: X:261.86, Y:-36.08, Z:-7.47 [[ 9.83463567e-01 1.81105700e-01 -3.71025579e-04 2.61857707e+02] [-1.81105685e-01 9.83463637e-01 7.55368443e-05 -3.60801187e+01] [ 3.78570318e-04 -7.09289273e-06 9.99999928e-01 -7.46858424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254203822 meters 0.0206955655195558 Centerline is valid? [True, True] Translation: X:261.89, Y:-36.09, Z:-7.47 [[ 9.83306621e-01 1.81955406e-01 -5.64812894e-04 2.61888170e+02] [-1.81955372e-01 9.83306783e-01 1.12086330e-04 -3.60882672e+01] [ 5.75779064e-04 -7.44449052e-06 9.99999834e-01 -7.46915167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28420382200005 meters 0.03188828172944783 Centerline is valid? [True, True] Translation: X:261.92, Y:-36.09, Z:-7.47 [[ 9.83089536e-01 1.83120976e-01 -1.29320933e-03 2.61920127e+02] [-1.83120804e-01 9.83090386e-01 2.51325721e-04 -3.60942952e+01] [ 1.31736468e-03 -1.02621534e-05 9.99999132e-01 -7.47131275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314203822 meters 0.01820073340810609 Centerline is valid? [True, True] Translation: X:261.95, Y:-36.10, Z:-7.47 [[ 9.82847247e-01 1.84420008e-01 7.41795076e-04 2.61950899e+02] [-1.84419954e-01 9.82847527e-01 -1.40590549e-04 -3.61007060e+01] [-7.54999166e-04 1.37722009e-06 9.99999715e-01 -7.46537682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34420382200005 meters 0.024022859470647525 Centerline is valid? [True, True] Translation: X:261.98, Y:-36.11, Z:-7.47 [[ 9.82761374e-01 1.84876533e-01 8.66074862e-04 2.61982023e+02] [-1.84876464e-01 9.82761755e-01 -1.59762999e-04 -3.61080720e+01] [-8.80681681e-04 -3.10795376e-06 9.99999612e-01 -7.47060403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374203822 meters 0.024022859470647525 Centerline is valid? [True, True] Translation: X:262.01, Y:-36.11, Z:-7.47 [[ 9.82729998e-01 1.85043240e-01 8.65957148e-04 2.62013096e+02] [-1.85043171e-01 9.82730380e-01 -1.60382371e-04 -3.61141478e+01] [-8.80680071e-04 -2.62688907e-06 9.99999612e-01 -7.47150593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40420382200006 meters 0.02940601114625415 Centerline is valid? [True, True] Translation: X:262.04, Y:-36.13, Z:-7.47 [[ 9.82717559e-01 1.85110341e-01 6.00433446e-04 2.62044475e+02] [-1.85110309e-01 9.82717743e-01 -1.09004997e-04 -3.61263846e+01] [-6.10234553e-04 -4.02529631e-06 9.99999814e-01 -7.47154151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43420382200003 meters 0.027828537308021054 Centerline is valid? [True, True] Translation: X:262.07, Y:-36.14, Z:-7.47 [[ 9.82742080e-01 1.84976273e-01 1.33521109e-03 2.62074834e+02] [-1.84976103e-01 9.82742987e-01 -2.50737340e-04 -3.61356538e+01] [-1.35854979e-03 -5.72008955e-07 9.99999077e-01 -7.47335161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46420382200006 meters 0.01765717410562909 Centerline is valid? [True, True] Translation: X:262.11, Y:-36.15, Z:-7.47 [[ 9.82628226e-01 1.85578783e-01 1.51129130e-03 2.62106445e+02] [-1.85578566e-01 9.82629389e-01 -2.83543647e-04 -3.61450260e+01] [-1.53765893e-03 -1.84528130e-06 9.99998818e-01 -7.46923697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49420382200003 meters 0.03233869559738845 Centerline is valid? [True, True] Translation: X:262.14, Y:-36.15, Z:-7.48 [[ 9.82423651e-01 1.86664801e-01 -1.49916939e-04 2.62136851e+02] [-1.86664799e-01 9.82423662e-01 3.14918925e-05 -3.61539393e+01] [ 1.53160375e-04 -2.95416479e-06 9.99999988e-01 -7.47581665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52420382200006 meters 0.020977631999023895 Centerline is valid? [True, True] Translation: X:262.17, Y:-36.16, Z:-7.48 [[ 9.82223330e-01 1.87716087e-01 7.89660118e-06 2.62168183e+02] [-1.87716087e-01 9.82223330e-01 3.87179318e-06 -3.61613230e+01] [-7.02942843e-06 -5.28528467e-06 1.00000000e+00 -7.48156359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55420382200003 meters 0.019158463946207425 Centerline is valid? [True, True] Translation: X:262.20, Y:-36.17, Z:-7.48 [[ 9.81929244e-01 1.89247855e-01 4.58511030e-04 2.62200293e+02] [-1.89247836e-01 9.81929351e-01 -8.31963593e-05 -3.61663387e+01] [-4.65970171e-04 -5.07928231e-06 9.99999891e-01 -7.47723747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58420382200006 meters 0.01890558952254524 Centerline is valid? [True, True] Translation: X:262.23, Y:-36.17, Z:-7.48 [[ 9.81260999e-01 1.92682897e-01 -3.92263285e-04 2.62232535e+02] [-1.92682880e-01 9.81261077e-01 8.03462068e-05 -3.61694045e+01] [ 4.00394033e-04 -3.25817967e-06 9.99999920e-01 -7.47597997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61420382200004 meters 0.021375144089306176 Centerline is valid? [True, True] Translation: X:262.26, Y:-36.17, Z:-7.48 [[ 9.80900418e-01 1.94507762e-01 -1.04906386e-03 2.62262981e+02] [-1.94507655e-01 9.80900979e-01 2.04098642e-04 -3.61727246e+01] [ 1.06872654e-03 3.85050835e-06 9.99999429e-01 -7.48269260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64420382200007 meters 0.022380305119209753 Centerline is valid? [True, True] Translation: X:262.29, Y:-36.17, Z:-7.48 [[ 9.80406223e-01 1.96984423e-01 -8.80415776e-04 2.62294297e+02] [-1.96984351e-01 9.80406618e-01 1.69207136e-04 -3.61728694e+01] [ 8.96496623e-04 7.53640148e-06 9.99999598e-01 -7.48349602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67420382200004 meters 0.021954431755199018 Centerline is valid? [True, True] Translation: X:262.32, Y:-36.18, Z:-7.48 [[ 9.80276046e-01 1.97629423e-01 -1.21829571e-03 2.62324041e+02] [-1.97629284e-01 9.80276803e-01 2.34144291e-04 -3.61776573e+01] [ 1.24054083e-03 1.12448697e-05 9.99999230e-01 -7.48283718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70420382200007 meters 0.019948636475915337 Centerline is valid? [True, True] Translation: X:262.35, Y:-36.19, Z:-7.48 [[ 9.80449001e-01 1.96764852e-01 -1.83001385e-03 2.62354553e+02] [-1.96764528e-01 9.80450709e-01 3.57140076e-04 -3.61895234e+01] [ 1.86451099e-03 9.92418001e-06 9.99998262e-01 -7.48035653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73420382200004 meters 0.01974711266519513 Centerline is valid? [True, True] Translation: X:262.38, Y:-36.20, Z:-7.48 [[ 9.80652998e-01 1.95751142e-01 -1.08974471e-03 2.62384757e+02] [-1.95751024e-01 9.80653604e-01 2.14547443e-04 -3.61974853e+01] [ 1.11065999e-03 2.92205024e-06 9.99999383e-01 -7.48137336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76420382200007 meters 0.029441611770281376 Centerline is valid? [True, True] Translation: X:262.41, Y:-36.21, Z:-7.48 [[ 9.81137075e-01 1.93309223e-01 1.25878504e-03 2.62414634e+02] [-1.93309072e-01 9.81137882e-01 -2.41681877e-04 -3.62052773e+01] [-1.28176103e-03 -6.21151803e-06 9.99999179e-01 -7.48272405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79420382200004 meters 0.027500549901101134 Centerline is valid? [True, True] Translation: X:262.45, Y:-36.21, Z:-7.48 [[ 9.81362618e-01 1.92159043e-01 1.52123174e-03 2.62446167e+02] [-1.92158827e-01 9.81363797e-01 -2.88237250e-04 -3.62138197e+01] [-1.54826915e-03 -9.45284469e-06 9.99998801e-01 -7.48289280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824203822 meters 0.017655984330843703 Centerline is valid? [True, True] Translation: X:262.48, Y:-36.22, Z:-7.48 [[ 9.81778351e-01 1.90020562e-01 1.85871887e-03 2.62477277e+02] [-1.90020233e-01 9.81780111e-01 -3.53640212e-04 -3.62234800e+01] [-1.89205213e-03 -5.99788766e-06 9.99998210e-01 -7.48148761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85420382200004 meters 0.018624733989952992 Centerline is valid? [True, True] Translation: X:262.51, Y:-36.23, Z:-7.49 [[ 9.81903238e-01 1.89377309e-01 1.50503166e-03 2.62507661e+02] [-1.89377090e-01 9.81904392e-01 -2.87824695e-04 -3.62311990e+01] [-1.53230467e-03 -2.40251780e-06 9.99998826e-01 -7.48545737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884203822 meters 0.018242414283747198 Centerline is valid? [True, True] Translation: X:262.54, Y:-36.24, Z:-7.48 [[ 9.82101162e-01 1.88350590e-01 1.16769064e-03 2.62538569e+02] [-1.88350460e-01 9.82101856e-01 -2.20662845e-04 -3.62410293e+01] [-1.18835313e-03 -3.22183409e-06 9.99999294e-01 -7.48457610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91420382200005 meters 0.03102034052675338 Centerline is valid? [True, True] Translation: X:262.57, Y:-36.25, Z:-7.49 [[ 9.82118825e-01 1.88257843e-01 1.26420997e-03 2.62569797e+02] [-1.88257689e-01 9.82119639e-01 -2.40890699e-04 -3.62471392e+01] [-1.28695500e-03 -1.41395665e-06 9.99999172e-01 -7.48942974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944203822 meters 0.027467216649873893 Centerline is valid? [True, True] Translation: X:262.60, Y:-36.25, Z:-7.49 [[ 9.82162815e-01 1.88031764e-01 5.10779030e-04 2.62600897e+02] [-1.88031741e-01 9.82162948e-01 -9.37813691e-05 -3.62545874e+01] [-5.19302114e-04 -3.93409665e-06 9.99999865e-01 -7.48841627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97420382200005 meters 0.01891980061164694 Centerline is valid? [True, True] Translation: X:262.63, Y:-36.26, Z:-7.49 [[ 9.82131262e-01 1.88196606e-01 4.70437026e-04 2.62631961e+02] [-1.88196585e-01 9.82131375e-01 -8.74939683e-05 -3.62618905e+01] [-4.78497031e-04 -2.60408035e-06 9.99999886e-01 -7.48825677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004203822 meters 0.018069841943582413 Centerline is valid? [True, True] Translation: X:262.66, Y:-36.27, Z:-7.49 [[ 9.81805819e-01 1.89884724e-01 1.06080330e-03 2.62664065e+02] [-1.89884618e-01 9.81806392e-01 -2.00657664e-04 -3.62653339e+01] [-1.07960528e-03 -4.42336641e-06 9.99999417e-01 -7.48675936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03420382200005 meters 0.026389003737435867 Centerline is valid? [True, True] Translation: X:262.70, Y:-36.27, Z:-7.49 [[ 9.81487933e-01 1.91517136e-01 1.62006046e-03 2.62696310e+02] [-1.91516886e-01 9.81489270e-01 -3.09209006e-04 -3.62692466e+01] [-1.64929079e-03 -6.78402778e-06 9.99998640e-01 -7.48826780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064203822 meters 0.027008659257870816 Centerline is valid? [True, True] Translation: X:262.73, Y:-36.27, Z:-7.49 [[ 9.81201342e-01 1.92971310e-01 2.44957583e-03 2.62727711e+02] [-1.92970735e-01 9.81204399e-01 -4.70929519e-04 -3.62731967e+01] [-2.49441046e-03 -1.06197722e-05 9.99996889e-01 -7.48819661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09420382200005 meters 0.018067057564967424 Centerline is valid? [True, True] Translation: X:262.76, Y:-36.27, Z:-7.49 [[ 9.80655719e-01 1.95724271e-01 2.52384621e-03 2.62760007e+02] [-1.95723670e-01 9.80658967e-01 -4.85182082e-04 -3.62725960e+01] [-2.56999432e-03 -1.81798591e-05 9.99996697e-01 -7.48618798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124203822 meters 0.018214476700938627 Centerline is valid? [True, True] Translation: X:262.79, Y:-36.28, Z:-7.49 [[ 9.80359978e-01 1.97210780e-01 1.49053121e-03 2.62791903e+02] [-1.97210574e-01 9.80361111e-01 -2.84887048e-04 -3.62757931e+01] [-1.51744163e-03 -1.46566562e-05 9.99998849e-01 -7.48668372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15420382200006 meters 0.027761430643786486 Centerline is valid? [True, True] Translation: X:262.82, Y:-36.27, Z:-7.50 [[ 9.79891797e-01 1.99528307e-01 7.21062763e-04 2.62823327e+02] [-1.99528259e-01 9.79892063e-01 -1.39560679e-04 -3.62739210e+01] [-7.34409985e-04 -7.11803269e-06 9.99999730e-01 -7.49519159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18420382200003 meters 0.02533157521503572 Centerline is valid? [True, True] Translation: X:262.85, Y:-36.28, Z:-7.49 [[ 9.79689194e-01 2.00520452e-01 7.94316513e-04 2.62854971e+02] [-2.00520393e-01 9.79689516e-01 -1.53843649e-04 -3.62763239e+01] [-8.09032358e-04 -8.55769899e-06 9.99999673e-01 -7.49317154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21420382200006 meters 0.03153174982178376 Centerline is valid? [True, True] Translation: X:262.89, Y:-36.27, Z:-7.50 [[ 9.79606181e-01 2.00924874e-01 9.62210508e-04 2.62885547e+02] [-2.00924787e-01 9.79606653e-01 -1.87569696e-04 -3.62748767e+01] [-9.80275233e-04 -9.58750774e-06 9.99999519e-01 -7.49700746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24420382200003 meters 0.030572402670768477 Centerline is valid? [True, True] Translation: X:262.92, Y:-36.28, Z:-7.50 [[ 9.79863448e-01 1.99662093e-01 1.63452271e-03 2.62915804e+02] [-1.99661841e-01 9.79864811e-01 -3.17356911e-04 -3.62824029e+01] [-1.66497543e-03 -1.53853774e-05 9.99998614e-01 -7.49621022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27420382200006 meters 0.02140462083906658 Centerline is valid? [True, True] Translation: X:262.95, Y:-36.29, Z:-7.49 [[ 9.80321554e-01 1.97387646e-01 2.78727703e-03 2.62945861e+02] [-1.97386903e-01 9.80325516e-01 -5.41739427e-04 -3.62916314e+01] [-2.83937146e-03 -1.90931441e-05 9.99995969e-01 -7.49327018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30420382200003 meters 0.017031286015227246 Centerline is valid? [True, True] Translation: X:262.98, Y:-36.30, Z:-7.49 [[ 9.81362163e-01 1.92152220e-01 2.41434047e-03 2.62976020e+02] [-1.92151657e-01 9.81365133e-01 -4.65275097e-04 -3.63030298e+01] [-2.45875320e-03 -7.31614479e-06 9.99996977e-01 -7.49190105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33420382200006 meters 0.029994766031884987 Centerline is valid? [True, True] Translation: X:263.01, Y:-36.31, Z:-7.50 [[ 9.82223792e-01 1.87712214e-01 7.39572998e-04 2.63005191e+02] [-1.87712159e-01 9.82224071e-01 -1.43364703e-04 -3.63124542e+01] [-7.53337706e-04 1.98937810e-06 9.99999716e-01 -7.50076494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36420382200004 meters 0.0188406375967859 Centerline is valid? [True, True] Translation: X:263.04, Y:-36.32, Z:-7.50 [[ 9.82503900e-01 1.86241959e-01 -1.39622022e-04 2.63036637e+02] [-1.86241957e-01 9.82503910e-01 3.23702377e-05 -3.63219823e+01] [ 1.43207878e-04 -5.80040631e-06 9.99999990e-01 -7.49760213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39420382200007 meters 0.019731600229782636 Centerline is valid? [True, True] Translation: X:263.07, Y:-36.33, Z:-7.50 [[ 9.82664495e-01 1.85391260e-01 -7.55950925e-04 2.63066727e+02] [-1.85391197e-01 9.82664786e-01 1.52312360e-04 -3.63302216e+01] [ 7.71083733e-04 -9.52530101e-06 9.99999703e-01 -7.50004959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42420382200004 meters 0.02123214477466901 Centerline is valid? [True, True] Translation: X:263.10, Y:-36.34, Z:-7.50 [[ 9.82825648e-01 1.84530526e-01 -1.49364211e-03 2.63097119e+02] [-1.84530288e-01 9.82826783e-01 2.96467975e-04 -3.63379910e+01] [ 1.52269886e-03 -1.57541211e-05 9.99998841e-01 -7.50392512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45420382200007 meters 0.03685678697719883 Centerline is valid? [True, True] Translation: X:263.13, Y:-36.34, Z:-7.51 [[ 9.82766345e-01 1.84845658e-01 -1.54725176e-03 2.63129798e+02] [-1.84845402e-01 9.82767563e-01 3.08290021e-04 -3.63443510e+01] [ 1.57757491e-03 -1.69746848e-05 9.99998755e-01 -7.50937532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48420382200004 meters 0.020060951536720002 Centerline is valid? [True, True] Translation: X:263.16, Y:-36.35, Z:-7.50 [[ 9.82623120e-01 1.85608103e-01 -1.19877929e-03 2.63161331e+02] [-1.85607949e-01 9.82623851e-01 2.39730227e-04 -3.63529486e+01] [ 1.22244500e-03 -1.30614981e-05 9.99999253e-01 -7.50409537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51420382200007 meters 0.021215763403470513 Centerline is valid? [True, True] Translation: X:263.19, Y:-36.36, Z:-7.51 [[ 9.82222778e-01 1.87705535e-01 -2.24646884e-03 2.63192221e+02] [-1.87705009e-01 9.82225347e-01 4.44784069e-04 -3.63574990e+01] [ 2.29002707e-03 -1.52035905e-05 9.99997378e-01 -7.51064667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54420382200004 meters 0.030845959914571418 Centerline is valid? [True, True] Translation: X:263.22, Y:-36.36, Z:-7.51 [[ 9.81997072e-01 1.88876997e-01 -2.68908701e-03 2.63224326e+02] [-1.88876248e-01 9.82000753e-01 5.32234444e-04 -3.63618591e+01] [ 2.74121232e-03 -1.47480001e-05 9.99996243e-01 -7.51471987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574203822 meters 0.0275871475078198 Centerline is valid? [True, True] Translation: X:263.26, Y:-36.37, Z:-7.52 [[ 9.81839592e-01 1.89690744e-01 -2.90460104e-03 2.63255391e+02] [-1.89689887e-01 9.81843889e-01 5.70312396e-04 -3.63670813e+01] [ 2.96004776e-03 -8.98184868e-06 9.99995619e-01 -7.51574817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60420382200004 meters 0.03949643402076656 Centerline is valid? [True, True] Translation: X:263.29, Y:-36.37, Z:-7.52 [[ 9.81704633e-01 1.90398812e-01 -2.07520206e-03 2.63286769e+02] [-1.90398374e-01 9.81706826e-01 4.08105291e-04 -3.63727840e+01] [ 2.11494279e-03 -5.52375683e-06 9.99997763e-01 -7.51529120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634203822 meters 0.033159085458782496 Centerline is valid? [True, True] Translation: X:263.32, Y:-36.38, Z:-7.51 [[ 9.81764483e-01 1.90090656e-01 -2.01052234e-03 2.63318615e+02] [-1.90090234e-01 9.81766542e-01 4.00601568e-04 -3.63809899e+01] [ 2.05001418e-03 -1.11157282e-05 9.99997899e-01 -7.51406934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66420382200005 meters 0.03051160832673812 Centerline is valid? [True, True] Translation: X:263.35, Y:-36.39, Z:-7.52 [[ 9.81838541e-01 1.89713411e-01 -1.37845727e-03 2.63347874e+02] [-1.89713211e-01 9.81839509e-01 2.75618883e-04 -3.63911660e+01] [ 1.40571241e-03 -9.10168679e-06 9.99999012e-01 -7.51638871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694203822 meters 0.019072582431849387 Centerline is valid? [True, True] Translation: X:263.38, Y:-36.40, Z:-7.51 [[ 9.81767130e-01 1.90084802e-01 -1.03426699e-03 2.63379190e+02] [-1.90084688e-01 9.81767675e-01 2.08485708e-04 -3.63979071e+01] [ 1.05503986e-03 -8.08609797e-06 9.99999443e-01 -7.51008678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72420382200005 meters 0.029514088441227226 Centerline is valid? [True, True] Translation: X:263.41, Y:-36.40, Z:-7.51 [[ 9.81317860e-01 1.92392997e-01 4.39136872e-04 2.63411641e+02] [-1.92392978e-01 9.81317958e-01 -8.46126697e-05 -3.64015024e+01] [-4.47211784e-04 -1.45492667e-06 9.99999900e-01 -7.51255070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754203822 meters 0.022049490970540146 Centerline is valid? [True, True] Translation: X:263.44, Y:-36.41, Z:-7.51 [[ 9.81041206e-01 1.93798736e-01 4.49452823e-04 2.63442797e+02] [-1.93798718e-01 9.81041309e-01 -8.31864178e-05 -3.64066354e+01] [-4.57053209e-04 -5.49407735e-06 9.99999896e-01 -7.51392364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78420382200005 meters 0.02334847907295164 Centerline is valid? [True, True] Translation: X:263.48, Y:-36.41, Z:-7.51 [[ 9.80458511e-01 1.96724302e-01 8.10272265e-04 2.63475596e+02] [-1.96724242e-01 9.80458846e-01 -1.53877825e-04 -3.64106722e+01] [-8.24710118e-04 -8.52937436e-06 9.99999660e-01 -7.51150773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814203822 meters 0.018499276213038294 Centerline is valid? [True, True] Translation: X:263.51, Y:-36.42, Z:-7.51 [[ 9.80256047e-01 1.97725947e-01 1.59131674e-03 2.63506366e+02] [-1.97725706e-01 9.80257338e-01 -3.09278659e-04 -3.64164263e+01] [-1.62105233e-03 -1.14719489e-05 9.99998686e-01 -7.51040254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84420382200005 meters 0.018566695825152708 Centerline is valid? [True, True] Translation: X:263.54, Y:-36.42, Z:-7.51 [[ 9.80049414e-01 1.98745009e-01 1.88871084e-03 2.63538416e+02] [-1.98744669e-01 9.80051234e-01 -3.68141060e-04 -3.64225779e+01] [-1.92419958e-03 -1.45747789e-05 9.99998149e-01 -7.50998525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874203822 meters 0.019893916546777145 Centerline is valid? [True, True] Translation: X:263.57, Y:-36.43, Z:-7.51 [[ 9.79932938e-01 1.99325727e-01 8.31449302e-04 2.63569025e+02] [-1.99325663e-01 9.79933291e-01 -1.59828612e-04 -3.64291723e+01] [-8.46622806e-04 -9.10786206e-06 9.99999642e-01 -7.51418310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90420382200006 meters 0.03110410031178259 Centerline is valid? [True, True] Translation: X:263.60, Y:-36.44, Z:-7.51 [[ 9.79844392e-01 1.99756912e-01 1.46425846e-03 2.63600626e+02] [-1.99756709e-01 9.79845486e-01 -2.84668224e-04 -3.64354278e+01] [-1.49161149e-03 -1.35648892e-05 9.99998887e-01 -7.51440810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93420382200003 meters 0.018345630642015852 Centerline is valid? [True, True] Translation: X:263.63, Y:-36.44, Z:-7.51 [[ 9.79806273e-01 1.99940779e-01 1.83102214e-03 2.63631415e+02] [-1.99940459e-01 9.79807984e-01 -3.57923225e-04 -3.64414979e+01] [-1.86561356e-03 -1.53999872e-05 9.99998260e-01 -7.51096873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96420382200006 meters 0.029138097190278562 Centerline is valid? [True, True] Translation: X:263.66, Y:-36.45, Z:-7.51 [[ 9.79600502e-01 2.00926007e-01 3.40542463e-03 2.63663295e+02] [-2.00924883e-01 9.79606420e-01 -6.72761642e-04 -3.64481149e+01] [-3.47115114e-03 -2.51969031e-05 9.99993975e-01 -7.51251325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99420382200003 meters 0.023880763716072142 Centerline is valid? [True, True] Translation: X:263.69, Y:-36.45, Z:-7.51 [[ 9.79438425e-01 2.01695174e-01 4.40773039e-03 2.63693687e+02] [-2.01693298e-01 9.79448342e-01 -8.70683533e-04 -3.64530296e+01] [-4.49275689e-03 -3.62287719e-05 9.99989907e-01 -7.51335404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02420382200006 meters 0.019217615410668167 Centerline is valid? [True, True] Translation: X:263.73, Y:-36.46, Z:-7.51 [[ 9.79022283e-01 2.03674667e-01 5.65676424e-03 2.63725058e+02] [-2.03671601e-01 9.79038624e-01 -1.11890836e-03 -3.64551085e+01] [-5.76608396e-03 -5.66860096e-05 9.99983374e-01 -7.50980466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05420382200003 meters 0.01874643323491535 Centerline is valid? [True, True] Translation: X:263.76, Y:-36.46, Z:-7.51 [[ 9.78866787e-01 2.04441733e-01 4.83651317e-03 2.63756362e+02] [-2.04439510e-01 9.78878734e-01 -9.54861586e-04 -3.64617257e+01] [-4.92957344e-03 -5.40920894e-05 9.99987848e-01 -7.50945721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08420382200006 meters 0.020737015248666817 Centerline is valid? [True, True] Translation: X:263.79, Y:-36.46, Z:-7.51 [[ 9.78569710e-01 2.05892529e-01 3.09673247e-03 2.63787587e+02] [-2.05891628e-01 9.78574609e-01 -6.10481254e-04 -3.64648757e+01] [-3.15607730e-03 -4.01928278e-05 9.99995019e-01 -7.51454885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11420382200004 meters 0.02455977534829774 Centerline is valid? [True, True] Translation: X:263.82, Y:-36.47, Z:-7.52 [[ 9.78234100e-01 2.07499461e-01 1.42108769e-03 2.63818227e+02] [-2.07499270e-01 9.78235132e-01 -2.81954612e-04 -3.64668604e+01] [-1.44866333e-03 -1.90570409e-05 9.99998951e-01 -7.52254146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14420382200007 meters 0.031660553649686854 Centerline is valid? [True, True] Translation: X:263.85, Y:-36.48, Z:-7.52 [[ 9.78019995e-01 2.08509104e-01 9.18564975e-04 2.63849002e+02] [-2.08509029e-01 9.78020426e-01 -1.77479406e-04 -3.64755391e+01] [-9.35381380e-04 -1.79506837e-05 9.99999562e-01 -7.52011873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17420382200004 meters 0.024072752278818495 Centerline is valid? [True, True] Translation: X:263.88, Y:-36.48, Z:-7.52 [[ 9.77761695e-01 2.09716528e-01 1.02236176e-03 2.63879887e+02] [-2.09716431e-01 9.77762230e-01 -2.02934102e-04 -3.64767383e+01] [-1.04218535e-03 -1.59848675e-05 9.99999457e-01 -7.51981094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20420382200007 meters 0.03025146964976571 Centerline is valid? [True, True] Translation: X:263.91, Y:-36.48, Z:-7.52 [[ 9.77198902e-01 2.12314171e-01 2.23602172e-03 2.63910100e+02] [-2.12313707e-01 9.77201459e-01 -4.45280826e-04 -3.64750358e+01] [-2.27958312e-03 -3.96101272e-05 9.99997401e-01 -7.52245795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23420382200004 meters 0.026506729915969987 Centerline is valid? [True, True] Translation: X:263.94, Y:-36.48, Z:-7.52 [[ 9.77030205e-01 2.13086068e-01 2.51118793e-03 2.63939379e+02] [-2.13085487e-01 9.77033431e-01 -4.99926538e-04 -3.64783105e+01] [-2.56004194e-03 -4.66543754e-05 9.99996722e-01 -7.51872044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26420382200007 meters 0.026506729915969987 Centerline is valid? [True, True] Translation: X:263.97, Y:-36.48, Z:-7.52 [[ 9.77035310e-01 2.13062660e-01 2.51120001e-03 2.63967997e+02] [-2.13062079e-01 9.77038536e-01 -4.99865805e-04 -3.64839551e+01] [-2.56004192e-03 -4.66549534e-05 9.99996722e-01 -7.51955072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29420382200004 meters 0.02888694581003877 Centerline is valid? [True, True] Translation: X:264.00, Y:-36.48, Z:-7.52 [[ 9.76729684e-01 2.14448614e-01 3.30396454e-03 2.63997166e+02] [-2.14447614e-01 9.76735270e-01 -6.58278582e-04 -3.64811693e+01] [-3.36826563e-03 -6.55670808e-05 9.99994325e-01 -7.52140192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324203822 meters 0.02861248994583797 Centerline is valid? [True, True] Translation: X:264.03, Y:-36.48, Z:-7.52 [[ 9.76710948e-01 2.14540463e-01 2.84848089e-03 2.64025969e+02] [-2.14539721e-01 9.76715100e-01 -5.67262019e-04 -3.64841839e+01] [-2.90385495e-03 -5.70612711e-05 9.99995782e-01 -7.52203381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35420382200004 meters 0.026588240790041146 Centerline is valid? [True, True] Translation: X:264.06, Y:-36.49, Z:-7.52 [[ 9.76840020e-01 2.13960168e-01 2.14985471e-03 2.64055233e+02] [-2.13959745e-01 9.76842385e-01 -4.27759183e-04 -3.64889323e+01] [-2.19159263e-03 -4.21300775e-05 9.99997598e-01 -7.52219000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384203822 meters 0.025834996726323483 Centerline is valid? [True, True] Translation: X:264.08, Y:-36.49, Z:-7.52 [[ 9.77052473e-01 2.12992042e-01 1.68980491e-03 2.64083602e+02] [-2.12991778e-01 9.77053933e-01 -3.37001321e-04 -3.64939461e+01] [-1.72280914e-03 -3.06465790e-05 9.99998515e-01 -7.52404860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41420382200005 meters 0.026913862436480553 Centerline is valid? [True, True] Translation: X:264.11, Y:-36.50, Z:-7.53 [[ 9.77569993e-01 2.10610776e-01 9.41553378e-05 2.64111431e+02] [-2.10610775e-01 9.77569998e-01 -2.04585142e-05 -3.64968848e+01] [-9.63522174e-05 1.69500953e-07 9.99999995e-01 -7.53170536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444203822 meters 0.026267727727010345 Centerline is valid? [True, True] Translation: X:264.14, Y:-36.50, Z:-7.53 [[ 9.77944083e-01 2.08866085e-01 -5.73198630e-04 2.64138266e+02] [-2.08866055e-01 9.77944251e-01 1.12079524e-04 -3.65028723e+01] [ 5.83965916e-04 1.01142294e-05 9.99999829e-01 -7.53424555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47420382200005 meters 0.02054848319662348 Centerline is valid? [True, True] Translation: X:264.17, Y:-36.51, Z:-7.53 [[ 9.78796472e-01 2.04834573e-01 -5.12919602e-04 2.64166032e+02] [-2.04834548e-01 9.78796607e-01 1.01057697e-04 -3.65145319e+01] [ 5.22744076e-04 6.14873809e-06 9.99999863e-01 -7.52798237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504203822 meters 0.02047977450575593 Centerline is valid? [True, True] Translation: X:264.19, Y:-36.52, Z:-7.53 [[ 9.79217279e-01 2.02813584e-01 -4.13092727e-04 2.64194167e+02] [-2.02813568e-01 9.79217366e-01 8.08702111e-05 -3.65210378e+01] [ 4.20909149e-04 4.59130190e-06 9.99999911e-01 -7.53112906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53420382200005 meters 0.03349057041190273 Centerline is valid? [True, True] Translation: X:264.22, Y:-36.53, Z:-7.54 [[ 9.79571808e-01 2.01091925e-01 -1.05412672e-03 2.64222476e+02] [-2.01091818e-01 9.79572375e-01 2.08400396e-04 -3.65277746e+01] [ 1.07450105e-03 7.83310567e-06 9.99999423e-01 -7.53674935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564203822 meters 0.018841413617315027 Centerline is valid? [True, True] Translation: X:264.25, Y:-36.54, Z:-7.53 [[ 9.80102205e-01 1.98490442e-01 -1.10083342e-03 2.64251555e+02] [-1.98490323e-01 9.80102823e-01 2.17630228e-04 -3.65364536e+01] [ 1.12212746e-03 5.20491500e-06 9.99999370e-01 -7.53274673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59420382200005 meters 0.030486060523660756 Centerline is valid? [True, True] Translation: X:264.28, Y:-36.54, Z:-7.54 [[ 9.80191799e-01 1.98050230e-01 -3.78295673e-04 2.64279891e+02] [-1.98050216e-01 9.80191872e-01 7.44264836e-05 -3.65417718e+01] [ 3.85542526e-04 1.96931087e-06 9.99999926e-01 -7.54019035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624203822 meters 0.019835810564998523 Centerline is valid? [True, True] Translation: X:264.31, Y:-36.55, Z:-7.54 [[ 9.80137970e-01 1.98316363e-01 -4.25160233e-04 2.64307753e+02] [-1.98316346e-01 9.80138062e-01 8.32720119e-05 -3.65467587e+01] [ 4.33229929e-04 2.69816316e-06 9.99999906e-01 -7.53696250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65420382200006 meters 0.019128559664228974 Centerline is valid? [True, True] Translation: X:264.34, Y:-36.55, Z:-7.54 [[ 9.79995077e-01 1.99020565e-01 -6.80677615e-04 2.64336838e+02] [-1.99020520e-01 9.79995314e-01 1.34242894e-04 -3.65512241e+01] [ 6.93777969e-04 3.91143721e-06 9.99999759e-01 -7.53512562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68420382200003 meters 0.03366085120101206 Centerline is valid? [True, True] Translation: X:264.37, Y:-36.55, Z:-7.54 [[ 9.79462650e-01 2.01621589e-01 -1.28557489e-03 2.64366857e+02] [-2.01621429e-01 9.79463493e-01 2.54133627e-04 -3.65526626e+01] [ 1.31041250e-03 1.02850500e-05 9.99999141e-01 -7.54031142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71420382200006 meters 0.020189402846159468 Centerline is valid? [True, True] Translation: X:264.40, Y:-36.56, Z:-7.54 [[ 9.79253895e-01 2.02634782e-01 -9.76966934e-04 2.64395996e+02] [-2.02634691e-01 9.79254382e-01 1.92186215e-04 -3.65563238e+01] [ 9.95642763e-04 9.76829364e-06 9.99999504e-01 -7.53597703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74420382200003 meters 0.021474873727742382 Centerline is valid? [True, True] Translation: X:264.43, Y:-36.56, Z:-7.54 [[ 9.78661465e-01 2.05474020e-01 -1.47096912e-03 2.64425568e+02] [-2.05473816e-01 9.78662570e-01 2.90000847e-04 -3.65559872e+01] [ 1.49917006e-03 1.84329851e-05 9.99998876e-01 -7.53703357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77420382200006 meters 0.02197376997280239 Centerline is valid? [True, True] Translation: X:264.45, Y:-36.56, Z:-7.54 [[ 9.78439240e-01 2.06522564e-01 -2.25464263e-03 2.64454552e+02] [-2.06522087e-01 9.78441838e-01 4.45139609e-04 -3.65597946e+01] [ 2.29796805e-03 3.00914394e-05 9.99997359e-01 -7.53814055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80420382200003 meters 0.025261998485687227 Centerline is valid? [True, True] Translation: X:264.48, Y:-36.56, Z:-7.54 [[ 9.78194066e-01 2.07681657e-01 -2.16762879e-03 2.64482538e+02] [-2.07681219e-01 9.78196467e-01 4.27401529e-04 -3.65593959e+01] [ 2.20913029e-03 3.20941517e-05 9.99997559e-01 -7.54389484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83420382200006 meters 0.032367738599248665 Centerline is valid? [True, True] Translation: X:264.51, Y:-36.56, Z:-7.55 [[ 9.78158372e-01 2.07854540e-01 -1.64024063e-03 2.64511293e+02] [-2.07854290e-01 9.78159746e-01 3.23325389e-04 -3.65644916e+01] [ 1.67162200e-03 2.46676146e-05 9.99998603e-01 -7.54698423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86420382200004 meters 0.024708817933892666 Centerline is valid? [True, True] Translation: X:264.54, Y:-36.57, Z:-7.54 [[ 9.77983440e-01 2.08662041e-01 -2.92301347e-03 2.64539170e+02] [-2.08661249e-01 9.77987807e-01 5.76688962e-04 -3.65708748e+01] [ 2.97900463e-03 4.59273870e-05 9.99995562e-01 -7.54281812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89420382200007 meters 0.031211181689206217 Centerline is valid? [True, True] Translation: X:264.57, Y:-36.57, Z:-7.55 [[ 9.77900005e-01 2.09042500e-01 -3.57967958e-03 2.64567772e+02] [-2.09041313e-01 9.77906555e-01 7.06821654e-04 -3.65746132e+01] [ 3.64834789e-03 5.71000205e-05 9.99993343e-01 -7.54782191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92420382200004 meters 0.024719451103272866 Centerline is valid? [True, True] Translation: X:264.60, Y:-36.58, Z:-7.54 [[ 9.77921550e-01 2.08965826e-01 -1.65082726e-03 2.64596243e+02] [-2.08965575e-01 9.77922943e-01 3.25119046e-04 -3.65772123e+01] [ 1.68232062e-03 2.70251462e-05 9.99998585e-01 -7.54314960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95420382200007 meters 0.0350120982335099 Centerline is valid? [True, True] Translation: X:264.62, Y:-36.58, Z:-7.55 [[ 9.78044709e-01 2.08393323e-01 -8.77096373e-04 2.64624516e+02] [-2.08393252e-01 9.78045103e-01 1.72038707e-04 -3.65820178e+01] [ 8.93691529e-04 1.45194190e-05 9.99999601e-01 -7.54808785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98420382200004 meters 0.022321316098529213 Centerline is valid? [True, True] Translation: X:264.65, Y:-36.59, Z:-7.54 [[ 9.78563707e-01 2.05941503e-01 -1.08126795e-03 2.64651738e+02] [-2.05941394e-01 9.78564304e-01 2.12336479e-04 -3.65927134e+01] [ 1.10181911e-03 1.48930558e-05 9.99999393e-01 -7.54311296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01420382200007 meters 0.03159742948516221 Centerline is valid? [True, True] Translation: X:264.68, Y:-36.60, Z:-7.55 [[ 9.78827169e-01 2.04686519e-01 -8.95675273e-04 2.64679731e+02] [-2.04686444e-01 9.78827579e-01 1.75587588e-04 -3.65996696e+01] [ 9.12652070e-04 1.14626849e-05 9.99999583e-01 -7.54698689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04420382200004 meters 0.03417067940317558 Centerline is valid? [True, True] Translation: X:264.71, Y:-36.61, Z:-7.55 [[ 9.79075974e-01 2.03493359e-01 -8.31338222e-04 2.64708094e+02] [-2.03493294e-01 9.79076326e-01 1.62831180e-04 -3.66060910e+01] [ 8.47078636e-04 9.74765644e-06 9.99999641e-01 -7.54781416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074203822 meters 0.02804539391449556 Centerline is valid? [True, True] Translation: X:264.74, Y:-36.61, Z:-7.55 [[ 9.79355619e-01 2.02129367e-01 -2.50796067e-03 2.64736711e+02] [-2.02128763e-01 9.79358830e-01 4.94768524e-04 -3.66124299e+01] [ 2.55620068e-03 2.23766535e-05 9.99996733e-01 -7.54945191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10420382200004 meters 0.02821409273340715 Centerline is valid? [True, True] Translation: X:264.76, Y:-36.62, Z:-7.55 [[ 9.79505152e-01 2.01406564e-01 -2.24805079e-03 2.64764656e+02] [-2.01406079e-01 9.79507731e-01 4.42178542e-04 -3.66162809e+01] [ 2.29104079e-03 1.96549359e-05 9.99997375e-01 -7.55332698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134203822 meters 0.03122350221141291 Centerline is valid? [True, True] Translation: X:264.79, Y:-36.62, Z:-7.55 [[ 9.79656947e-01 2.00660688e-01 -2.74864433e-03 2.64793048e+02] [-2.00659959e-01 9.79660802e-01 5.41269934e-04 -3.66224669e+01] [ 2.80135071e-03 2.12840091e-05 9.99996076e-01 -7.55279963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16420382200005 meters 0.030812473635914096 Centerline is valid? [True, True] Translation: X:264.82, Y:-36.63, Z:-7.56 [[ 9.80123270e-01 1.98341718e-01 -4.35174080e-03 2.64820356e+02] [-1.98339866e-01 9.80132931e-01 8.57578575e-04 -3.66308592e+01] [ 4.43537807e-03 2.25909670e-05 9.99990163e-01 -7.55594877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194203822 meters 0.019703652898435786 Centerline is valid? [True, True] Translation: X:264.85, Y:-36.64, Z:-7.55 [[ 9.80380929e-01 1.97067501e-01 -4.19939368e-03 2.64848228e+02] [-1.97065766e-01 9.80389922e-01 8.27271672e-04 -3.66387656e+01] [ 4.28007161e-03 1.65153617e-05 9.99990840e-01 -7.55152895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22420382200005 meters 0.030081838904367855 Centerline is valid? [True, True] Translation: X:264.88, Y:-36.65, Z:-7.55 [[ 9.80883827e-01 1.94584870e-01 -1.90973406e-03 2.64876181e+02] [-1.94584506e-01 9.80885686e-01 3.76098534e-04 -3.66463735e+01] [ 1.94641389e-03 2.69568935e-06 9.99998106e-01 -7.55434639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254203822 meters 0.024335019691592356 Centerline is valid? [True, True] Translation: X:264.90, Y:-36.65, Z:-7.55 [[ 9.80964146e-01 1.94184693e-01 -1.28423772e-03 2.64904725e+02] [-1.94184530e-01 9.80964987e-01 2.51906482e-04 -3.66525714e+01] [ 1.30870862e-03 2.26786983e-06 9.99999144e-01 -7.55324030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28420382200005 meters 0.02427718641182688 Centerline is valid? [True, True] Translation: X:264.93, Y:-36.66, Z:-7.55 [[ 9.81016960e-01 1.93916945e-01 -1.39368743e-03 2.64933460e+02] [-1.93916751e-01 9.81017950e-01 2.74181150e-04 -3.66593883e+01] [ 1.42040075e-03 1.28298019e-06 9.99998991e-01 -7.55374114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314203822 meters 0.025808743662363267 Centerline is valid? [True, True] Translation: X:264.96, Y:-36.67, Z:-7.55 [[ 9.80971060e-01 1.94148767e-01 -1.42655324e-03 2.64961022e+02] [-1.94148565e-01 9.80972098e-01 2.80256634e-04 -3.66653784e+01] [ 1.45382041e-03 2.03961678e-06 9.99998943e-01 -7.55490884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34420382200005 meters 0.01863533457916768 Centerline is valid? [True, True] Translation: X:264.99, Y:-36.67, Z:-7.55 [[ 9.80572990e-01 1.96153676e-01 -5.89265698e-04 2.64989940e+02] [-1.96153643e-01 9.80573167e-01 1.14745049e-04 -3.66701355e+01] [ 6.00325795e-04 3.07071760e-06 9.99999820e-01 -7.54951030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374203822 meters 0.019011423910345333 Centerline is valid? [True, True] Translation: X:265.02, Y:-36.67, Z:-7.55 [[ 9.80297451e-01 1.97526928e-01 1.45666588e-04 2.65017473e+02] [-1.97526925e-01 9.80297461e-01 -3.04867486e-05 -3.66741870e+01] [-1.48818541e-04 1.11300860e-06 9.99999989e-01 -7.54985728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40420382200006 meters 0.024817286166337507 Centerline is valid? [True, True] Translation: X:265.05, Y:-36.68, Z:-7.55 [[ 9.79528458e-01 2.01304080e-01 8.16869171e-04 2.65046618e+02] [-2.01304014e-01 9.79528799e-01 -1.62402310e-04 -3.66757098e+01] [-8.32839126e-04 -5.36135926e-06 9.99999653e-01 -7.55017073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43420382200003 meters 0.020583903410258658 Centerline is valid? [True, True] Translation: X:265.07, Y:-36.68, Z:-7.55 [[ 9.79081163e-01 2.03463632e-01 1.62068316e-03 2.65074896e+02] [-2.03463379e-01 9.79082504e-01 -3.21028483e-04 -3.66773318e+01] [-1.65210015e-03 -1.54367329e-05 9.99998635e-01 -7.54771057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46420382200006 meters 0.024656063700425813 Centerline is valid? [True, True] Translation: X:265.11, Y:-36.67, Z:-7.55 [[ 9.78091740e-01 2.08173566e-01 5.60143214e-04 2.65105471e+02] [-2.08173537e-01 9.78091901e-01 -1.11373602e-04 -3.66714361e+01] [-5.71056581e-04 -7.67339353e-06 9.99999837e-01 -7.55084470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49420382200003 meters 0.02664256233854996 Centerline is valid? [True, True] Translation: X:265.14, Y:-36.67, Z:-7.55 [[ 9.77013911e-01 2.13175514e-01 1.34862599e-04 2.65135758e+02] [-2.13175512e-01 9.77013920e-01 -2.80583984e-05 -3.66679087e+01] [-1.37744000e-04 -1.33595803e-06 9.99999991e-01 -7.54954788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52420382200006 meters 0.02964635876010456 Centerline is valid? [True, True] Translation: X:265.16, Y:-36.67, Z:-7.55 [[ 9.76618231e-01 2.14980122e-01 6.14531891e-04 2.65164187e+02] [-2.14980088e-01 9.76618424e-01 -1.22756240e-04 -3.66683255e+01] [-6.26553319e-04 -1.22261378e-05 9.99999804e-01 -7.55238620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55420382200003 meters 0.033685831247675706 Centerline is valid? [True, True] Translation: X:265.19, Y:-36.67, Z:-7.56 [[ 9.76276433e-01 2.16526482e-01 7.79834269e-04 2.65192418e+02] [-2.16526427e-01 9.76276745e-01 -1.55191310e-04 -3.66683293e+01] [-7.94937090e-04 -1.73451092e-05 9.99999684e-01 -7.55625507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58420382200006 meters 0.03451253006114914 Centerline is valid? [True, True] Translation: X:265.22, Y:-36.67, Z:-7.56 [[ 9.75926335e-01 2.18100311e-01 -2.08319059e-04 2.65222532e+02] [-2.18100308e-01 9.75926357e-01 4.02972619e-05 -3.66701209e+01] [ 2.12092906e-04 6.10729190e-06 9.99999977e-01 -7.55637004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61420382200004 meters 0.03583757328786625 Centerline is valid? [True, True] Translation: X:265.25, Y:-36.67, Z:-7.56 [[ 9.76034536e-01 2.17612669e-01 -1.14504739e-03 2.65251219e+02] [-2.17612556e-01 9.76035207e-01 2.23829299e-04 -3.66726855e+01] [ 1.16631466e-03 3.07115633e-05 9.99999319e-01 -7.55988421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64420382200007 meters 0.031054582577041516 Centerline is valid? [True, True] Translation: X:265.28, Y:-36.68, Z:-7.56 [[ 9.76770515e-01 2.14285427e-01 -1.05708068e-03 2.65280482e+02] [-2.14285329e-01 9.76771086e-01 2.07194152e-04 -3.66769759e+01] [ 1.07692453e-03 2.41357418e-05 9.99999420e-01 -7.55999011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67420382200004 meters 0.02866776575085217 Centerline is valid? [True, True] Translation: X:265.31, Y:-36.69, Z:-7.56 [[ 9.77356806e-01 2.11594475e-01 -1.20480485e-03 2.65308453e+02] [-2.11594345e-01 9.77357548e-01 2.35490569e-04 -3.66856021e+01] [ 1.22735362e-03 2.47715829e-05 9.99999247e-01 -7.56071113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70420382200007 meters 0.02458844454833173 Centerline is valid? [True, True] Translation: X:265.34, Y:-36.70, Z:-7.56 [[ 9.78776722e-01 2.04925205e-01 -1.33765027e-03 2.65335644e+02] [-2.04925038e-01 9.78777636e-01 2.62270334e-04 -3.66988373e+01] [ 1.36300797e-03 1.74139339e-05 9.99999071e-01 -7.56352676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73420382200004 meters 0.031304463976593304 Centerline is valid? [True, True] Translation: X:265.36, Y:-36.71, Z:-7.57 [[ 9.79528483e-01 2.01297138e-01 -1.84760022e-03 2.65362685e+02] [-2.01296814e-01 9.79530225e-01 3.61684956e-04 -3.67094321e+01] [ 1.88258641e-03 1.76353222e-05 9.99998228e-01 -7.56529041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76420382200007 meters 0.01985249217787586 Centerline is valid? [True, True] Translation: X:265.39, Y:-36.72, Z:-7.57 [[ 9.80877456e-01 1.94610479e-01 -2.48530588e-03 2.65387593e+02] [-1.94609871e-01 9.80880605e-01 4.86414822e-04 -3.67246419e+01] [ 2.53244976e-03 6.55172512e-06 9.99996793e-01 -7.56545253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79420382200004 meters 0.029795558597316984 Centerline is valid? [True, True] Translation: X:265.42, Y:-36.73, Z:-7.57 [[ 9.81359798e-01 1.92167540e-01 -2.14083013e-03 2.65415596e+02] [-1.92167083e-01 9.81362133e-01 4.19050547e-04 -3.67328012e+01] [ 2.18145753e-03 1.57720112e-07 9.99997621e-01 -7.56803327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824203822 meters 0.019419806831041265 Centerline is valid? [True, True] Translation: X:265.44, Y:-36.74, Z:-7.56 [[ 9.81947577e-01 1.89149903e-01 -1.12683968e-03 2.65443255e+02] [-1.89149775e-01 9.81948224e-01 2.19831311e-04 -3.67420921e+01] [ 1.14807929e-03 -2.72135202e-06 9.99999341e-01 -7.56408293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85420382200004 meters 0.022247033454700933 Centerline is valid? [True, True] Translation: X:265.47, Y:-36.75, Z:-7.57 [[ 9.82098135e-01 1.88356394e-01 -2.26333047e-03 2.65471588e+02] [-1.88355873e-01 9.82100743e-01 4.42884011e-04 -3.67485292e+01] [ 2.30623857e-03 -8.64397358e-06 9.99997341e-01 -7.56821700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884203822 meters 0.020215149709448734 Centerline is valid? [True, True] Translation: X:265.50, Y:-36.75, Z:-7.57 [[ 9.82111322e-01 1.88283841e-01 -2.55843958e-03 2.65500280e+02] [-1.88283176e-01 9.82114655e-01 5.00680505e-04 -3.67544294e+01] [ 2.60695105e-03 -1.00128632e-05 9.99996602e-01 -7.56732297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91420382200005 meters 0.02657674918035478 Centerline is valid? [True, True] Translation: X:265.53, Y:-36.76, Z:-7.57 [[ 9.82032333e-01 1.88697642e-01 -2.38669387e-03 2.65527937e+02] [-1.88697065e-01 9.82035234e-01 4.66470453e-04 -3.67577860e+01] [ 2.43183934e-03 -7.72693907e-06 9.99997043e-01 -7.57202682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944203822 meters 0.028205275814484405 Centerline is valid? [True, True] Translation: X:265.55, Y:-36.76, Z:-7.58 [[ 9.82040108e-01 1.88642024e-01 -3.37820374e-03 2.65554637e+02] [-1.88640868e-01 9.82045919e-01 6.60410436e-04 -3.67634101e+01] [ 3.44213235e-03 -1.12822498e-05 9.99994076e-01 -7.57575715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97420382200005 meters 0.02056884471407444 Centerline is valid? [True, True] Translation: X:265.58, Y:-36.77, Z:-7.57 [[ 9.82158612e-01 1.88031103e-01 -2.96072739e-03 2.65582690e+02] [-1.88030212e-01 9.82163074e-01 5.79076683e-04 -3.67689723e+01] [ 3.01680155e-03 -1.20389521e-05 9.99995449e-01 -7.57092519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004203822 meters 0.021093853521809158 Centerline is valid? [True, True] Translation: X:265.61, Y:-36.77, Z:-7.57 [[ 9.82250331e-01 1.87544729e-01 -3.35604237e-03 2.65610737e+02] [-1.87543580e-01 9.82256064e-01 6.56420066e-04 -3.67745086e+01] [ 3.41960109e-03 -1.53646250e-05 9.99994153e-01 -7.57311079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03420382200005 meters 0.032249351835847644 Centerline is valid? [True, True] Translation: X:265.64, Y:-36.78, Z:-7.58 [[ 9.82531375e-01 1.86059788e-01 -3.72177127e-03 2.65637279e+02] [-1.86058368e-01 9.82538424e-01 7.27288615e-04 -3.67843638e+01] [ 3.79210244e-03 -2.21171947e-05 9.99992810e-01 -7.58013546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064203822 meters 0.03279023209429069 Centerline is valid? [True, True] Translation: X:265.67, Y:-36.79, Z:-7.58 [[ 9.82721735e-01 1.85059293e-01 -3.32397254e-03 2.65665078e+02] [-1.85058154e-01 9.82727357e-01 6.49704098e-04 -3.67915489e+01] [ 3.38679252e-03 -2.33501162e-05 9.99994265e-01 -7.57637716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09420382200005 meters 0.02202746784637039 Centerline is valid? [True, True] Translation: X:265.69, Y:-36.80, Z:-7.57 [[ 9.82915000e-01 1.84033087e-01 -3.15051740e-03 2.65692305e+02] [-1.84032060e-01 9.82920049e-01 6.15168592e-04 -3.67997320e+01] [ 3.20991809e-03 -2.48622293e-05 9.99994848e-01 -7.57360743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124203822 meters 0.02128445517771572 Centerline is valid? [True, True] Translation: X:265.72, Y:-36.81, Z:-7.57 [[ 9.82885342e-01 1.84193044e-01 -3.05389087e-03 2.65721318e+02] [-1.84192078e-01 9.82890086e-01 5.97237821e-04 -3.68058899e+01] [ 3.11164612e-03 -2.45137950e-05 9.99995159e-01 -7.57321028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15420382200006 meters 0.027962317831262212 Centerline is valid? [True, True] Translation: X:265.75, Y:-36.81, Z:-7.58 [[ 9.82529087e-01 1.86069603e-01 -3.83351434e-03 2.65749210e+02] [-1.86068096e-01 9.82536565e-01 7.49384950e-04 -3.68116058e+01] [ 3.90600578e-03 -2.29977960e-05 9.99992371e-01 -7.57881287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18420382200003 meters 0.027962317831262212 Centerline is valid? [True, True] Translation: X:265.78, Y:-36.82, Z:-7.58 [[ 9.82538283e-01 1.86021037e-01 -3.83361712e-03 2.65777037e+02] [-1.86019531e-01 9.82545761e-01 7.48859750e-04 -3.68169620e+01] [ 3.90600792e-03 -2.26557125e-05 9.99992371e-01 -7.57961944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21420382200006 meters 0.021744125081319236 Centerline is valid? [True, True] Translation: X:265.80, Y:-36.82, Z:-7.58 [[ 9.82313897e-01 1.87213038e-01 -3.26907181e-03 2.65804465e+02] [-1.87211952e-01 9.82319336e-01 6.37812985e-04 -3.68219252e+01] [ 3.33067936e-03 -1.45232437e-05 9.99994453e-01 -7.57987895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24420382200003 meters 0.020138021251467218 Centerline is valid? [True, True] Translation: X:265.83, Y:-36.82, Z:-7.58 [[ 9.81694758e-01 1.90437432e-01 -2.99788620e-03 2.65833443e+02] [-1.90436533e-01 9.81699335e-01 5.84963554e-04 -3.68231677e+01] [ 3.05442185e-03 -3.34859825e-06 9.99995335e-01 -7.57821217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27420382200006 meters 0.02082529957370989 Centerline is valid? [True, True] Translation: X:265.86, Y:-36.83, Z:-7.58 [[ 9.81427769e-01 1.91820037e-01 -2.14658118e-03 2.65861398e+02] [-1.91819582e-01 9.81430116e-01 4.17958414e-04 -3.68268014e+01] [ 2.18689222e-03 1.56031095e-06 9.99997609e-01 -7.58183666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30420382200003 meters 0.020796709822751724 Centerline is valid? [True, True] Translation: X:265.89, Y:-36.83, Z:-7.58 [[ 9.80906150e-01 1.94456623e-01 -3.12209112e-03 2.65890089e+02] [-1.94455670e-01 9.80911118e-01 6.08940024e-04 -3.68304569e+01] [ 3.18090631e-03 9.79530483e-06 9.99994941e-01 -7.58210458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33420382200006 meters 0.025142573340690238 Centerline is valid? [True, True] Translation: X:265.92, Y:-36.84, Z:-7.58 [[ 9.80658798e-01 1.95682823e-01 -4.06872507e-03 2.65918892e+02] [-1.95681214e-01 9.80667238e-01 7.93717587e-04 -3.68355134e+01] [ 4.14538227e-03 1.78069242e-05 9.99991408e-01 -7.58295414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36420382200004 meters 0.021866165827708846 Centerline is valid? [True, True] Translation: X:265.95, Y:-36.84, Z:-7.59 [[ 9.80284521e-01 1.97540346e-01 -4.47989136e-03 2.65946778e+02] [-1.97538417e-01 9.80294757e-01 8.73434003e-04 -3.68381093e+01] [ 4.56415247e-03 2.87368149e-05 9.99989584e-01 -7.58573906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39420382200007 meters 0.022063679612839355 Centerline is valid? [True, True] Translation: X:265.98, Y:-36.84, Z:-7.59 [[ 9.80068998e-01 1.98586826e-01 -5.29445766e-03 2.65975294e+02] [-1.98584144e-01 9.80083298e-01 1.03268545e-03 -3.68419647e+01] [ 5.39408725e-03 3.92923490e-05 9.99985451e-01 -7.58654491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42420382200004 meters 0.029433978906836255 Centerline is valid? [True, True] Translation: X:266.00, Y:-36.85, Z:-7.59 [[ 9.79725979e-01 2.00245005e-01 -6.24049166e-03 2.66004235e+02] [-2.00241314e-01 9.79745852e-01 1.21714000e-03 -3.68454719e+01] [ 6.35782202e-03 5.71405754e-05 9.99979787e-01 -7.59145835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45420382200007 meters 0.023462919112593655 Centerline is valid? [True, True] Translation: X:266.03, Y:-36.85, Z:-7.59 [[ 9.79230096e-01 2.02671734e-01 -5.70848915e-03 2.66033061e+02] [-2.02668690e-01 9.79246733e-01 1.11293651e-03 -3.68496794e+01] [ 5.81558012e-03 6.71110887e-05 9.99983087e-01 -7.58765587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48420382200004 meters 0.025331099810607084 Centerline is valid? [True, True] Translation: X:266.06, Y:-36.85, Z:-7.59 [[ 9.78846000e-01 2.04523746e-01 -5.52683960e-03 2.66061144e+02] [-2.04520925e-01 9.78861600e-01 1.07676726e-03 -3.68530349e+01] [ 5.63023552e-03 7.63650232e-05 9.99984147e-01 -7.59023640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51420382200007 meters 0.03134454666493648 Centerline is valid? [True, True] Translation: X:266.09, Y:-36.86, Z:-7.59 [[ 9.78623064e-01 2.05570523e-01 -6.13674397e-03 2.66089095e+02] [-2.05567071e-01 9.78642300e-01 1.19483582e-03 -3.68576878e+01] [ 6.25130026e-03 9.22185921e-05 9.99980456e-01 -7.59312618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54420382200004 meters 0.041174747236525366 Centerline is valid? [True, True] Translation: X:266.12, Y:-36.86, Z:-7.60 [[ 9.78192361e-01 2.07611806e-01 -6.08630954e-03 2.66118608e+02] [-2.07608448e-01 9.78211290e-01 1.18551247e-03 -3.68585858e+01] [ 6.19982309e-03 1.03910036e-04 9.99980776e-01 -7.59575341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574203822 meters 0.02954614494657203 Centerline is valid? [True, True] Translation: X:266.15, Y:-36.86, Z:-7.60 [[ 9.78080164e-01 2.08155323e-01 -5.52761717e-03 2.66146276e+02] [-2.08152566e-01 9.78095778e-01 1.07585683e-03 -3.68607787e+01] [ 5.63048435e-03 9.83134709e-05 9.99984144e-01 -7.59629302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60420382200004 meters 0.027617988761192345 Centerline is valid? [True, True] Translation: X:266.17, Y:-36.87, Z:-7.59 [[ 9.78101525e-01 2.08060700e-01 -5.30586657e-03 2.66174365e+02] [-2.08058158e-01 9.78115911e-01 1.03271243e-03 -3.68695184e+01] [ 5.40461939e-03 9.38312245e-05 9.99985391e-01 -7.59346667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634203822 meters 0.025667524619902477 Centerline is valid? [True, True] Translation: X:266.20, Y:-36.88, Z:-7.59 [[ 9.78419148e-01 2.06605595e-01 -3.17781131e-03 2.66202990e+02] [-2.06604674e-01 9.78424308e-01 6.18973779e-04 -3.68804459e+01] [ 3.23713128e-03 5.09348725e-05 9.99994759e-01 -7.59005383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66420382200005 meters 0.024326829740946146 Centerline is valid? [True, True] Translation: X:266.23, Y:-36.89, Z:-7.59 [[ 9.78567369e-01 2.05914773e-01 -2.23832938e-03 2.66231203e+02] [-2.05914316e-01 9.78569929e-01 4.35071685e-04 -3.68889698e+01] [ 2.27994951e-03 3.51571105e-05 9.99997400e-01 -7.58739054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694203822 meters 0.026822833222143013 Centerline is valid? [True, True] Translation: X:266.26, Y:-36.89, Z:-7.59 [[ 9.78753620e-01 2.05039601e-01 -3.36186272e-04 2.66259315e+02] [-2.05039591e-01 9.78753678e-01 6.40650932e-05 -3.68932342e+01] [ 3.42179431e-04 6.22755374e-06 9.99999941e-01 -7.58871144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72420382200005 meters 0.02318719350521961 Centerline is valid? [True, True] Translation: X:266.29, Y:-36.90, Z:-7.58 [[ 9.78783812e-01 2.04891217e-01 1.35623114e-03 2.66288119e+02] [-2.04891046e-01 9.78784751e-01 -2.65538036e-04 -3.68986110e+01] [-1.38186477e-03 -1.79752845e-05 9.99999045e-01 -7.58365665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754203822 meters 0.022561632771133284 Centerline is valid? [True, True] Translation: X:266.32, Y:-36.90, Z:-7.58 [[ 9.78839390e-01 2.04612009e-01 2.71553377e-03 2.66317090e+02] [-2.04611325e-01 9.78843156e-01 -5.30603862e-04 -3.69035921e+01] [-2.76664957e-03 -3.62530014e-05 9.99996172e-01 -7.58228952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78420382200005 meters 0.02315870918108739 Centerline is valid? [True, True] Translation: X:266.35, Y:-36.91, Z:-7.58 [[ 9.78866024e-01 2.04486603e-01 2.55670815e-03 2.66345090e+02] [-2.04485996e-01 9.78869362e-01 -4.99332043e-04 -3.69076562e+01] [-2.60478999e-03 -3.40318430e-05 9.99996607e-01 -7.58488955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814203822 meters 0.023916403586894276 Centerline is valid? [True, True] Translation: X:266.37, Y:-36.91, Z:-7.59 [[ 9.78864387e-01 2.04497548e-01 2.29434953e-03 2.66372254e+02] [-2.04497060e-01 9.78867076e-01 -4.48094143e-04 -3.69122540e+01] [-2.33749737e-03 -3.05643346e-05 9.99997268e-01 -7.58753260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84420382200005 meters 0.022292208243724576 Centerline is valid? [True, True] Translation: X:266.40, Y:-36.92, Z:-7.59 [[ 9.79105554e-01 2.03344668e-01 1.80562749e-03 2.66399663e+02] [-2.03344364e-01 9.79107219e-01 -3.52599514e-04 -3.69211598e+01] [-1.83960214e-03 -2.19320302e-05 9.99998308e-01 -7.58726847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874203822 meters 0.021153002346465805 Centerline is valid? [True, True] Translation: X:266.43, Y:-36.93, Z:-7.59 [[ 9.79568091e-01 2.01109884e-01 1.08190023e-03 2.66427242e+02] [-2.01109773e-01 9.79568688e-01 -2.11780651e-04 -3.69277348e+01] [-1.10238677e-03 -1.01271417e-05 9.99999392e-01 -7.58981448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90420382200006 meters 0.021883590211488124 Centerline is valid? [True, True] Translation: X:266.45, Y:-36.93, Z:-7.60 [[ 9.79855340e-01 1.99708278e-01 3.40780584e-04 2.66454425e+02] [-1.99708266e-01 9.79855399e-01 -6.79898883e-05 -3.69320638e+01] [-3.47493839e-04 -1.43644447e-06 9.99999940e-01 -7.59500570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93420382200003 meters 0.020062146840477846 Centerline is valid? [True, True] Translation: X:266.48, Y:-36.94, Z:-7.60 [[ 9.80524386e-01 1.96395880e-01 7.65745192e-04 2.66482209e+02] [-1.96395822e-01 9.80524685e-01 -1.50179131e-04 -3.69398350e+01] [-7.80326626e-04 -3.13485665e-06 9.99999696e-01 -7.59522414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96420382200006 meters 0.019211592940296597 Centerline is valid? [True, True] Translation: X:266.51, Y:-36.95, Z:-7.60 [[ 9.80886874e-01 1.94577465e-01 7.41800921e-04 2.66510037e+02] [-1.94577410e-01 9.80887155e-01 -1.45506214e-04 -3.69477278e+01] [-7.55935225e-04 -1.61256681e-06 9.99999714e-01 -7.59526366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99420382200003 meters 0.018671385212959066 Centerline is valid? [True, True] Translation: X:266.54, Y:-36.96, Z:-7.60 [[ 9.81282188e-01 1.92575345e-01 7.15419873e-05 2.66537575e+02] [-1.92575344e-01 9.81282190e-01 -1.53010938e-05 -3.69561110e+01] [-7.31494918e-05 1.23746798e-06 9.99999997e-01 -7.59553124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02420382200006 meters 0.01901398931125292 Centerline is valid? [True, True] Translation: X:266.57, Y:-36.97, Z:-7.60 [[ 9.81894004e-01 1.89428554e-01 -9.93889880e-04 2.66565729e+02] [-1.89428456e-01 9.81894507e-01 1.92327249e-04 -3.69659960e+01] [ 1.01232729e-03 -5.73946876e-07 9.99999488e-01 -7.59652421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05420382200003 meters 0.020258918671973734 Centerline is valid? [True, True] Translation: X:266.59, Y:-36.97, Z:-7.60 [[ 9.82126682e-01 1.88218632e-01 -9.62512081e-04 2.66592468e+02] [-1.88218541e-01 9.82127154e-01 1.85119324e-04 -3.69712577e+01] [ 9.80152157e-04 -6.48008549e-07 9.99999520e-01 -7.60074191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08420382200006 meters 0.0194348270381742 Centerline is valid? [True, True] Translation: X:266.62, Y:-36.98, Z:-7.60 [[ 9.82114405e-01 1.88282921e-01 -9.15222454e-04 2.66621530e+02] [-1.88282839e-01 9.82114831e-01 1.76244184e-04 -3.69750513e+01] [ 9.32037316e-04 -7.71270253e-07 9.99999566e-01 -7.59888928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11420382200004 meters 0.017907224833048352 Centerline is valid? [True, True] Translation: X:266.65, Y:-36.98, Z:-7.59 [[ 9.81856439e-01 1.89622341e-01 1.14021570e-03 2.66650805e+02] [-1.89622210e-01 9.81857101e-01 -2.22693918e-04 -3.69768951e+01] [-1.16175662e-03 2.44323691e-06 9.99999325e-01 -7.59442261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14420382200007 meters 0.01768674198486202 Centerline is valid? [True, True] Translation: X:266.68, Y:-36.98, Z:-7.59 [[ 9.81690733e-01 1.90467997e-01 2.29047223e-03 2.66678743e+02] [-1.90467475e-01 9.81693405e-01 -4.46105296e-04 -3.69811327e+01] [-2.33351027e-03 1.67697314e-06 9.99997277e-01 -7.59479612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17420382200004 meters 0.017288387922065614 Centerline is valid? [True, True] Translation: X:266.71, Y:-36.98, Z:-7.59 [[ 9.81355882e-01 1.92186968e-01 2.19155463e-03 2.66707322e+02] [-1.92186495e-01 9.81358329e-01 -4.26462961e-04 -3.69836108e+01] [-2.23266102e-03 -2.67526976e-06 9.99997508e-01 -7.59394681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20420382200007 meters 0.029404772235190158 Centerline is valid? [True, True] Translation: X:266.74, Y:-36.98, Z:-7.60 [[ 9.81058330e-01 1.93702181e-01 2.00451312e-03 2.66735347e+02] [-1.93701788e-01 9.81060378e-01 -3.90403064e-04 -3.69840718e+01] [-2.04217032e-03 -5.26959620e-06 9.99997915e-01 -7.60039505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23420382200004 meters 0.0194671783375312 Centerline is valid? [True, True] Translation: X:266.76, Y:-36.98, Z:-7.60 [[ 9.80417468e-01 1.96917036e-01 2.29538567e-03 2.66764394e+02] [-1.96916530e-01 9.80420155e-01 -4.46610007e-04 -3.69830117e+01] [-2.33838749e-03 -1.41351275e-05 9.99997266e-01 -7.59871059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26420382200007 meters 0.02031072903905326 Centerline is valid? [True, True] Translation: X:266.79, Y:-36.98, Z:-7.60 [[ 9.79977805e-01 1.99097777e-01 1.89115038e-03 2.66793682e+02] [-1.99097438e-01 9.79979630e-01 -3.67840883e-04 -3.69847904e+01] [-1.92652515e-03 -1.60472936e-05 9.99998144e-01 -7.59880980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29420382200004 meters 0.021279761157484225 Centerline is valid? [True, True] Translation: X:266.82, Y:-36.99, Z:-7.60 [[ 9.79499963e-01 2.01441464e-01 1.07635623e-03 2.66822722e+02] [-2.01441355e-01 9.79500555e-01 -2.09936393e-04 -3.69860125e+01] [-1.09658142e-03 -1.11899687e-05 9.99999399e-01 -7.59834723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324203822 meters 0.026950205367304827 Centerline is valid? [True, True] Translation: X:266.85, Y:-36.98, Z:-7.60 [[ 9.78435358e-01 2.06548472e-01 1.40686861e-03 2.66852916e+02] [-2.06548292e-01 9.78436369e-01 -2.73543646e-04 -3.69798719e+01] [-1.43303143e-03 -2.29415329e-05 9.99998973e-01 -7.60243048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35420382200004 meters 0.03114453849585097 Centerline is valid? [True, True] Translation: X:266.88, Y:-36.98, Z:-7.60 [[ 9.77506707e-01 2.10898836e-01 1.52249488e-03 2.66883625e+02] [-2.10898630e-01 9.77507893e-01 -2.96239451e-04 -3.69754086e+01] [-1.55072732e-03 -3.15160350e-05 9.99998797e-01 -7.60240250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384203822 meters 0.03121086767199068 Centerline is valid? [True, True] Translation: X:266.91, Y:-36.98, Z:-7.60 [[ 9.77182898e-01 2.12393729e-01 1.57714560e-03 2.66912305e+02] [-2.12393509e-01 9.77184170e-01 -3.07741472e-04 -3.69765869e+01] [-1.60652407e-03 -3.42557846e-05 9.99998709e-01 -7.60146029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41420382200005 meters 0.03914686364490688 Centerline is valid? [True, True] Translation: X:266.94, Y:-36.98, Z:-7.60 [[ 9.76988013e-01 2.13283208e-01 2.16691648e-03 2.66941282e+02] [-2.13282799e-01 9.76990415e-01 -4.20695816e-04 -3.69787160e+01] [-2.20678398e-03 -5.11512440e-05 9.99997564e-01 -7.60306744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444203822 meters 0.03327565435032006 Centerline is valid? [True, True] Translation: X:266.97, Y:-36.98, Z:-7.61 [[ 9.77084546e-01 2.12838771e-01 2.33411860e-03 2.66970178e+02] [-2.12838296e-01 9.77087332e-01 -4.53250096e-04 -3.69767231e+01] [-2.37710691e-03 -5.39261609e-05 9.99997173e-01 -7.60505626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47420382200005 meters 0.030432934207744584 Centerline is valid? [True, True] Translation: X:267.00, Y:-36.98, Z:-7.61 [[ 9.77632288e-01 2.10318933e-01 1.02800610e-03 2.66998746e+02] [-2.10318839e-01 9.77632828e-01 -1.99821578e-04 -3.69832998e+01] [-1.04703877e-03 -2.08570228e-05 9.99999452e-01 -7.60774292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504203822 meters 0.029344380516413845 Centerline is valid? [True, True] Translation: X:267.03, Y:-36.99, Z:-7.61 [[ 9.77994705e-01 2.08625689e-01 1.29539441e-03 2.67025821e+02] [-2.08625538e-01 9.77995563e-01 -2.52126228e-04 -3.69894947e+01] [-1.31948999e-03 -2.36742386e-05 9.99999129e-01 -7.60949769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53420382200005 meters 0.034391280274364174 Centerline is valid? [True, True] Translation: X:267.05, Y:-37.00, Z:-7.61 [[ 9.78434161e-01 2.06556093e-01 1.08343407e-03 2.67054063e+02] [-2.06555987e-01 9.78434760e-01 -2.10754503e-04 -3.69962461e+01] [-1.10360218e-03 -1.75803880e-05 9.99999391e-01 -7.61390637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564203822 meters 0.024363872994979895 Centerline is valid? [True, True] Translation: X:267.08, Y:-37.01, Z:-7.61 [[ 9.79397324e-01 2.01942529e-01 3.11547512e-04 2.67080256e+02] [-2.01942520e-01 9.79397373e-01 -6.18779271e-05 -3.70057683e+01] [-3.17624601e-04 -2.31161346e-06 9.99999950e-01 -7.61423071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59420382200005 meters 0.020582875272155174 Centerline is valid? [True, True] Translation: X:267.11, Y:-37.01, Z:-7.61 [[ 9.80262436e-01 1.97697308e-01 -1.15368048e-03 2.67107761e+02] [-1.97697185e-01 9.80263115e-01 2.20684170e-04 -3.70132680e+01] [ 1.17453909e-03 1.17509820e-05 9.99999310e-01 -7.61337896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624203822 meters 0.020760034925597227 Centerline is valid? [True, True] Translation: X:267.13, Y:-37.02, Z:-7.62 [[ 9.80474980e-01 1.96636289e-01 -1.72714881e-03 2.67134723e+02] [-1.96636011e-01 9.80476501e-01 3.31315061e-04 -3.70173696e+01] [ 1.75857739e-03 1.47735244e-05 9.99998454e-01 -7.61631127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65420382200006 meters 0.020293100107362086 Centerline is valid? [True, True] Translation: X:267.16, Y:-37.02, Z:-7.62 [[ 9.80612539e-01 1.95948283e-01 -1.82193046e-03 2.67162757e+02] [-1.95947972e-01 9.80614231e-01 3.49461954e-04 -3.70220910e+01] [ 1.85508741e-03 1.43168055e-05 9.99998279e-01 -7.61637902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68420382200003 meters 0.02279636040252209 Centerline is valid? [True, True] Translation: X:267.19, Y:-37.02, Z:-7.62 [[ 9.80578757e-01 1.96119660e-01 -1.54307009e-03 2.67190583e+02] [-1.96119437e-01 9.80579971e-01 2.95912613e-04 -3.70227890e+01] [ 1.57113790e-03 1.24604160e-05 9.99998766e-01 -7.62285134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71420382200006 meters 0.022722968425320438 Centerline is valid? [True, True] Translation: X:267.22, Y:-37.03, Z:-7.62 [[ 9.80562254e-01 1.96203408e-01 -1.37410611e-03 2.67219294e+02] [-1.96203231e-01 9.80563217e-01 2.63710457e-04 -3.70261809e+01] [ 1.39913880e-03 1.10195380e-05 9.99999021e-01 -7.62314471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74420382200003 meters 0.019555669250501503 Centerline is valid? [True, True] Translation: X:267.25, Y:-37.03, Z:-7.61 [[ 9.80480323e-01 1.96617084e-01 2.41998043e-04 2.67248324e+02] [-1.96617079e-01 9.80480353e-01 -4.80990355e-05 -3.70279494e+01] [-2.46731419e-04 -4.20790355e-07 9.99999970e-01 -7.61420410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77420382200006 meters 0.020715084142099535 Centerline is valid? [True, True] Translation: X:267.28, Y:-37.03, Z:-7.62 [[ 9.80498833e-01 1.96523405e-01 7.67599459e-04 2.67276378e+02] [-1.96523348e-01 9.80499134e-01 -1.50495522e-04 -3.70290402e+01] [-7.82206497e-04 -3.29053210e-06 9.99999694e-01 -7.61701195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80420382200003 meters 0.020180067922984168 Centerline is valid? [True, True] Translation: X:267.31, Y:-37.03, Z:-7.62 [[ 9.80862886e-01 1.94698781e-01 6.19582371e-04 2.67305781e+02] [-1.94698743e-01 9.80863081e-01 -1.22005587e-04 -3.70311922e+01] [-6.31479813e-04 -9.61156625e-07 9.99999801e-01 -7.61871973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83420382200006 meters 0.028153267795209647 Centerline is valid? [True, True] Translation: X:267.33, Y:-37.04, Z:-7.62 [[ 9.81270530e-01 1.92633395e-01 7.23035574e-04 2.67333460e+02] [-1.92633344e-01 9.81270796e-01 -1.40616889e-04 -3.70365638e+01] [-7.36581202e-04 -1.29755123e-06 9.99999729e-01 -7.62247810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86420382200004 meters 0.01855327841897015 Centerline is valid? [True, True] Translation: X:267.36, Y:-37.05, Z:-7.62 [[ 9.82401619e-01 1.86771457e-01 1.86576988e-03 2.67360850e+02] [-1.86771109e-01 9.82403391e-01 -3.60606850e-04 -3.70486890e+01] [-1.90028972e-03 5.78884529e-06 9.99998194e-01 -7.61911371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89420382200007 meters 0.018423558636843574 Centerline is valid? [True, True] Translation: X:267.39, Y:-37.06, Z:-7.62 [[ 9.82956691e-01 1.83828889e-01 1.75616881e-03 2.67388096e+02] [-1.83828575e-01 9.82958259e-01 -3.39801278e-04 -3.70574422e+01] [-1.78870593e-03 1.11759288e-05 9.99998400e-01 -7.61739420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92420382200004 meters 0.026590954465350817 Centerline is valid? [True, True] Translation: X:267.42, Y:-37.07, Z:-7.62 [[ 9.83732533e-01 1.79627460e-01 2.06848166e-03 2.67416164e+02] [-1.79627018e-01 9.83734708e-01 -3.99458880e-04 -3.70659820e+01] [-2.10659098e-03 2.14055045e-05 9.99997781e-01 -7.61850453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95420382200007 meters 0.022921557062189193 Centerline is valid? [True, True] Translation: X:267.44, Y:-37.07, Z:-7.62 [[ 9.84001134e-01 1.78152818e-01 1.82788899e-03 2.67442683e+02] [-1.78152469e-01 9.84002832e-01 -3.53384806e-04 -3.70736381e+01] [-1.86160444e-03 2.20881128e-05 9.99998267e-01 -7.62201648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98420382200004 meters 0.02284355073468735 Centerline is valid? [True, True] Translation: X:267.47, Y:-37.08, Z:-7.62 [[ 9.84263189e-01 1.76708592e-01 2.19981980e-04 2.67471694e+02] [-1.76708586e-01 9.84263214e-01 -4.33666762e-05 -3.70780890e+01] [-2.24183435e-04 3.81151841e-06 9.99999975e-01 -7.62138071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01420382200007 meters 0.02523255891364754 Centerline is valid? [True, True] Translation: X:267.50, Y:-37.08, Z:-7.62 [[ 9.84331370e-01 1.76328219e-01 3.36459686e-04 2.67499002e+02] [-1.76328207e-01 9.84331427e-01 -6.68297671e-05 -3.70818229e+01] [-3.42971817e-04 6.45530317e-06 9.99999941e-01 -7.62225876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04420382200004 meters 0.029388619778834505 Centerline is valid? [True, True] Translation: X:267.53, Y:-37.08, Z:-7.62 [[ 9.84357747e-01 1.76178109e-01 1.04850818e-03 2.67528446e+02] [-1.76177992e-01 9.84358306e-01 -2.02976015e-04 -3.70839715e+01] [-1.06786767e-03 1.50769466e-05 9.99999430e-01 -7.62085067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0742038220001 meters 0.029388619778834505 Centerline is valid? [True, True] Translation: X:267.56, Y:-37.09, Z:-7.62 [[ 9.84371033e-01 1.76103861e-01 1.04838852e-03 2.67555473e+02] [-1.76103744e-01 9.84371591e-01 -2.03599008e-04 -3.70890339e+01] [-1.06785845e-03 1.57918217e-05 9.99999430e-01 -7.62163337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10420382200004 meters 0.023013708453458095 Centerline is valid? [True, True] Translation: X:267.58, Y:-37.09, Z:-7.62 [[ 9.84383065e-01 1.76029879e-01 1.86079573e-03 2.67582909e+02] [-1.76029514e-01 9.84384824e-01 -3.59181925e-04 -3.70948427e+01] [-1.89496582e-03 2.60176361e-05 9.99998204e-01 -7.62212101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134203822 meters 0.02140764780011699 Centerline is valid? [True, True] Translation: X:267.61, Y:-37.10, Z:-7.62 [[ 9.84330421e-01 1.76290351e-01 3.91599472e-03 2.67611469e+02] [-1.76288749e-01 9.84338209e-01 -7.53291957e-04 -3.70995257e+01] [-3.98746133e-03 5.11423791e-05 9.99992049e-01 -7.61843766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16420382200005 meters 0.02739100833496943 Centerline is valid? [True, True] Translation: X:267.64, Y:-37.11, Z:-7.62 [[ 9.84201383e-01 1.77020333e-01 3.38214184e-03 2.67640108e+02] [-1.77019142e-01 9.84207194e-01 -6.50620016e-04 -3.71052830e+01] [-3.44390131e-03 4.16372730e-05 9.99994069e-01 -7.62172903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194203822 meters 0.02111774342767194 Centerline is valid? [True, True] Translation: X:267.67, Y:-37.11, Z:-7.62 [[ 9.84128596e-01 1.77435032e-01 2.77776899e-03 2.67668149e+02] [-1.77434230e-01 9.84132516e-01 -5.34464957e-04 -3.71099627e+01] [-2.82852559e-03 3.31109456e-05 9.99995999e-01 -7.62171724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22420382200005 meters 0.018825201060674594 Centerline is valid? [True, True] Translation: X:267.70, Y:-37.11, Z:-7.62 [[ 9.83654229e-01 1.80045134e-01 2.84743881e-03 2.67697178e+02] [-1.80044303e-01 9.83658350e-01 -5.47722404e-04 -3.71135153e+01] [-2.89952171e-03 2.61043228e-05 9.99995796e-01 -7.62055845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254203822 meters 0.01963401415335446 Centerline is valid? [True, True] Translation: X:267.72, Y:-37.12, Z:-7.63 [[ 9.83336930e-01 1.81773087e-01 2.65081967e-03 2.67724452e+02] [-1.81772372e-01 9.83340503e-01 -5.10184953e-04 -3.71192826e+01] [-2.69939624e-03 1.98379265e-05 9.99996356e-01 -7.62565135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28420382200005 meters 0.017507981830511367 Centerline is valid? [True, True] Translation: X:267.75, Y:-37.12, Z:-7.62 [[ 9.82622191e-01 1.85600921e-01 2.43457065e-03 2.67754253e+02] [-1.85600330e-01 9.82625207e-01 -4.68205669e-04 -3.71184593e+01] [-2.47916990e-03 8.21216376e-06 9.99996927e-01 -7.62396651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314203822 meters 0.01677438175884003 Centerline is valid? [True, True] Translation: X:267.78, Y:-37.12, Z:-7.62 [[ 9.82296024e-01 1.87309583e-01 3.10502444e-03 2.67783443e+02] [-1.87308633e-01 9.82300931e-01 -5.96610841e-04 -3.71216084e+01] [-3.16181932e-03 4.45057401e-06 9.99995001e-01 -7.62365405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34420382200005 meters 0.018188964253126508 Centerline is valid? [True, True] Translation: X:267.81, Y:-37.13, Z:-7.63 [[ 9.81791036e-01 1.89955611e-01 1.79641920e-03 2.67810339e+02] [-1.89955294e-01 9.81792680e-01 -3.47059070e-04 -3.71257964e+01] [-1.82963704e-03 -4.99852702e-07 9.99998326e-01 -7.62954620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374203822 meters 0.018794446990360453 Centerline is valid? [True, True] Translation: X:267.84, Y:-37.13, Z:-7.63 [[ 9.81559463e-01 1.91155310e-01 8.17393348e-04 2.67838465e+02] [-1.91155245e-01 9.81559803e-01 -1.57949802e-04 -3.71298601e+01] [-8.32513397e-04 -1.21190297e-06 9.99999653e-01 -7.63219465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40420382200006 meters 0.02019762925810474 Centerline is valid? [True, True] Translation: X:267.87, Y:-37.13, Z:-7.63 [[ 9.81149403e-01 1.93249592e-01 6.65887211e-04 2.67866249e+02] [-1.93249549e-01 9.81149629e-01 -1.29228847e-04 -3.71326319e+01] [-6.78308413e-04 -1.88959702e-06 9.99999770e-01 -7.63487609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43420382200003 meters 0.028823704136024465 Centerline is valid? [True, True] Translation: X:267.89, Y:-37.14, Z:-7.64 [[ 9.80960140e-01 1.94206344e-01 1.04858553e-03 2.67894689e+02] [-1.94206239e-01 9.80960701e-01 -2.02096621e-04 -3.71370428e+01] [-1.06786965e-03 -5.39312305e-06 9.99999430e-01 -7.63612250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46420382200006 meters 0.021096700946623137 Centerline is valid? [True, True] Translation: X:267.92, Y:-37.14, Z:-7.63 [[ 9.80809342e-01 1.94947443e-01 2.92049224e-03 2.67922340e+02] [-1.94946636e-01 9.80813690e-01 -5.61268611e-04 -3.71398368e+01] [-2.97387665e-03 -1.88426398e-05 9.99995578e-01 -7.63402964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49420382200003 meters 0.019772001774289154 Centerline is valid? [True, True] Translation: X:267.95, Y:-37.15, Z:-7.63 [[ 9.80748899e-01 1.95239554e-01 3.62123214e-03 2.67951137e+02] [-1.95238322e-01 9.80755584e-01 -6.94036316e-04 -3.71457202e+01] [-3.68704698e-03 -2.63279337e-05 9.99993202e-01 -7.63016633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52420382200006 meters 0.018657700864679178 Centerline is valid? [True, True] Translation: X:267.98, Y:-37.15, Z:-7.63 [[ 9.80657950e-01 1.95688841e-01 3.98277084e-03 2.67979101e+02] [-1.95687356e-01 9.80666037e-01 -7.63049190e-04 -3.71524929e+01] [-4.05508831e-03 -3.10876399e-05 9.99991778e-01 -7.62674797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55420382200003 meters 0.02158470143447858 Centerline is valid? [True, True] Translation: X:268.01, Y:-37.16, Z:-7.63 [[ 9.80587516e-01 1.96043850e-01 3.86413160e-03 2.68006217e+02] [-1.96042453e-01 9.80595129e-01 -7.40767444e-04 -3.71550843e+01] [-3.93437153e-03 -3.11465291e-05 9.99992260e-01 -7.63418356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58420382200006 meters 0.031151328623996867 Centerline is valid? [True, True] Translation: X:268.03, Y:-37.16, Z:-7.63 [[ 9.80532214e-01 1.96315370e-01 4.10510759e-03 2.68034137e+02] [-1.96313800e-01 9.80540807e-01 -7.85907700e-04 -3.71614658e+01] [-4.17951127e-03 -3.52814539e-05 9.99991265e-01 -7.63148551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61420382200004 meters 0.019769560211818877 Centerline is valid? [True, True] Translation: X:268.06, Y:-37.17, Z:-7.63 [[ 9.80490688e-01 1.96506917e-01 4.80020593e-03 2.68062075e+02] [-1.96504775e-01 9.80502437e-01 -9.18493517e-04 -3.71664748e+01] [-4.88710394e-03 -4.26890451e-05 9.99988057e-01 -7.63049621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64420382200007 meters 0.020020341354011893 Centerline is valid? [True, True] Translation: X:268.09, Y:-37.17, Z:-7.63 [[ 9.80184973e-01 1.98053586e-01 3.49215323e-03 2.68090595e+02] [-1.98052461e-01 9.80191194e-01 -6.68442605e-04 -3.71714621e+01] [-3.55536530e-03 -3.64321442e-05 9.99993679e-01 -7.62956863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67420382200004 meters 0.022934914373809734 Centerline is valid? [True, True] Translation: X:268.12, Y:-37.17, Z:-7.64 [[ 9.79999321e-01 1.98972517e-01 3.35680059e-03 2.68118140e+02] [-1.98971482e-01 9.80005069e-01 -6.43041325e-04 -3.71721916e+01] [-3.41762915e-03 -3.77275250e-05 9.99994159e-01 -7.63509789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70420382200007 meters 0.02142355323314829 Centerline is valid? [True, True] Translation: X:268.15, Y:-37.18, Z:-7.63 [[ 9.79832055e-01 1.99784827e-01 3.89435085e-03 2.68147235e+02] [-1.99783445e-01 9.79839793e-01 -7.44744959e-04 -3.71767384e+01] [-3.96462867e-03 -4.83018452e-05 9.99992140e-01 -7.63102803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73420382200004 meters 0.022163608901923686 Centerline is valid? [True, True] Translation: X:268.18, Y:-37.18, Z:-7.63 [[ 9.79615647e-01 2.00839564e-01 4.08084488e-03 2.68175754e+02] [-2.00838057e-01 9.79624145e-01 -7.80137125e-04 -3.71790095e+01] [-4.15437658e-03 -5.53544207e-05 9.99991369e-01 -7.63218687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76420382200007 meters 0.023036289985566984 Centerline is valid? [True, True] Translation: X:268.20, Y:-37.18, Z:-7.63 [[ 9.79667232e-01 2.00584946e-01 4.21833558e-03 2.68203313e+02] [-2.00583329e-01 9.79676312e-01 -8.07129787e-04 -3.71828558e+01] [-4.29450153e-03 -5.54091893e-05 9.99990777e-01 -7.63489708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79420382200004 meters 0.02152603496085364 Centerline is valid? [True, True] Translation: X:268.23, Y:-37.19, Z:-7.63 [[ 9.79857331e-01 1.99630421e-01 5.22554303e-03 2.68231352e+02] [-1.99627938e-01 9.79871262e-01 -9.97804329e-04 -3.71894358e+01] [-5.31955154e-03 -6.54584937e-05 9.99985849e-01 -7.63366148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8242038220001 meters 0.0199715172969359 Centerline is valid? [True, True] Translation: X:268.26, Y:-37.20, Z:-7.63 [[ 9.80181432e-01 1.98017012e-01 5.79864018e-03 2.68259446e+02] [-1.98013928e-01 9.80198581e-01 -1.10680208e-03 -3.71972517e+01] [-5.90298452e-03 -6.33446715e-05 9.99982575e-01 -7.63319171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85420382200004 meters 0.01793066600059595 Centerline is valid? [True, True] Translation: X:268.29, Y:-37.21, Z:-7.64 [[ 9.81148841e-01 1.93170798e-01 5.65633774e-03 2.68285702e+02] [-1.93167785e-01 9.81165145e-01 -1.07938357e-03 -3.72101341e+01] [-5.75830682e-03 -3.35862917e-05 9.99983420e-01 -7.63613060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884203822 meters 0.016470577042969316 Centerline is valid? [True, True] Translation: X:268.31, Y:-37.22, Z:-7.64 [[ 9.81676064e-01 1.90490425e-01 5.05010669e-03 2.68312187e+02] [-1.90487985e-01 9.81689053e-01 -9.64204850e-04 -3.72205953e+01] [-5.14130624e-03 -1.54478272e-05 9.99986783e-01 -7.63588623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91420382200005 meters 0.016390452577975043 Centerline is valid? [True, True] Translation: X:268.34, Y:-37.24, Z:-7.64 [[ 9.82664098e-01 1.85339829e-01 4.51874042e-03 2.68338076e+02] [-1.85337824e-01 9.82674487e-01 -8.62029155e-04 -3.72367632e+01] [-4.60021926e-03 9.59158443e-06 9.99989419e-01 -7.63760687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944203822 meters 0.016666921822315574 Centerline is valid? [True, True] Translation: X:268.37, Y:-37.25, Z:-7.64 [[ 9.82993494e-01 1.83579130e-01 4.74274130e-03 2.68365578e+02] [-1.83576903e-01 9.83004935e-01 -9.04439494e-04 -3.72471480e+01] [-4.82817432e-03 1.84003800e-05 9.99988344e-01 -7.63799069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97420382200005 meters 0.017279120188010963 Centerline is valid? [True, True] Translation: X:268.39, Y:-37.26, Z:-7.64 [[ 9.83210323e-01 1.82414784e-01 4.72309397e-03 2.68391677e+02] [-1.82412561e-01 9.83221667e-01 -9.00745955e-04 -3.72564086e+01] [-4.80815771e-03 2.40710519e-05 9.99988440e-01 -7.63949142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004203822 meters 0.017681341392198957 Centerline is valid? [True, True] Translation: X:268.42, Y:-37.26, Z:-7.64 [[ 9.83118459e-01 1.82929872e-01 3.84143518e-03 2.68418816e+02] [-1.82928406e-01 9.83125964e-01 -7.32668960e-04 -3.72618729e+01] [-3.91064171e-03 1.75927642e-05 9.99992353e-01 -7.64229248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03420382200005 meters 0.018869438677596575 Centerline is valid? [True, True] Translation: X:268.45, Y:-37.27, Z:-7.65 [[ 9.82702076e-01 1.85175981e-01 2.54693002e-03 2.68445570e+02] [-1.85175342e-01 9.82705376e-01 -4.86196930e-04 -3.72673965e+01] [-2.59291382e-03 6.15809452e-06 9.99996638e-01 -7.64917694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064203822 meters 0.01777754461777281 Centerline is valid? [True, True] Translation: X:268.47, Y:-37.27, Z:-7.65 [[ 9.82418498e-01 1.86669805e-01 2.87718298e-03 2.68473921e+02] [-1.86668999e-01 9.82422711e-01 -5.48517216e-04 -3.72717927e+01] [-2.92900151e-03 1.79259302e-06 9.99995710e-01 -7.64633924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09420382200005 meters 0.0304075002341756 Centerline is valid? [True, True] Translation: X:268.50, Y:-37.27, Z:-7.65 [[ 9.81793115e-01 1.89934318e-01 2.68959096e-03 2.68502671e+02] [-1.89933626e-01 9.81796799e-01 -5.12734265e-04 -3.72728681e+01] [-2.73801763e-03 -7.44479342e-06 9.99996252e-01 -7.64763447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124203822 meters 0.021502922722997902 Centerline is valid? [True, True] Translation: X:268.53, Y:-37.28, Z:-7.65 [[ 9.81546335e-01 1.91210348e-01 2.32265098e-03 2.68529968e+02] [-1.91209834e-01 9.81549083e-01 -4.43170311e-04 -3.72764907e+01] [-2.36453469e-03 -9.12151458e-06 9.99997204e-01 -7.64979228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15420382200006 meters 0.02004664097526417 Centerline is valid? [True, True] Translation: X:268.56, Y:-37.28, Z:-7.65 [[ 9.81140502e-01 1.93289476e-01 1.57903382e-03 2.68557174e+02] [-1.93289240e-01 9.81141773e-01 -3.02049188e-04 -3.72796773e+01] [-1.60763897e-03 -8.85755493e-06 9.99998708e-01 -7.65170374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18420382200003 meters 0.020646241366736352 Centerline is valid? [True, True] Translation: X:268.59, Y:-37.28, Z:-7.65 [[ 9.80884283e-01 1.94583159e-01 1.84893011e-03 2.68586063e+02] [-1.94582840e-01 9.80886025e-01 -3.52518935e-04 -3.72831170e+01] [-1.88218396e-03 -1.39897906e-05 9.99998229e-01 -7.65228039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21420382200006 meters 0.021796326099646872 Centerline is valid? [True, True] Translation: X:268.62, Y:-37.28, Z:-7.65 [[ 9.80287781e-01 1.97548574e-01 3.22903798e-03 2.68615673e+02] [-1.97547622e-01 9.80293099e-01 -6.14474336e-04 -3.72840488e+01] [-3.28679218e-03 -3.55270900e-05 9.99994598e-01 -7.65049965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24420382200003 meters 0.023207396621405082 Centerline is valid? [True, True] Translation: X:268.64, Y:-37.29, Z:-7.65 [[ 9.80044990e-01 1.98748080e-01 3.31932093e-03 2.68642962e+02] [-1.98747080e-01 9.80050611e-01 -6.31746593e-04 -3.72880257e+01] [-3.37866093e-03 -4.05652581e-05 9.99994291e-01 -7.65211520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27420382200006 meters 0.025170479926201274 Centerline is valid? [True, True] Translation: X:268.67, Y:-37.29, Z:-7.65 [[ 9.79685537e-01 2.00525088e-01 2.43659140e-03 2.68670212e+02] [-2.00524554e-01 9.79688567e-01 -4.64032094e-04 -3.72919552e+01] [-2.48015082e-03 -3.39908725e-05 9.99996924e-01 -7.65466493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30420382200003 meters 0.02671957717887346 Centerline is valid? [True, True] Translation: X:268.70, Y:-37.29, Z:-7.66 [[ 9.79637634e-01 2.00755351e-01 2.71923968e-03 2.68698026e+02] [-2.00754688e-01 9.79641408e-01 -5.17485982e-04 -3.72940429e+01] [-2.76776787e-03 -3.89513697e-05 9.99996169e-01 -7.65745832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33420382200006 meters 0.024985472528190656 Centerline is valid? [True, True] Translation: X:268.73, Y:-37.30, Z:-7.66 [[ 9.79695917e-01 2.00451895e-01 3.86627097e-03 2.68727028e+02] [-2.00450558e-01 9.79703544e-01 -7.34252768e-04 -3.72990216e+01] [-3.93498173e-03 -5.56517336e-05 9.99992256e-01 -7.65507916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36420382200004 meters 0.02343546549368114 Centerline is valid? [True, True] Translation: X:268.75, Y:-37.31, Z:-7.65 [[ 9.79779660e-01 2.00053293e-01 3.24008053e-03 2.68754833e+02] [-2.00052350e-01 9.79785016e-01 -6.15719077e-04 -3.73055251e+01] [-3.29775898e-03 -4.49166959e-05 9.99994561e-01 -7.65431575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39420382200007 meters 0.021046330806810815 Centerline is valid? [True, True] Translation: X:268.78, Y:-37.31, Z:-7.65 [[ 9.79836600e-01 1.99769982e-01 3.49172980e-03 2.68783250e+02] [-1.99768888e-01 9.79842820e-01 -6.63015088e-04 -3.73136556e+01] [-3.55379688e-03 -4.78925276e-05 9.99993684e-01 -7.65050735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42420382200004 meters 0.02441268882703966 Centerline is valid? [True, True] Translation: X:268.81, Y:-37.32, Z:-7.66 [[ 9.79871549e-01 1.99587971e-01 4.04840904e-03 2.68810900e+02] [-1.99586497e-01 9.79879910e-01 -7.69008310e-04 -3.73159684e+01] [-4.12043950e-03 -5.44784142e-05 9.99991509e-01 -7.65741241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45420382200007 meters 0.023013362956473774 Centerline is valid? [True, True] Translation: X:268.84, Y:-37.32, Z:-7.66 [[ 9.79977836e-01 1.99097179e-01 1.93737650e-03 2.68838763e+02] [-1.99096839e-01 9.79979751e-01 -3.68434657e-04 -3.73230038e+01] [-1.97194404e-03 -2.46677385e-05 9.99998055e-01 -7.65729518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48420382200004 meters 0.022367098854087525 Centerline is valid? [True, True] Translation: X:268.87, Y:-37.33, Z:-7.66 [[ 9.80144738e-01 1.98273290e-01 1.99873749e-03 2.68867179e+02] [-1.98272928e-01 9.80146776e-01 -3.79963633e-04 -3.73268065e+01] [-2.03439275e-03 -2.38761777e-05 9.99997930e-01 -7.65846792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51420382200007 meters 0.02770203279491618 Centerline is valid? [True, True] Translation: X:268.90, Y:-37.33, Z:-7.66 [[ 9.80362267e-01 1.97176770e-01 3.33877671e-03 2.68895251e+02] [-1.97175755e-01 9.80367951e-01 -6.33589969e-04 -3.73347823e+01] [-3.39815891e-03 -3.71781219e-05 9.99994226e-01 -7.65893876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54420382200004 meters 0.021598741377394728 Centerline is valid? [True, True] Translation: X:268.92, Y:-37.34, Z:-7.66 [[ 9.80604310e-01 1.95949565e-01 4.35386219e-03 2.68922833e+02] [-1.95947829e-01 9.80613974e-01 -8.25861271e-04 -3.73395632e+01] [-4.43128527e-03 -4.32867252e-05 9.99990181e-01 -7.65861437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5742038220001 meters 0.019172341354488913 Centerline is valid? [True, True] Translation: X:268.95, Y:-37.35, Z:-7.65 [[ 9.80757579e-01 1.95161863e-01 5.13990757e-03 2.68950915e+02] [-1.95159438e-01 9.80771046e-01 -9.74057548e-04 -3.73456846e+01] [-5.23117141e-03 -4.77871496e-05 9.99986316e-01 -7.65412181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60420382200004 meters 0.01893728830054211 Centerline is valid? [True, True] Translation: X:268.98, Y:-37.35, Z:-7.66 [[ 9.80975142e-01 1.94069464e-01 4.98133391e-03 2.68977858e+02] [-1.94067172e-01 9.80987789e-01 -9.44077206e-04 -3.73519309e+01] [-5.06984430e-03 -4.05971122e-05 9.99987147e-01 -7.65587843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634203822 meters 0.028661405431859674 Centerline is valid? [True, True] Translation: X:269.00, Y:-37.36, Z:-7.67 [[ 9.81208466e-01 1.92925938e-01 3.08672155e-03 2.69004763e+02] [-1.92925051e-01 9.81213321e-01 -5.85477385e-04 -3.73595527e+01] [-3.14168608e-03 -2.10305459e-05 9.99995065e-01 -7.66577962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66420382200005 meters 0.018959816866434002 Centerline is valid? [True, True] Translation: X:269.03, Y:-37.37, Z:-7.66 [[ 9.81454829e-01 1.91665527e-01 3.27792740e-03 2.69032606e+02] [-1.91664521e-01 9.81460303e-01 -6.21097180e-04 -3.73673252e+01] [-3.33619854e-03 -1.86835602e-05 9.99994435e-01 -7.66263974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694203822 meters 0.01918895944156891 Centerline is valid? [True, True] Translation: X:269.06, Y:-37.37, Z:-7.67 [[ 9.81645790e-01 1.90681934e-01 3.45579582e-03 2.69059452e+02] [-1.90680808e-01 9.81651873e-01 -6.55344672e-04 -3.73729369e+01] [-3.51735083e-03 -1.56376032e-05 9.99993814e-01 -7.66531348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72420382200005 meters 0.018835476177414292 Centerline is valid? [True, True] Translation: X:269.09, Y:-37.38, Z:-7.67 [[ 9.81793530e-01 1.89936695e-01 2.34855865e-03 2.69088133e+02] [-1.89936173e-01 9.81796339e-01 -4.45090291e-04 -3.73788462e+01] [-2.39034527e-03 -9.08947540e-06 9.99997143e-01 -7.66535976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754203822 meters 0.01910716025840846 Centerline is valid? [True, True] Translation: X:269.12, Y:-37.38, Z:-7.67 [[ 9.81744127e-01 1.90195833e-01 2.00378582e-03 2.69116629e+02] [-1.90195454e-01 9.81746171e-01 -3.79849300e-04 -3.73826220e+01] [-2.03945481e-03 -8.19613410e-06 9.99997920e-01 -7.66682858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78420382200005 meters 0.01961231688442731 Centerline is valid? [True, True] Translation: X:269.14, Y:-37.39, Z:-7.67 [[ 9.81678935e-01 1.90535822e-01 1.60274625e-03 2.69143638e+02] [-1.90535579e-01 9.81680243e-01 -3.04340426e-04 -3.73868076e+01] [-1.63137209e-03 -6.61560061e-06 9.99998669e-01 -7.66920766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814203822 meters 0.02084007613605867 Centerline is valid? [True, True] Translation: X:269.17, Y:-37.39, Z:-7.67 [[ 9.81394206e-01 1.92003436e-01 3.05915569e-04 2.69172849e+02] [-1.92003427e-01 9.81394253e-01 -5.91219495e-05 -3.73884395e+01] [-3.11575400e-04 -7.14899087e-07 9.99999951e-01 -7.67264778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84420382200005 meters 0.020117404062316203 Centerline is valid? [True, True] Translation: X:269.20, Y:-37.39, Z:-7.67 [[ 9.81298810e-01 1.92490139e-01 4.38365798e-04 2.69200616e+02] [-1.92490120e-01 9.81298908e-01 -8.48435245e-05 -3.73924211e+01] [-4.46499421e-04 -1.12423562e-06 9.99999900e-01 -7.67158740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874203822 meters 0.021537613884533242 Centerline is valid? [True, True] Translation: X:269.23, Y:-37.40, Z:-7.68 [[ 9.81229471e-01 1.92841222e-01 9.93933901e-04 2.69227602e+02] [-1.92841129e-01 9.81229975e-01 -1.89246546e-04 -3.73963609e+01] [-1.01177227e-03 -5.97704748e-06 9.99999488e-01 -7.67600275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90420382200006 meters 0.020983676068603452 Centerline is valid? [True, True] Translation: X:269.26, Y:-37.40, Z:-7.68 [[ 9.81229504e-01 1.92842536e-01 6.45894537e-04 2.69255843e+02] [-1.92842497e-01 9.81229716e-01 -1.23187582e-04 -3.74021547e+01] [-6.57526720e-04 -3.68062548e-06 9.99999784e-01 -7.67511132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93420382200003 meters 0.024317036440477596 Centerline is valid? [True, True] Translation: X:269.28, Y:-37.40, Z:-7.68 [[ 9.81309065e-01 1.92435599e-01 1.02925063e-03 2.69283117e+02] [-1.92435499e-01 9.81309605e-01 -1.95754060e-04 -3.74049835e+01] [-1.04768358e-03 -5.96912479e-06 9.99999451e-01 -7.67961314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96420382200006 meters 0.020484265476814756 Centerline is valid? [True, True] Translation: X:269.31, Y:-37.41, Z:-7.68 [[ 9.81480666e-01 1.91555889e-01 1.42977181e-03 2.69311122e+02] [-1.91555698e-01 9.81481707e-01 -2.70831267e-04 -3.74117928e+01] [-1.45517420e-03 -8.06528511e-06 9.99998941e-01 -7.67674426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99420382200003 meters 0.020484265476814756 Centerline is valid? [True, True] Translation: X:269.34, Y:-37.42, Z:-7.68 [[ 9.81494242e-01 1.91486314e-01 1.42966638e-03 2.69338167e+02] [-1.91486122e-01 9.81495283e-01 -2.71391032e-04 -3.74167481e+01] [-1.45517848e-03 -7.39253569e-06 9.99998941e-01 -7.67752690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02420382200006 meters 0.018919170603698902 Centerline is valid? [True, True] Translation: X:269.37, Y:-37.42, Z:-7.68 [[ 9.81863864e-01 1.89587151e-01 2.54875783e-04 2.69365810e+02] [-1.89587145e-01 9.81863897e-01 -4.94467499e-05 -3.74249196e+01] [-2.59627798e-04 2.28805010e-07 9.99999966e-01 -7.67576757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05420382200003 meters 0.019055612687286772 Centerline is valid? [True, True] Translation: X:269.39, Y:-37.43, Z:-7.68 [[ 9.82061810e-01 1.88559170e-01 2.01991224e-04 2.69392505e+02] [-1.88559166e-01 9.82061831e-01 -4.05326515e-05 -3.74308793e+01] [-2.06010675e-04 1.71827229e-06 9.99999979e-01 -7.67768179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08420382200006 meters 0.01965063656729212 Centerline is valid? [True, True] Translation: X:269.42, Y:-37.44, Z:-7.68 [[ 9.82268063e-01 1.87481606e-01 3.14570373e-04 2.69419105e+02] [-1.87481596e-01 9.82268114e-01 -6.09698159e-05 -3.74371043e+01] [-3.20423166e-04 9.12547409e-07 9.99999949e-01 -7.68079895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11420382200004 meters 0.019720972262549104 Centerline is valid? [True, True] Translation: X:269.45, Y:-37.45, Z:-7.68 [[ 9.82638354e-01 1.85530695e-01 4.75817644e-04 2.69445390e+02] [-1.85530673e-01 9.82638469e-01 -9.12221471e-05 -3.74458457e+01] [-4.84481230e-04 1.35961292e-06 9.99999883e-01 -7.68316623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14420382200007 meters 0.017993742643664642 Centerline is valid? [True, True] Translation: X:269.47, Y:-37.45, Z:-7.68 [[ 9.82791340e-01 1.84710559e-01 1.78663188e-03 2.69473176e+02] [-1.84710251e-01 9.82792964e-01 -3.37444499e-04 -3.74537406e+01] [-1.81821880e-03 1.62830805e-06 9.99998347e-01 -7.67767891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17420382200004 meters 0.01797848571715253 Centerline is valid? [True, True] Translation: X:269.50, Y:-37.46, Z:-7.68 [[ 9.82807755e-01 1.84602250e-01 3.30543515e-03 2.69500295e+02] [-1.84601198e-01 9.82813313e-01 -6.23234527e-04 -3.74584581e+01] [-3.36367617e-03 2.33243610e-06 9.99994343e-01 -7.67788484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20420382200007 meters 0.017552293554723927 Centerline is valid? [True, True] Translation: X:269.53, Y:-37.46, Z:-7.68 [[ 9.82914456e-01 1.84009963e-01 4.41645863e-03 2.69528084e+02] [-1.84008085e-01 9.82924378e-01 -8.31499660e-04 -3.74643604e+01] [-4.49404908e-03 4.62894255e-06 9.99989902e-01 -7.67647947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23420382200004 meters 0.026570246123847296 Centerline is valid? [True, True] Translation: X:269.56, Y:-37.47, Z:-7.68 [[ 9.82913651e-01 1.84022436e-01 4.06176605e-03 2.69556432e+02] [-1.84020847e-01 9.82922043e-01 -7.64671010e-04 -3.74717327e+01] [-4.13311601e-03 4.15594422e-06 9.99991459e-01 -7.67870830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26420382200007 meters 0.017942423730068057 Centerline is valid? [True, True] Translation: X:269.58, Y:-37.48, Z:-7.68 [[ 9.82967862e-01 1.83741880e-01 3.62001411e-03 2.69583477e+02] [-1.83740615e-01 9.82974527e-01 -6.81780499e-04 -3.74809069e+01] [-3.68365329e-03 5.02470110e-06 9.99993215e-01 -7.67971430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29420382200004 meters 0.0179613546320812 Centerline is valid? [True, True] Translation: X:269.61, Y:-37.49, Z:-7.68 [[ 9.82701585e-01 1.85170271e-01 3.09289174e-03 2.69612020e+02] [-1.85169356e-01 9.82706452e-01 -5.82231399e-04 -3.74855437e+01] [-3.14721662e-03 -5.49052724e-07 9.99995048e-01 -7.68064628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3242038220001 meters 0.01822421049660125 Centerline is valid? [True, True] Translation: X:269.64, Y:-37.49, Z:-7.68 [[ 9.82087077e-01 1.88410277e-01 2.55731004e-03 2.69640680e+02] [-1.88409661e-01 9.82090407e-01 -4.81866509e-04 -3.74865836e+01] [-2.60229826e-03 -8.58704775e-06 9.99996614e-01 -7.68069349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35420382200004 meters 0.018294675124882354 Centerline is valid? [True, True] Translation: X:269.67, Y:-37.49, Z:-7.68 [[ 9.81688263e-01 1.90475605e-01 2.68282322e-03 2.69669835e+02] [-1.90474936e-01 9.81691929e-01 -5.04972242e-04 -3.74896071e+01] [-2.72989080e-03 -1.52852591e-05 9.99996274e-01 -7.67947846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384203822 meters 0.021377823165688998 Centerline is valid? [True, True] Translation: X:269.70, Y:-37.49, Z:-7.68 [[ 9.80867264e-01 1.94652870e-01 3.10988205e-03 2.69698789e+02] [-1.94651993e-01 9.80872193e-01 -5.85280380e-04 -3.74866479e+01] [-3.16432334e-03 -3.12623746e-05 9.99994993e-01 -7.68195212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41420382200005 meters 0.02146433571259888 Centerline is valid? [True, True] Translation: X:269.73, Y:-37.49, Z:-7.68 [[ 9.80571183e-01 1.96136244e-01 3.27552945e-03 2.69727580e+02] [-1.96135281e-01 9.80576653e-01 -6.15818056e-04 -3.74905637e+01] [-3.33269195e-03 -3.85934501e-05 9.99994446e-01 -7.68056991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444203822 meters 0.02403788641653768 Centerline is valid? [True, True] Translation: X:269.76, Y:-37.49, Z:-7.68 [[ 9.80224324e-01 1.97853142e-01 3.79577024e-03 2.69755477e+02] [-1.97851862e-01 9.80231672e-01 -7.13502086e-04 -3.74933582e+01] [-3.86190284e-03 -5.16081099e-05 9.99992541e-01 -7.68336602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47420382200005 meters 0.02267011354336183 Centerline is valid? [True, True] Translation: X:269.78, Y:-37.50, Z:-7.68 [[ 9.80194479e-01 1.98006804e-01 3.47706247e-03 2.69782949e+02] [-1.98005731e-01 9.80200645e-01 -6.53534465e-04 -3.75009484e+01] [-3.53762315e-03 -4.78874215e-05 9.99993741e-01 -7.68102230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504203822 meters 0.024569828406911815 Centerline is valid? [True, True] Translation: X:269.81, Y:-37.50, Z:-7.69 [[ 9.80181173e-01 1.98066587e-01 3.80719082e-03 2.69811014e+02] [-1.98065303e-01 9.80188566e-01 -7.15166544e-04 -3.75029021e+01] [-3.87341551e-03 -5.30796201e-05 9.99992497e-01 -7.68519645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53420382200005 meters 0.024409966661053037 Centerline is valid? [True, True] Translation: X:269.84, Y:-37.51, Z:-7.69 [[ 9.80159128e-01 1.98161892e-01 4.46636261e-03 2.69839605e+02] [-1.98160131e-01 9.80169302e-01 -8.38044678e-04 -3.75068733e+01] [-4.54386004e-03 -6.36378560e-05 9.99989675e-01 -7.68549294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564203822 meters 0.02455528723689947 Centerline is valid? [True, True] Translation: X:269.87, Y:-37.51, Z:-7.69 [[ 9.80091884e-01 1.98510858e-01 3.65216005e-03 2.69868414e+02] [-1.98509682e-01 9.80098687e-01 -6.85357583e-04 -3.75117145e+01] [-3.71552820e-03 -5.32757269e-05 9.99993096e-01 -7.68695471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59420382200005 meters 0.02281046843408495 Centerline is valid? [True, True] Translation: X:269.90, Y:-37.52, Z:-7.69 [[ 9.80108237e-01 1.98444172e-01 2.78454459e-03 2.69896125e+02] [-1.98443488e-01 9.80112192e-01 -5.22800264e-04 -3.75194092e+01] [-2.83291277e-03 -4.01738944e-05 9.99995986e-01 -7.68524646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624203822 meters 0.023583482812660376 Centerline is valid? [True, True] Translation: X:269.92, Y:-37.52, Z:-7.69 [[ 9.80410163e-01 1.96918141e-01 4.37709795e-03 2.69923234e+02] [-1.96916437e-01 9.80419932e-01 -8.21053478e-04 -3.75240215e+01] [-4.45307440e-03 -5.69533605e-05 9.99990083e-01 -7.68808244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65420382200006 meters 0.03141017337904531 Centerline is valid? [True, True] Translation: X:269.95, Y:-37.53, Z:-7.69 [[ 9.80580778e-01 1.96069267e-01 4.26389995e-03 2.69951203e+02] [-1.96067645e-01 9.80590047e-01 -7.99260761e-04 -3.75315737e+01] [-4.33784832e-03 -5.22730820e-05 9.99990590e-01 -7.68917409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68420382200003 meters 0.020733789027422032 Centerline is valid? [True, True] Translation: X:269.98, Y:-37.54, Z:-7.69 [[ 9.81066132e-01 1.93657819e-01 2.42759665e-03 2.69979171e+02] [-1.93657285e-01 9.81069135e-01 -4.55529742e-04 -3.75402395e+01] [-2.46985704e-03 -2.32169740e-05 9.99996950e-01 -7.68919329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71420382200006 meters 0.027255440077322002 Centerline is valid? [True, True] Translation: X:270.01, Y:-37.55, Z:-7.69 [[ 9.81157466e-01 1.93184029e-01 3.15557506e-03 2.70006913e+02] [-1.93183126e-01 9.81162540e-01 -5.91544172e-04 -3.75453048e+01] [-3.21040893e-03 -2.92058726e-05 9.99994846e-01 -7.69260159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74420382200003 meters 0.01927780756188007 Centerline is valid? [True, True] Translation: X:270.04, Y:-37.55, Z:-7.69 [[ 9.81287074e-01 1.92504430e-01 4.20995416e-03 2.70035375e+02] [-1.92502819e-01 9.81296104e-01 -7.88535899e-04 -3.75498828e+01] [-4.28300827e-03 -3.66479580e-05 9.99990827e-01 -7.68725712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77420382200006 meters 0.020224741088419658 Centerline is valid? [True, True] Translation: X:270.06, Y:-37.55, Z:-7.69 [[ 9.81280638e-01 1.92536338e-01 4.25060711e-03 2.70062186e+02] [-1.92534693e-01 9.81289844e-01 -7.96817056e-04 -3.75525341e+01] [-4.32449382e-03 -3.64881854e-05 9.99990649e-01 -7.69027678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80420382200003 meters 0.028537275382829828 Centerline is valid? [True, True] Translation: X:270.09, Y:-37.56, Z:-7.69 [[ 9.81206441e-01 1.92893294e-01 5.10850885e-03 2.70090803e+02] [-1.92890933e-01 9.81219738e-01 -9.55552077e-04 -3.75589338e+01] [-5.19688930e-03 -4.77911852e-05 9.99986495e-01 -7.69029371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83420382200006 meters 0.020198715578421112 Centerline is valid? [True, True] Translation: X:270.12, Y:-37.56, Z:-7.69 [[ 9.81196386e-01 1.92951585e-01 4.83085530e-03 2.70118076e+02] [-1.92949472e-01 9.81208278e-01 -9.04078777e-04 -3.75632908e+01] [-4.91451864e-03 -4.50321502e-05 9.99987923e-01 -7.69082286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86420382200004 meters 0.020653520792692986 Centerline is valid? [True, True] Translation: X:270.15, Y:-37.57, Z:-7.70 [[ 9.81355360e-01 1.92169730e-01 3.52884501e-03 2.70145636e+02] [-1.92168597e-01 9.81361704e-01 -6.60590732e-04 -3.75666249e+01] [-3.59001889e-03 -2.98589385e-05 9.99993555e-01 -7.69523754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89420382200007 meters 0.017807722345536715 Centerline is valid? [True, True] Translation: X:270.17, Y:-37.57, Z:-7.69 [[ 9.81782691e-01 1.89972561e-01 3.62948325e-03 2.70173494e+02] [-1.89971349e-01 9.81789400e-01 -6.78933231e-04 -3.75748549e+01] [-3.69236686e-03 -2.29329326e-05 9.99993183e-01 -7.69095286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92420382200004 meters 0.027659625835347777 Centerline is valid? [True, True] Translation: X:270.20, Y:-37.58, Z:-7.70 [[ 9.82003223e-01 1.88799772e-01 4.93119192e-03 2.70200642e+02] [-1.88797523e-01 9.82015603e-01 -9.21949666e-04 -3.75791984e+01] [-5.01657129e-03 -2.56392763e-05 9.99987417e-01 -7.69786083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95420382200007 meters 0.021024230193160826 Centerline is valid? [True, True] Translation: X:270.23, Y:-37.59, Z:-7.70 [[ 9.82242485e-01 1.87546512e-01 5.09970313e-03 2.70228451e+02] [-1.87544093e-01 9.82255723e-01 -9.52702730e-04 -3.75860630e+01] [-5.18788866e-03 -2.06341011e-05 9.99986543e-01 -7.69669568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98420382200004 meters 0.017040513466778734 Centerline is valid? [True, True] Translation: X:270.26, Y:-37.59, Z:-7.69 [[ 9.82445001e-01 1.86509022e-01 4.02553579e-03 2.70256503e+02] [-1.86507506e-01 9.82453248e-01 -7.52178431e-04 -3.75938292e+01] [-4.09518877e-03 -1.18186993e-05 9.99991615e-01 -7.69410784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01420382200007 meters 0.018203390747403007 Centerline is valid? [True, True] Translation: X:270.28, Y:-37.60, Z:-7.70 [[ 9.82272440e-01 1.87396068e-01 4.85468912e-03 2.70284708e+02] [-1.87393876e-01 9.82284436e-01 -9.06557778e-04 -3.75967904e+01] [-4.93857093e-03 -1.92522907e-05 9.99987805e-01 -7.69717616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04420382200004 meters 0.018170993844016145 Centerline is valid? [True, True] Translation: X:270.31, Y:-37.60, Z:-7.70 [[ 9.82129396e-01 1.88133435e-01 5.25940054e-03 2.70313919e+02] [-1.88130876e-01 9.82143477e-01 -9.81416671e-04 -3.76002529e+01] [-5.35012323e-03 -2.55774723e-05 9.99985688e-01 -7.69629134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0742038220001 meters 0.019868010799877548 Centerline is valid? [True, True] Translation: X:270.34, Y:-37.60, Z:-7.70 [[ 9.81871618e-01 1.89482375e-01 4.95531307e-03 2.70342296e+02] [-1.89480116e-01 9.81884122e-01 -9.25708065e-04 -3.76016701e+01] [-5.04094859e-03 -3.00068191e-05 9.99987294e-01 -7.70088238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10420382200004 meters 0.018089759868351794 Centerline is valid? [True, True] Translation: X:270.37, Y:-37.61, Z:-7.70 [[ 9.81752656e-01 1.90125115e-01 3.76335215e-03 2.70370786e+02] [-1.90123819e-01 9.81759869e-01 -7.02454123e-04 -3.76073548e+01] [-3.82826229e-03 -2.58666818e-05 9.99992672e-01 -7.69623065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134203822 meters 0.019512746937546007 Centerline is valid? [True, True] Translation: X:270.40, Y:-37.61, Z:-7.70 [[ 9.81533086e-01 1.91251953e-01 3.93597609e-03 2.70398965e+02] [-1.91250542e-01 9.81540977e-01 -7.35295123e-04 -3.76088625e+01] [-4.00394844e-03 -3.10410671e-05 9.99991984e-01 -7.69954233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16420382200005 meters 0.019061116703633346 Centerline is valid? [True, True] Translation: X:270.43, Y:-37.61, Z:-7.70 [[ 9.81522456e-01 1.91288072e-01 4.74776065e-03 2.70427540e+02] [-1.91286028e-01 9.81533938e-01 -8.85122717e-04 -3.76141063e+01] [-4.82940163e-03 -3.94124560e-05 9.99988338e-01 -7.69863011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194203822 meters 0.026320913770408367 Centerline is valid? [True, True] Translation: X:270.45, Y:-37.62, Z:-7.70 [[ 9.81754133e-01 1.90103685e-01 4.40572280e-03 2.70453117e+02] [-1.90101910e-01 9.81764018e-01 -8.22118536e-04 -3.76212883e+01] [-4.48166788e-03 -3.04180483e-05 9.99989957e-01 -7.70403285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22420382200005 meters 0.018957513461628196 Centerline is valid? [True, True] Translation: X:270.48, Y:-37.63, Z:-7.70 [[ 9.82017482e-01 1.88755119e-01 3.62903690e-03 2.70480729e+02] [-1.88753908e-01 9.82024187e-01 -6.76358148e-04 -3.76293489e+01] [-3.69146808e-03 -2.07993720e-05 9.99993186e-01 -7.70297255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254203822 meters 0.017839203909214212 Centerline is valid? [True, True] Translation: X:270.51, Y:-37.64, Z:-7.70 [[ 9.82222317e-01 1.87680650e-01 3.91069920e-03 2.70508855e+02] [-1.87679237e-01 9.82230102e-01 -7.28587669e-04 -3.76377967e+01] [-3.97794828e-03 -1.83219733e-05 9.99992088e-01 -7.70208135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28420382200005 meters 0.01734060431398426 Centerline is valid? [True, True] Translation: X:270.54, Y:-37.64, Z:-7.70 [[ 9.82170580e-01 1.87940857e-01 4.38018867e-03 2.70536739e+02] [-1.87939088e-01 9.82180347e-01 -8.15683095e-04 -3.76442010e+01] [-4.45543541e-03 -2.20687245e-05 9.99990074e-01 -7.70083601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314203822 meters 0.01798009201369736 Centerline is valid? [True, True] Translation: X:270.57, Y:-37.65, Z:-7.70 [[ 9.81688766e-01 1.90403429e-01 5.80518703e-03 2.70565208e+02] [-1.90400370e-01 9.81705930e-01 -1.08028366e-03 -3.76476195e+01] [-5.90467624e-03 -4.48074258e-05 9.99982566e-01 -7.69903559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34420382200005 meters 0.019607169126983192 Centerline is valid? [True, True] Translation: X:270.59, Y:-37.65, Z:-7.70 [[ 9.81301435e-01 1.92359577e-01 6.72948804e-03 2.70593307e+02] [-1.92355512e-01 9.81324507e-01 -1.25226771e-03 -3.76492204e+01] [-6.84469722e-03 -6.56020136e-05 9.99976573e-01 -7.69986553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374203822 meters 0.021204045830365947 Centerline is valid? [True, True] Translation: X:270.62, Y:-37.65, Z:-7.70 [[ 9.80486673e-01 1.96465380e-01 6.87301639e-03 2.70621971e+02] [-1.96461247e-01 9.80510757e-01 -1.27813893e-03 -3.76506180e+01] [-6.99017655e-03 -9.70831768e-05 9.99975564e-01 -7.69740680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40420382200006 meters 0.026007380482794447 Centerline is valid? [True, True] Translation: X:270.65, Y:-37.65, Z:-7.70 [[ 9.79641983e-01 2.00599195e-01 7.84521739e-03 2.70650361e+02] [-2.00593948e-01 9.79673385e-01 -1.45815704e-03 -3.76496406e+01] [-7.97825581e-03 -1.45231276e-04 9.99968163e-01 -7.69911539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43420382200003 meters 0.026034373061446982 Centerline is valid? [True, True] Translation: X:270.68, Y:-37.65, Z:-7.70 [[ 9.79293817e-01 2.02257328e-01 8.69442991e-03 2.70678900e+02] [-2.02250958e-01 9.79332396e-01 -1.61499222e-03 -3.76536004e+01] [-8.84138089e-03 -1.76904880e-04 9.99960899e-01 -7.69680665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46420382200006 meters 0.030196212270313112 Centerline is valid? [True, True] Translation: X:270.71, Y:-37.65, Z:-7.70 [[ 9.78938673e-01 2.03960609e-01 8.89633788e-03 2.70707485e+02] [-2.03954011e-01 9.78979076e-01 -1.65224706e-03 -3.76520768e+01] [-9.04632195e-03 -1.96995252e-04 9.99959062e-01 -7.70017547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49420382200003 meters 0.032375659874995785 Centerline is valid? [True, True] Translation: X:270.74, Y:-37.65, Z:-7.71 [[ 9.78593695e-01 2.05706738e-01 6.25439144e-03 2.70737289e+02] [-2.05703517e-01 9.78613670e-01 -1.16086319e-03 -3.76527818e+01] [-6.35943034e-03 -1.50536920e-04 9.99979767e-01 -7.70562235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52420382200006 meters 0.02872991581132699 Centerline is valid? [True, True] Translation: X:270.77, Y:-37.66, Z:-7.70 [[ 9.78642350e-01 2.05498798e-01 5.42163702e-03 2.70766195e+02] [-2.05496371e-01 9.78657360e-01 -1.00688611e-03 -3.76577805e+01] [-5.51283886e-03 -1.28745348e-04 9.99984796e-01 -7.70378719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55420382200003 meters 0.03147820442634493 Centerline is valid? [True, True] Translation: X:270.79, Y:-37.66, Z:-7.71 [[ 9.78795790e-01 2.04760831e-01 5.63947415e-03 2.70794700e+02] [-2.04758190e-01 9.78812028e-01 -1.04797151e-03 -3.76582800e+01] [-5.73456865e-03 -1.28978423e-04 9.99983549e-01 -7.70894793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58420382200006 meters 0.027886090419332425 Centerline is valid? [True, True] Translation: X:270.82, Y:-37.67, Z:-7.71 [[ 9.79113642e-01 2.03246315e-01 5.23563957e-03 2.70821862e+02] [-2.03244024e-01 9.79127633e-01 -9.71589432e-04 -3.76678566e+01] [-5.32383135e-03 -1.12815987e-04 9.99985822e-01 -7.70742428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61420382200004 meters 0.024180576177541102 Centerline is valid? [True, True] Translation: X:270.85, Y:-37.68, Z:-7.71 [[ 9.79881632e-01 1.99485368e-01 6.12981075e-03 2.70850699e+02] [-1.99482163e-01 9.79900799e-01 -1.13613830e-03 -3.76777074e+01] [-6.23324942e-03 -1.09506853e-04 9.99980567e-01 -7.70696351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64420382200007 meters 0.02228454739297727 Centerline is valid? [True, True] Translation: X:270.88, Y:-37.68, Z:-7.71 [[ 9.80397893e-01 1.96923358e-01 6.41586910e-03 2.70878096e+02] [-1.96919787e-01 9.80418881e-01 -1.18988430e-03 -3.76847393e+01] [-6.52455521e-03 -9.68515124e-05 9.99978710e-01 -7.70775533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67420382200004 meters 0.01839615214024966 Centerline is valid? [True, True] Translation: X:270.91, Y:-37.70, Z:-7.71 [[ 9.81595792e-01 1.90849519e-01 6.79426134e-03 2.70905817e+02] [-1.90845375e-01 9.81619304e-01 -1.25908436e-03 -3.76959679e+01] [-6.90967374e-03 -6.07414442e-05 9.99976126e-01 -7.70871864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70420382200007 meters 0.01644604157604171 Centerline is valid? [True, True] Translation: X:270.93, Y:-37.70, Z:-7.71 [[ 9.82232921e-01 1.87527680e-01 7.20120861e-03 2.70933567e+02] [-1.87522933e-01 9.82259318e-01 -1.33480886e-03 -3.77043788e+01] [-7.32376786e-03 -3.92985558e-05 9.99973180e-01 -7.70847507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73420382200004 meters 0.016279354441796533 Centerline is valid? [True, True] Translation: X:270.96, Y:-37.72, Z:-7.71 [[ 9.83351027e-01 1.81567193e-01 7.35612689e-03 2.70959403e+02] [-1.81562074e-01 9.83378541e-01 -1.36345196e-03 -3.77154741e+01] [-7.48141547e-03 5.15823349e-06 9.99972014e-01 -7.71213498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76420382200007 meters 0.015975007667513183 Centerline is valid? [True, True] Translation: X:270.99, Y:-37.73, Z:-7.71 [[ 9.83891382e-01 1.78647245e-01 6.55055171e-03 2.70987095e+02] [-1.78643125e-01 9.83913188e-01 -1.21355496e-03 -3.77258257e+01] [-6.66197247e-03 2.37952414e-05 9.99977809e-01 -7.70996146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79420382200004 meters 0.030713940042186142 Centerline is valid? [True, True] Translation: X:271.01, Y:-37.74, Z:-7.71 [[ 9.84695553e-01 1.74162728e-01 6.48165667e-03 2.71012717e+02] [-1.74158597e-01 9.84716884e-01 -1.20074242e-03 -3.77377010e+01] [-6.59172133e-03 5.35294929e-05 9.99978273e-01 -7.71430300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8242038220001 meters 0.018754555723620198 Centerline is valid? [True, True] Translation: X:271.04, Y:-37.75, Z:-7.71 [[ 9.84984699e-01 1.72486083e-01 7.32762332e-03 2.71041102e+02] [-1.72480766e-01 9.85011952e-01 -1.35622176e-03 -3.77461025e+01] [-7.45172593e-03 7.19835910e-05 9.99972233e-01 -7.71098519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85420382200004 meters 0.02011296285633149 Centerline is valid? [True, True] Translation: X:271.07, Y:-37.76, Z:-7.71 [[ 9.85437925e-01 1.69896966e-01 6.86411038e-03 2.71068621e+02] [-1.69892239e-01 9.85461828e-01 -1.27025592e-03 -3.77576789e+01] [-6.98013139e-03 8.55992807e-05 9.99975635e-01 -7.71130170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884203822 meters 0.02011296285633149 Centerline is valid? [True, True] Translation: X:271.10, Y:-37.76, Z:-7.71 [[ 9.85446344e-01 1.69848132e-01 6.86410838e-03 2.71096493e+02] [-1.69843403e-01 9.85470246e-01 -1.27026689e-03 -3.77627433e+01] [-6.98012703e-03 8.59563365e-05 9.99975635e-01 -7.71210805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91420382200005 meters 0.02795525981818253 Centerline is valid? [True, True] Translation: X:271.12, Y:-37.77, Z:-7.72 [[ 9.85497410e-01 1.69539664e-01 7.15241928e-03 2.71124429e+02] [-1.69534527e-01 9.85523360e-01 -1.32292357e-03 -3.77699242e+01] [-7.27316430e-03 9.11557270e-05 9.99973546e-01 -7.71765063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944203822 meters 0.021980401947407656 Centerline is valid? [True, True] Translation: X:271.15, Y:-37.77, Z:-7.72 [[ 9.85250800e-01 1.70966010e-01 7.17526639e-03 2.71152712e+02] [-1.70960878e-01 9.85276924e-01 -1.32713776e-03 -3.77741474e+01] [-7.29651984e-03 8.08736955e-05 9.99973377e-01 -7.71586637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97420382200005 meters 0.01761634103722201 Centerline is valid? [True, True] Translation: X:271.18, Y:-37.78, Z:-7.72 [[ 9.84634589e-01 1.74499049e-01 6.69390514e-03 2.71180470e+02] [-1.74494666e-01 9.84657341e-01 -1.23785349e-03 -3.77766335e+01] [-6.80720709e-03 5.07826247e-05 9.99976829e-01 -7.71629663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004203822 meters 0.017273005184403507 Centerline is valid? [True, True] Translation: X:271.21, Y:-37.78, Z:-7.72 [[ 9.84149981e-01 1.77207566e-01 6.80395149e-03 2.71207910e+02] [-1.77203103e-01 9.84173500e-01 -1.25814547e-03 -3.77788311e+01] [-6.91922165e-03 3.25225214e-05 9.99976061e-01 -7.71935250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03420382200005 meters 0.016212963546819708 Centerline is valid? [True, True] Translation: X:271.24, Y:-37.78, Z:-7.72 [[ 9.83058430e-01 1.83203748e-01 5.70169681e-03 2.71237433e+02] [-1.83200717e-01 9.83074965e-01 -1.05391841e-03 -3.77779659e+01] [-5.79827719e-03 -8.49156418e-06 9.99983190e-01 -7.72057409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064203822 meters 0.017921779861786065 Centerline is valid? [True, True] Translation: X:271.27, Y:-37.78, Z:-7.72 [[ 9.82543591e-01 1.85983266e-01 4.27987565e-03 2.71265172e+02] [-1.85981583e-01 9.82552912e-01 -7.91540288e-04 -3.77795998e+01] [-4.35241753e-03 -1.82552108e-05 9.99990528e-01 -7.72496400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09420382200005 meters 0.018454986413923506 Centerline is valid? [True, True] Translation: X:271.29, Y:-37.78, Z:-7.72 [[ 9.82085315e-01 1.88401240e-01 3.66146137e-03 2.71294419e+02] [-1.88400026e-01 9.82092140e-01 -6.76893736e-04 -3.77814287e+01] [-3.72342006e-03 -2.50520185e-05 9.99993068e-01 -7.72493967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124203822 meters 0.02172163936621147 Centerline is valid? [True, True] Translation: X:271.32, Y:-37.78, Z:-7.73 [[ 9.81430984e-01 1.91783644e-01 3.50112720e-03 2.71322748e+02] [-1.91782555e-01 9.81437228e-01 -6.47442526e-04 -3.77792922e+01] [-3.56030546e-03 -3.60349620e-05 9.99993661e-01 -7.72941032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15420382200006 meters 0.03131319734224571 Centerline is valid? [True, True] Translation: X:271.35, Y:-37.78, Z:-7.73 [[ 9.80979581e-01 1.94091605e-01 2.74039309e-03 2.71352099e+02] [-1.94090947e-01 9.80983408e-01 -5.06609837e-04 -3.77792740e+01] [-2.78660887e-03 -3.49115850e-05 9.99996117e-01 -7.73368240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18420382200003 meters 0.022870449498214127 Centerline is valid? [True, True] Translation: X:271.38, Y:-37.78, Z:-7.73 [[ 9.80869498e-01 1.94644174e-01 2.94491747e-03 2.71380578e+02] [-1.94643417e-01 9.80873918e-01 -5.44206085e-04 -3.77842332e+01] [-2.99451928e-03 -3.94136502e-05 9.99995516e-01 -7.72911200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21420382200006 meters 0.023481797931961708 Centerline is valid? [True, True] Translation: X:271.41, Y:-37.79, Z:-7.73 [[ 9.80856911e-01 1.94675154e-01 4.61558302e-03 2.71408460e+02] [-1.94673296e-01 9.80867769e-01 -8.52763681e-04 -3.77875935e+01] [-4.69328853e-03 -6.20916110e-05 9.99988985e-01 -7.72984094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24420382200003 meters 0.021506862549107848 Centerline is valid? [True, True] Translation: X:271.44, Y:-37.80, Z:-7.73 [[ 9.80990215e-01 1.93987522e-01 5.19997465e-03 2.71436092e+02] [-1.93985163e-01 9.81003994e-01 -9.59145455e-04 -3.77954993e+01] [-5.28725815e-03 -6.78056239e-05 9.99986020e-01 -7.72676938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27420382200006 meters 0.019575250454339534 Centerline is valid? [True, True] Translation: X:271.46, Y:-37.80, Z:-7.73 [[ 9.81535273e-01 1.91191738e-01 5.85045390e-03 2.71464167e+02] [-1.91188705e-01 9.81552707e-01 -1.07864871e-03 -3.78039761e+01] [-5.94875758e-03 -5.98089501e-05 9.99982304e-01 -7.72711955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30420382200003 meters 0.018017915412161842 Centerline is valid? [True, True] Translation: X:271.49, Y:-37.81, Z:-7.73 [[ 9.82001032e-01 1.88779373e-01 6.02680097e-03 2.71491771e+02] [-1.88776110e-01 9.82019524e-01 -1.11082491e-03 -3.78115160e+01] [-6.12813706e-03 -4.68848340e-05 9.99981222e-01 -7.72748223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33420382200006 meters 0.016005060788313923 Centerline is valid? [True, True] Translation: X:271.52, Y:-37.83, Z:-7.73 [[ 9.83078658e-01 1.83088985e-01 5.89718969e-03 2.71518181e+02] [-1.83085760e-01 9.83096345e-01 -1.08666759e-03 -3.78256836e+01] [-5.99646250e-03 -1.14117469e-05 9.99982021e-01 -7.72934270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36420382200004 meters 0.016179945533112094 Centerline is valid? [True, True] Translation: X:271.55, Y:-37.84, Z:-7.73 [[ 9.83637974e-01 1.80078854e-01 5.28615479e-03 2.71545626e+02] [-1.80076220e-01 9.83652178e-01 -9.73954527e-04 -3.78369053e+01] [-5.37512629e-03 6.10788376e-06 9.99985554e-01 -7.73099802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39420382200007 meters 0.018160675063736947 Centerline is valid? [True, True] Translation: X:271.57, Y:-37.85, Z:-7.73 [[ 9.84443625e-01 1.75625262e-01 5.14951012e-03 2.71571121e+02] [-1.75622701e-01 9.84457092e-01 -9.48833151e-04 -3.78515533e+01] [-5.23611083e-03 2.97018707e-05 9.99986291e-01 -7.73407758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42420382200004 meters 0.01805251282141206 Centerline is valid? [True, True] Translation: X:271.60, Y:-37.86, Z:-7.73 [[ 9.84806983e-01 1.73566637e-01 5.46155459e-03 2.71599014e+02] [-1.73563729e-01 9.84822126e-01 -1.00559597e-03 -3.78611062e+01] [-5.55319771e-03 4.23901498e-05 9.99984580e-01 -7.73192745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45420382200007 meters 0.018927613962896703 Centerline is valid? [True, True] Translation: X:271.63, Y:-37.87, Z:-7.73 [[ 9.84826596e-01 1.73454750e-01 5.47965245e-03 2.71625298e+02] [-1.73451821e-01 9.84841839e-01 -1.00892193e-03 -3.78689180e+01] [-5.57159330e-03 4.31574552e-05 9.99984478e-01 -7.73499592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48420382200004 meters 0.01829247015330206 Centerline is valid? [True, True] Translation: X:271.65, Y:-37.88, Z:-7.73 [[ 9.84820507e-01 1.73492165e-01 5.38860413e-03 2.71653208e+02] [-1.73489336e-01 9.84835249e-01 -9.91553924e-04 -3.78795065e+01] [-5.47891413e-03 4.16372833e-05 9.99984990e-01 -7.73390753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51420382200007 meters 0.018022969482332042 Centerline is valid? [True, True] Translation: X:271.68, Y:-37.89, Z:-7.73 [[ 9.84764496e-01 1.73813883e-01 5.25555437e-03 2.71682278e+02] [-1.73811202e-01 9.84778520e-01 -9.66271205e-04 -3.78869967e+01] [-5.34350840e-03 3.80753566e-05 9.99985723e-01 -7.73469882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54420382200004 meters 0.01810251693623044 Centerline is valid? [True, True] Translation: X:271.71, Y:-37.89, Z:-7.74 [[ 9.84337113e-01 1.76229399e-01 4.86285287e-03 2.71709597e+02] [-1.76227132e-01 9.84349124e-01 -8.94290242e-04 -3.78945643e+01] [-4.94434520e-03 2.33164614e-05 9.99987776e-01 -7.73819428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5742038220001 meters 0.01999994789401836 Centerline is valid? [True, True] Translation: X:271.74, Y:-37.90, Z:-7.74 [[ 9.83948593e-01 1.78390693e-01 4.68253993e-03 2.71737731e+02] [-1.78388614e-01 9.83959735e-01 -8.61295362e-04 -3.78985263e+01] [-4.76107783e-03 1.21585505e-05 9.99988666e-01 -7.73834245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60420382200004 meters 0.01757807146665645 Centerline is valid? [True, True] Translation: X:271.77, Y:-37.90, Z:-7.74 [[ 9.82970679e-01 1.83684259e-01 5.36078833e-03 2.71766112e+02] [-1.83681616e-01 9.82985296e-01 -9.85568102e-04 -3.79006766e+01] [-5.45060945e-03 -1.58937158e-05 9.99985145e-01 -7.74007726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634203822 meters 0.017128273009767297 Centerline is valid? [True, True] Translation: X:271.79, Y:-37.90, Z:-7.74 [[ 9.82397441e-01 1.86726140e-01 5.34935955e-03 2.71794944e+02] [-1.86723555e-01 9.82412005e-01 -9.83217253e-04 -3.79043618e+01] [-5.43886740e-03 -3.29413164e-05 9.99985209e-01 -7.73629693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66420382200005 meters 0.022004517809927314 Centerline is valid? [True, True] Translation: X:271.82, Y:-37.90, Z:-7.74 [[ 9.81089035e-01 1.93505582e-01 4.46038872e-03 2.71823870e+02] [-1.93503854e-01 9.81099173e-01 -8.19825342e-04 -3.79036768e+01] [-4.53472446e-03 -5.87807548e-05 9.99989716e-01 -7.74000485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694203822 meters 0.024214201028615608 Centerline is valid? [True, True] Translation: X:271.85, Y:-37.91, Z:-7.74 [[ 9.80492343e-01 1.96512486e-01 4.19624422e-03 2.71852014e+02] [-1.96510984e-01 9.80501320e-01 -7.71419200e-04 -3.79070638e+01] [-4.26601650e-03 -6.82374616e-05 9.99990898e-01 -7.74090205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72420382200005 meters 0.026108678532294243 Centerline is valid? [True, True] Translation: X:271.88, Y:-37.91, Z:-7.74 [[ 9.79881097e-01 1.99532644e-01 4.44519671e-03 2.71880120e+02] [-1.99530989e-01 9.79891176e-01 -8.17138558e-04 -3.79105621e+01] [-4.51885485e-03 -8.62558706e-05 9.99989786e-01 -7.74015562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754203822 meters 0.03181921166547309 Centerline is valid? [True, True] Translation: X:271.91, Y:-37.91, Z:-7.74 [[ 9.78876776e-01 2.04348999e-01 6.46098454e-03 2.71909724e+02] [-2.04345622e-01 9.78898085e-01 -1.18564189e-03 -3.79077196e+01] [-6.56693013e-03 -1.59676599e-04 9.99978425e-01 -7.73945938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78420382200005 meters 0.0353357314158392 Centerline is valid? [True, True] Translation: X:271.94, Y:-37.91, Z:-7.74 [[ 9.78150878e-01 2.07802601e-01 6.24018765e-03 2.71939407e+02] [-2.07799526e-01 9.78170766e-01 -1.14429035e-03 -3.79101110e+01] [-6.34175565e-03 -1.77419430e-04 9.99979875e-01 -7.74069913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814203822 meters 0.03411032338495783 Centerline is valid? [True, True] Translation: X:271.97, Y:-37.92, Z:-7.74 [[ 9.77940255e-01 2.08805091e-01 5.76990296e-03 2.71966992e+02] [-2.08802476e-01 9.77957262e-01 -1.05854140e-03 -3.79177748e+01] [-5.86374733e-03 -1.69579783e-04 9.99982794e-01 -7.73967664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84420382200005 meters 0.037778099289648606 Centerline is valid? [True, True] Translation: X:271.99, Y:-37.92, Z:-7.74 [[ 9.77739658e-01 2.09732672e-01 6.11291468e-03 2.71994722e+02] [-2.09729757e-01 9.77758749e-01 -1.12139777e-03 -3.79177015e+01] [-6.21214957e-03 -1.85625034e-04 9.99980687e-01 -7.74280014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874203822 meters 0.04008655194813123 Centerline is valid? [True, True] Translation: X:272.02, Y:-37.92, Z:-7.75 [[ 9.77630944e-01 2.10212735e-01 6.95295955e-03 2.72022546e+02] [-2.10208972e-01 9.77655645e-01 -1.27592321e-03 -3.79169647e+01] [-7.06581546e-03 -2.14192469e-04 9.99975014e-01 -7.74528810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90420382200006 meters 0.03562914120815601 Centerline is valid? [True, True] Translation: X:272.05, Y:-37.93, Z:-7.74 [[ 9.77920503e-01 2.08892642e-01 5.94595298e-03 2.72050039e+02] [-2.08889876e-01 9.77938563e-01 -1.08938243e-03 -3.79271218e+01] [-6.04234069e-03 -1.76719972e-04 9.99981729e-01 -7.74492464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93420382200003 meters 0.03562920893621218 Centerline is valid? [True, True] Translation: X:272.08, Y:-37.93, Z:-7.75 [[ 9.78109760e-01 2.08003879e-01 5.97358345e-03 2.72078061e+02] [-2.08001072e-01 9.78127986e-01 -1.09414035e-03 -3.79309538e+01] [-6.07051458e-03 -1.72322408e-04 9.99981559e-01 -7.74634787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96420382200006 meters 0.034863779253429567 Centerline is valid? [True, True] Translation: X:272.11, Y:-37.94, Z:-7.75 [[ 9.78387025e-01 2.06710363e-01 5.44557891e-03 2.72106487e+02] [-2.06708012e-01 9.78402168e-01 -9.97292222e-04 -3.79369080e+01] [-5.53411685e-03 -1.49907018e-04 9.99984675e-01 -7.74874623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99420382200003 meters 0.0315646048427144 Centerline is valid? [True, True] Translation: X:272.13, Y:-37.94, Z:-7.75 [[ 9.79028528e-01 2.03657075e-01 5.19013920e-03 2.72134220e+02] [-2.03654895e-01 9.79042277e-01 -9.50598493e-04 -3.79414421e+01] [-5.27496181e-03 -1.26334213e-04 9.99986079e-01 -7.74883717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02420382200006 meters 0.03591045935032745 Centerline is valid? [True, True] Translation: X:272.16, Y:-37.95, Z:-7.75 [[ 9.79385155e-01 2.01939866e-01 5.00079742e-03 2.72161810e+02] [-2.01937822e-01 9.79397916e-01 -9.15644586e-04 -3.79450916e+01] [-5.08267572e-03 -1.13081425e-04 9.99987077e-01 -7.75442389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05420382200003 meters 0.03173211683097448 Centerline is valid? [True, True] Translation: X:272.19, Y:-37.95, Z:-7.75 [[ 9.80273285e-01 1.97594392e-01 4.55436317e-03 2.72189545e+02] [-1.97592652e-01 9.80283862e-01 -8.33492354e-04 -3.79533516e+01] [-4.62926213e-03 -8.28584074e-05 9.99989281e-01 -7.75432077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08420382200006 meters 0.023474191819057834 Centerline is valid? [True, True] Translation: X:272.22, Y:-37.96, Z:-7.75 [[ 9.80763549e-01 1.95138476e-01 4.88221073e-03 2.72217549e+02] [-1.95136447e-01 9.80775698e-01 -8.93192393e-04 -3.79609661e+01] [-4.96264984e-03 -7.66867131e-05 9.99987683e-01 -7.75045440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11420382200004 meters 0.021598559301599 Centerline is valid? [True, True] Translation: X:272.25, Y:-37.97, Z:-7.75 [[ 9.81639864e-01 1.90669095e-01 5.33606160e-03 2.72245143e+02] [-1.90666607e-01 9.81654365e-01 -9.75821969e-04 -3.79673299e+01] [-5.42422726e-03 -5.95030142e-05 9.99985287e-01 -7.75460322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14420382200007 meters 0.020139851932982213 Centerline is valid? [True, True] Translation: X:272.27, Y:-37.97, Z:-7.76 [[ 9.82091043e-01 1.88335674e-01 5.18233979e-03 2.72273263e+02] [-1.88333296e-01 9.82104715e-01 -9.47438742e-04 -3.79747444e+01] [-5.26803686e-03 -4.55360316e-05 9.99986123e-01 -7.75546244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17420382200004 meters 0.017243982753277664 Centerline is valid? [True, True] Translation: X:272.30, Y:-37.98, Z:-7.75 [[ 9.82941904e-01 1.83851450e-01 4.88439474e-03 2.72300860e+02] [-1.83849284e-01 9.82954039e-01 -8.92859633e-04 -3.79830862e+01] [-4.96528908e-03 -2.03633251e-05 9.99987673e-01 -7.75461844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20420382200007 meters 0.017350176353955294 Centerline is valid? [True, True] Translation: X:272.33, Y:-37.99, Z:-7.76 [[ 9.83392685e-01 1.81419924e-01 5.06349697e-03 2.72327437e+02] [-1.81417563e-01 9.83405721e-01 -9.25579458e-04 -3.79896118e+01] [-5.14739044e-03 -8.39921041e-06 9.99986752e-01 -7.75777163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23420382200004 meters 0.017508206730427866 Centerline is valid? [True, True] Translation: X:272.35, Y:-38.00, Z:-7.76 [[ 9.83859469e-01 1.78867313e-01 5.19894607e-03 2.72354142e+02] [-1.78864790e-01 9.83873205e-01 -9.50006654e-04 -3.79979606e+01] [-5.28502887e-03 4.76464743e-06 9.99986034e-01 -7.75944738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26420382200007 meters 0.01711774787675865 Centerline is valid? [True, True] Translation: X:272.38, Y:-38.01, Z:-7.75 [[ 9.84930931e-01 1.72877034e-01 4.95903671e-03 2.72382741e+02] [-1.72874671e-01 9.84943415e-01 -9.04441387e-04 -3.80104358e+01] [-5.04072769e-03 3.35204565e-05 9.99987295e-01 -7.75347720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29420382200004 meters 0.03225377290528839 Centerline is valid? [True, True] Translation: X:272.41, Y:-38.02, Z:-7.76 [[ 9.85760887e-01 1.68050784e-01 5.86577740e-03 2.72409572e+02] [-1.68047391e-01 9.85778337e-01 -1.07010858e-03 -3.80246567e+01] [-5.96218887e-03 6.91425943e-05 9.99982224e-01 -7.76114868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3242038220001 meters 0.02319810480191698 Centerline is valid? [True, True] Translation: X:272.44, Y:-38.04, Z:-7.76 [[ 9.86062640e-01 1.66262928e-01 6.09166234e-03 2.72437818e+02] [-1.66259235e-01 9.86081453e-01 -1.11120048e-03 -3.80355125e+01] [-6.19162669e-03 8.29181538e-05 9.99980828e-01 -7.75912475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35420382200004 meters 0.035454800262427116 Centerline is valid? [True, True] Translation: X:272.47, Y:-38.04, Z:-7.76 [[ 9.86433177e-01 1.64069118e-01 5.55987554e-03 2.72468438e+02] [-1.64066012e-01 9.86448842e-01 -1.01330933e-03 -3.80434692e+01] [-5.65078555e-03 8.73753339e-05 9.99984030e-01 -7.76170320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384203822 meters 0.0250405689395957 Centerline is valid? [True, True] Translation: X:272.50, Y:-38.05, Z:-7.76 [[ 9.86438900e-01 1.64031320e-01 5.65892726e-03 2.72498073e+02] [-1.64028099e-01 9.86455127e-01 -1.03180586e-03 -3.80511360e+01] [-5.75152629e-03 8.95903578e-05 9.99983456e-01 -7.76090972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41420382200005 meters 0.02202404206109371 Centerline is valid? [True, True] Translation: X:272.53, Y:-38.05, Z:-7.76 [[ 9.86157214e-01 1.65752922e-01 4.46289071e-03 2.72528878e+02] [-1.65750935e-01 9.86167311e-01 -8.14009535e-04 -3.80519494e+01] [-4.53608139e-03 6.30130664e-05 9.99989710e-01 -7.76025041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444203822 meters 0.031141901276493418 Centerline is valid? [True, True] Translation: X:272.56, Y:-38.06, Z:-7.77 [[ 9.85853826e-01 1.67563065e-01 3.85383430e-03 2.72559234e+02] [-1.67561597e-01 9.85861358e-01 -7.02920612e-04 -3.80563932e+01] [-3.91712985e-03 4.72223435e-05 9.99992327e-01 -7.76610514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47420382200005 meters 0.028875432546010202 Centerline is valid? [True, True] Translation: X:272.59, Y:-38.06, Z:-7.77 [[ 9.85171384e-01 1.71507781e-01 4.73556764e-03 2.72588064e+02] [-1.71505608e-01 9.85182765e-01 -8.64070918e-04 -3.80596166e+01] [-4.81359451e-03 3.90815317e-05 9.99988414e-01 -7.76525345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504203822 meters 0.026122975429900563 Centerline is valid? [True, True] Translation: X:272.62, Y:-38.06, Z:-7.77 [[ 9.84801477e-01 1.73618672e-01 4.75468584e-03 2.72617285e+02] [-1.73616505e-01 9.84812955e-01 -8.67759052e-04 -3.80616326e+01] [-4.83313538e-03 2.90784573e-05 9.99988320e-01 -7.76655974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53420382200005 meters 0.02872848351050362 Centerline is valid? [True, True] Translation: X:272.65, Y:-38.06, Z:-7.77 [[ 9.84018372e-01 1.78022353e-01 3.98574531e-03 2.72646669e+02] [-1.78020864e-01 9.84026444e-01 -7.28032187e-04 -3.80591744e+01] [-4.05168478e-03 6.85122225e-06 9.99991792e-01 -7.76910089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564203822 meters 0.025451376123365226 Centerline is valid? [True, True] Translation: X:272.67, Y:-38.06, Z:-7.77 [[ 9.83647595e-01 1.80058323e-01 4.05073858e-03 2.72674076e+02] [-1.80056802e-01 9.83655936e-01 -7.40087735e-04 -3.80609912e+01] [-4.11779200e-03 -1.37751399e-06 9.99991522e-01 -7.77131934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59420382200005 meters 0.017248828401702578 Centerline is valid? [True, True] Translation: X:272.70, Y:-38.06, Z:-7.76 [[ 9.82976942e-01 1.83664334e-01 4.87283742e-03 2.72703946e+02] [-1.83662182e-01 9.82989019e-01 -8.89176147e-04 -3.80611628e+01] [-4.95325562e-03 -2.09163048e-05 9.99987732e-01 -7.76483730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624203822 meters 0.017136003878527137 Centerline is valid? [True, True] Translation: X:272.73, Y:-38.06, Z:-7.76 [[ 9.82621638e-01 1.85520774e-01 6.06297430e-03 2.72733106e+02] [-1.85517483e-01 9.82640342e-01 -1.10571779e-03 -3.80639854e+01] [-6.16285676e-03 -3.82854995e-05 9.99981009e-01 -7.76244178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65420382200006 meters 0.027968108100662463 Centerline is valid? [True, True] Translation: X:272.76, Y:-38.06, Z:-7.76 [[ 9.81830764e-01 1.89586286e-01 8.08648662e-03 2.72761659e+02] [-1.89580574e-01 9.81864060e-01 -1.47410709e-03 -3.80626420e+01] [-8.21930107e-03 -8.57170858e-05 9.99966217e-01 -7.76427172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68420382200003 meters 0.021779619169530046 Centerline is valid? [True, True] Translation: X:272.79, Y:-38.06, Z:-7.76 [[ 9.81144374e-01 1.93133411e-01 7.42985467e-03 2.72791861e+02] [-1.93128697e-01 9.81172500e-01 -1.35355037e-03 -3.80607692e+01] [-7.55138488e-03 -1.06889826e-04 9.99971482e-01 -7.76160390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71420382200006 meters 0.023067697871353245 Centerline is valid? [True, True] Translation: X:272.82, Y:-38.06, Z:-7.76 [[ 9.80897823e-01 1.94380920e-01 7.45108556e-03 2.72819514e+02] [-1.94376214e-01 9.80926116e-01 -1.35764499e-03 -3.80629043e+01] [-7.57286470e-03 -1.16602786e-04 9.99971319e-01 -7.76283363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74420382200003 meters 0.023600177391585736 Centerline is valid? [True, True] Translation: X:272.85, Y:-38.07, Z:-7.76 [[ 9.80676009e-01 1.95476060e-01 7.97968614e-03 2.72848457e+02] [-1.95470706e-01 9.80708464e-01 -1.45308531e-03 -3.80661985e+01] [-8.10978913e-03 -1.34788982e-04 9.99967106e-01 -7.76239206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77420382200006 meters 0.026103540552938214 Centerline is valid? [True, True] Translation: X:272.88, Y:-38.06, Z:-7.76 [[ 9.80368357e-01 1.96976964e-01 8.82946607e-03 2.72876669e+02] [-1.96970472e-01 9.80408103e-01 -1.60746389e-03 -3.80642920e+01] [-8.97311344e-03 -1.63237369e-04 9.99959727e-01 -7.76347816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80420382200003 meters 0.026103540552938214 Centerline is valid? [True, True] Translation: X:272.90, Y:-38.07, Z:-7.76 [[ 9.80382265e-01 1.96907728e-01 8.82952707e-03 2.72903744e+02] [-1.96901237e-01 9.80422011e-01 -1.60712873e-03 -3.80690782e+01] [-8.97311875e-03 -1.62944293e-04 9.99959727e-01 -7.76426078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83420382200006 meters 0.02550132631035815 Centerline is valid? [True, True] Translation: X:272.93, Y:-38.07, Z:-7.76 [[ 9.80245445e-01 1.97613675e-01 8.22815031e-03 2.72932103e+02] [-1.97608070e-01 9.80279965e-01 -1.49675792e-03 -3.80729237e+01] [-8.36167073e-03 -1.58758774e-04 9.99965028e-01 -7.76373362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86420382200004 meters 0.02789513535229803 Centerline is valid? [True, True] Translation: X:272.96, Y:-38.07, Z:-7.77 [[ 9.79895450e-01 1.99383016e-01 7.16373812e-03 2.72961640e+02] [-1.99378818e-01 9.79921624e-01 -1.30268924e-03 -3.80718365e+01] [-7.27963601e-03 -1.51798382e-04 9.99973492e-01 -7.76675421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89420382200007 meters 0.03714562534875293 Centerline is valid? [True, True] Translation: X:272.99, Y:-38.07, Z:-7.77 [[ 9.79721566e-01 2.00240047e-01 7.04102779e-03 2.72989279e+02] [-2.00236010e-01 9.79746855e-01 -1.28090108e-03 -3.80714655e+01] [-7.15491252e-03 -1.54940895e-04 9.99974391e-01 -7.77368430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92420382200004 meters 0.03135121105612282 Centerline is valid? [True, True] Translation: X:273.02, Y:-38.07, Z:-7.77 [[ 9.79585748e-01 2.00922690e-01 6.46798432e-03 2.73017776e+02] [-2.00919297e-01 9.79607090e-01 -1.17678007e-03 -3.80681344e+01] [-6.57252512e-03 -1.46785874e-04 9.99978390e-01 -7.77229454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95420382200007 meters 0.036175846562327967 Centerline is valid? [True, True] Translation: X:273.05, Y:-38.07, Z:-7.78 [[ 9.79631323e-01 2.00720132e-01 5.82229713e-03 2.73046437e+02] [-2.00717387e-01 9.79648616e-01 -1.05802260e-03 -3.80723632e+01] [-5.91617177e-03 -1.32164181e-04 9.99982491e-01 -7.77593538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98420382200004 meters 0.02906657258843525 Centerline is valid? [True, True] Translation: X:273.07, Y:-38.08, Z:-7.78 [[ 9.80313421e-01 1.97378637e-01 5.22209123e-03 2.73074547e+02] [-1.97376382e-01 9.80327325e-01 -9.48832142e-04 -3.80752804e+01] [-5.30663792e-03 -1.00564593e-04 9.99985915e-01 -7.77701269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01420382200007 meters 0.02750765135965154 Centerline is valid? [True, True] Translation: X:273.10, Y:-38.08, Z:-7.78 [[ 9.80855610e-01 1.94674173e-01 4.92332581e-03 2.73101373e+02] [-1.94672131e-01 9.80867963e-01 -8.95206920e-04 -3.80806264e+01] [-5.00340623e-03 -8.03656005e-05 9.99987480e-01 -7.78062989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04420382200004 meters 0.027258291061689432 Centerline is valid? [True, True] Translation: X:273.13, Y:-38.09, Z:-7.78 [[ 9.82128229e-01 1.88189425e-01 2.98042705e-03 2.73128375e+02] [-1.88188647e-01 9.82132751e-01 -5.41756488e-04 -3.80939948e+01] [-3.02912786e-03 -2.88081939e-05 9.99995412e-01 -7.78386375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0742038220001 meters 0.018858404544136835 Centerline is valid? [True, True] Translation: X:273.16, Y:-38.10, Z:-7.78 [[ 9.82857829e-01 1.84341839e-01 2.92824385e-03 2.73155051e+02] [-1.84341071e-01 9.82862191e-01 -5.32465234e-04 -3.81034522e+01] [-2.97621579e-03 -1.64579834e-05 9.99995571e-01 -7.78250669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10420382200004 meters 0.017424392290366568 Centerline is valid? [True, True] Translation: X:273.18, Y:-38.12, Z:-7.78 [[ 9.84128660e-01 1.77402355e-01 4.38009258e-03 2.73181181e+02] [-1.77400573e-01 9.84138407e-01 -7.95336461e-04 -3.81150865e+01] [-4.45171190e-03 5.68247246e-06 9.99990091e-01 -7.78241984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134203822 meters 0.018085500313916463 Centerline is valid? [True, True] Translation: X:273.21, Y:-38.12, Z:-7.78 [[ 9.84631307e-01 1.74586381e-01 4.55898647e-03 2.73207619e+02] [-1.74584419e-01 9.84641861e-01 -8.27924877e-04 -3.81221834e+01] [-4.63351333e-03 1.92727491e-05 9.99989265e-01 -7.78312520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16420382200005 meters 0.01924856299281893 Centerline is valid? [True, True] Translation: X:273.24, Y:-38.13, Z:-7.78 [[ 9.85350262e-01 1.70475331e-01 4.79826112e-03 2.73235107e+02] [-1.70473115e-01 9.85361944e-01 -8.70012855e-04 -3.81331041e+01] [-4.87633964e-03 3.92928733e-05 9.99988110e-01 -7.78170159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194203822 meters 0.019150367574526025 Centerline is valid? [True, True] Translation: X:273.26, Y:-38.14, Z:-7.78 [[ 9.85616080e-01 1.68915293e-01 5.34482645e-03 2.73263089e+02] [-1.68912524e-01 9.85630570e-01 -9.68727360e-04 -3.81394613e+01] [-5.43165720e-03 5.19851394e-05 9.99985247e-01 -7.77925759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22420382200005 meters 0.028954273509539365 Centerline is valid? [True, True] Translation: X:273.29, Y:-38.14, Z:-7.78 [[ 9.85706710e-01 1.68353086e-01 6.28647995e-03 2.73291369e+02] [-1.68349246e-01 9.85726754e-01 -1.13882951e-03 -3.81440727e+01] [-6.38847694e-03 6.42277342e-05 9.99979591e-01 -7.78224479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254203822 meters 0.020380510375587055 Centerline is valid? [True, True] Translation: X:273.32, Y:-38.15, Z:-7.78 [[ 9.85893561e-01 1.67246360e-01 6.52239559e-03 2.73318994e+02] [-1.67242203e-01 9.85915133e-01 -1.18144504e-03 -3.81483930e+01] [-6.62812090e-03 7.39592508e-05 9.99978031e-01 -7.78025883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28420382200005 meters 0.03043531558947038 Centerline is valid? [True, True] Translation: X:273.35, Y:-38.15, Z:-7.79 [[ 9.85789431e-01 1.67923974e-01 4.55375746e-03 2.73347821e+02] [-1.67921955e-01 9.85799948e-01 -8.24813655e-04 -3.81492537e+01] [-4.62759985e-03 4.84167288e-05 9.99989291e-01 -7.78537854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314203822 meters 0.025435567186627255 Centerline is valid? [True, True] Translation: X:273.37, Y:-38.15, Z:-7.79 [[ 9.85698172e-01 1.68468071e-01 4.19796123e-03 2.73374908e+02] [-1.68466360e-01 9.85707110e-01 -7.60566933e-04 -3.81538114e+01] [-4.26609148e-03 4.24741879e-05 9.99990899e-01 -7.78911066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34420382200005 meters 0.01931593348872431 Centerline is valid? [True, True] Translation: X:273.40, Y:-38.15, Z:-7.79 [[ 9.85439753e-01 1.70008348e-01 2.37797206e-03 2.73404120e+02] [-1.70007803e-01 9.85442622e-01 -4.31134575e-04 -3.81546631e+01] [-2.41665150e-03 2.05833438e-05 9.99997080e-01 -7.78698587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374203822 meters 0.02880136773550642 Centerline is valid? [True, True] Translation: X:273.43, Y:-38.16, Z:-7.79 [[ 9.85136949e-01 1.71758764e-01 2.02964416e-03 2.73431906e+02] [-1.71758370e-01 9.85139039e-01 -3.68413242e-04 -3.81562442e+01] [-2.06275990e-03 1.43291241e-05 9.99997872e-01 -7.79346043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40420382200006 meters 0.023758974191750968 Centerline is valid? [True, True] Translation: X:273.46, Y:-38.16, Z:-7.79 [[ 9.84846553e-01 1.73412488e-01 2.31873893e-03 2.73461147e+02] [-1.73411979e-01 9.84849282e-01 -4.20149646e-04 -3.81581632e+01] [-2.35646757e-03 1.16858228e-05 9.99997223e-01 -7.79329990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43420382200003 meters 0.017897174299668396 Centerline is valid? [True, True] Translation: X:273.49, Y:-38.16, Z:-7.79 [[ 9.84372587e-01 1.76056534e-01 3.83492825e-03 2.73489350e+02] [-1.76055166e-01 9.84380057e-01 -6.94058631e-04 -3.81569942e+01] [-3.89722044e-03 8.05336198e-06 9.99992406e-01 -7.79065966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46420382200006 meters 0.01653332475874506 Centerline is valid? [True, True] Translation: X:273.52, Y:-38.16, Z:-7.79 [[ 9.84165648e-01 1.77201391e-01 4.20041375e-03 2.73518022e+02] [-1.77199764e-01 9.84174612e-01 -7.59499950e-04 -3.81589762e+01] [-4.26852502e-03 3.16143732e-06 9.99990890e-01 -7.78787722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49420382200003 meters 0.017825166918311146 Centerline is valid? [True, True] Translation: X:273.54, Y:-38.17, Z:-7.79 [[ 9.84248907e-01 1.76746709e-01 3.83276608e-03 2.73544514e+02] [-1.76745349e-01 9.84256369e-01 -6.93251075e-04 -3.81654543e+01] [-3.89495427e-03 4.90803217e-06 9.99992415e-01 -7.79304131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52420382200006 meters 0.017373605263385807 Centerline is valid? [True, True] Translation: X:273.57, Y:-38.17, Z:-7.79 [[ 9.84667143e-01 1.74420577e-01 2.84243880e-03 2.73572052e+02] [-1.74419817e-01 9.84671246e-01 -5.14864503e-04 -3.81731034e+01] [-2.88867072e-03 1.11925022e-05 9.99995828e-01 -7.79109713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55420382200003 meters 0.01789597652008118 Centerline is valid? [True, True] Translation: X:273.60, Y:-38.18, Z:-7.79 [[ 9.84870156e-01 1.73268756e-01 2.95204874e-03 2.73597892e+02] [-1.73267932e-01 9.84874580e-01 -5.34575692e-04 -3.81795978e+01] [-3.00002302e-03 1.49922648e-05 9.99995500e-01 -7.79315928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58420382200006 meters 0.018830861526374566 Centerline is valid? [True, True] Translation: X:273.62, Y:-38.19, Z:-7.79 [[ 9.85110701e-01 1.71874634e-01 4.00209041e-03 2.73624831e+02] [-1.71873116e-01 9.85118830e-01 -7.22846366e-04 -3.81883184e+01] [-4.06677357e-03 2.42319425e-05 9.99991730e-01 -7.79396083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61420382200004 meters 0.01718080663525377 Centerline is valid? [True, True] Translation: X:273.65, Y:-38.19, Z:-7.79 [[ 9.85139284e-01 1.71712276e-01 3.93505310e-03 2.73653411e+02] [-1.71710808e-01 9.85147143e-01 -7.10263493e-04 -3.81921734e+01] [-3.99856728e-03 2.40173204e-05 9.99992005e-01 -7.78926343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64420382200007 meters 0.017489840978451784 Centerline is valid? [True, True] Translation: X:273.68, Y:-38.20, Z:-7.79 [[ 9.85137349e-01 1.71700145e-01 4.84399379e-03 2.73681157e+02] [-1.71697923e-01 9.85149257e-01 -8.74027948e-04 -3.81962368e+01] [-4.92212761e-03 2.93339017e-05 9.99987886e-01 -7.79040874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67420382200004 meters 0.02295092480413364 Centerline is valid? [True, True] Translation: X:273.71, Y:-38.20, Z:-7.79 [[ 9.85119694e-01 1.71801501e-01 4.84071296e-03 2.73707607e+02] [-1.71799282e-01 9.85131587e-01 -8.73674705e-04 -3.82011714e+01] [-4.91883787e-03 2.90431492e-05 9.99987902e-01 -7.79444804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70420382200007 meters 0.018694811342155615 Centerline is valid? [True, True] Translation: X:273.73, Y:-38.21, Z:-7.79 [[ 9.85237516e-01 1.71109581e-01 5.34314129e-03 2.73734143e+02] [-1.71106873e-01 9.85252003e-01 -9.63164902e-04 -3.82110593e+01] [-5.42914740e-03 3.46979959e-05 9.99985261e-01 -7.79474062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73420382200004 meters 0.01771854620180302 Centerline is valid? [True, True] Translation: X:273.76, Y:-38.22, Z:-7.79 [[ 9.85330238e-01 1.70581754e-01 5.11735526e-03 2.73762456e+02] [-1.70579268e-01 9.85343526e-01 -9.21792045e-04 -3.82174078e+01] [-5.19959378e-03 3.53548635e-05 9.99986481e-01 -7.79172155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76420382200007 meters 0.0188940695906196 Centerline is valid? [True, True] Translation: X:273.79, Y:-38.23, Z:-7.79 [[ 9.85521809e-01 1.69423157e-01 6.52366867e-03 2.73789392e+02] [-1.69419095e-01 9.85543399e-01 -1.17438316e-03 -3.82276450e+01] [-6.62832630e-03 5.21461782e-05 9.99978031e-01 -7.79293526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79420382200004 meters 0.02575500859408132 Centerline is valid? [True, True] Translation: X:273.82, Y:-38.23, Z:-7.79 [[ 9.85575721e-01 1.69090211e-01 6.99990231e-03 2.73817912e+02] [-1.69085529e-01 9.85600577e-01 -1.25967378e-03 -3.82325849e+01] [-7.11210626e-03 5.79217119e-05 9.99974707e-01 -7.79285948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8242038220001 meters 0.018295351735836428 Centerline is valid? [True, True] Translation: X:273.84, Y:-38.24, Z:-7.79 [[ 9.85607611e-01 1.68903970e-01 7.00619565e-03 2.73844788e+02] [-1.68899275e-01 9.85632510e-01 -1.26081682e-03 -3.82399373e+01] [-7.11849117e-03 5.93292840e-05 9.99974661e-01 -7.79119931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85420382200004 meters 0.017896069711594624 Centerline is valid? [True, True] Translation: X:273.87, Y:-38.25, Z:-7.79 [[ 9.85646156e-01 1.68676993e-01 7.05178054e-03 2.73872868e+02] [-1.68672237e-01 9.85671380e-01 -1.26815021e-03 -3.82465666e+01] [-7.16464602e-03 6.05077853e-05 9.99974332e-01 -7.79082647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884203822 meters 0.018928836718185512 Centerline is valid? [True, True] Translation: X:273.90, Y:-38.26, Z:-7.80 [[ 9.85657056e-01 1.68638830e-01 6.41202739e-03 2.73898582e+02] [-1.68634896e-01 9.85677910e-01 -1.15316800e-03 -3.82576789e+01] [-6.51466266e-03 5.53366059e-05 9.99978778e-01 -7.79505802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91420382200005 meters 0.028800617555669747 Centerline is valid? [True, True] Translation: X:273.93, Y:-38.26, Z:-7.80 [[ 9.85608293e-01 1.68971673e-01 4.98656527e-03 2.73926585e+02] [-1.68969299e-01 9.85620907e-01 -8.96593140e-04 -3.82631731e+01] [-5.06636182e-03 4.11131959e-05 9.99987165e-01 -7.80063072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944203822 meters 0.01826529517089368 Centerline is valid? [True, True] Translation: X:273.95, Y:-38.27, Z:-7.80 [[ 9.85352581e-01 1.70481625e-01 4.03824010e-03 2.73954286e+02] [-1.70480080e-01 9.85360855e-01 -7.26148978e-04 -3.82705487e+01] [-4.10291877e-03 2.70732741e-05 9.99991583e-01 -7.79924003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97420382200005 meters 0.017655421022905994 Centerline is valid? [True, True] Translation: X:273.98, Y:-38.28, Z:-7.80 [[ 9.85047829e-01 1.72228533e-01 4.25525805e-03 2.73981374e+02] [-1.72226834e-01 9.85057020e-01 -7.65177418e-04 -3.82754028e+01] [-4.32345720e-03 2.08667313e-05 9.99990654e-01 -7.80020307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004203822 meters 0.01693433884381462 Centerline is valid? [True, True] Translation: X:274.01, Y:-38.28, Z:-7.80 [[ 9.84188980e-01 1.77079885e-01 3.84260967e-03 2.74010456e+02] [-1.77078538e-01 9.84196482e-01 -6.90599672e-04 -3.82773161e+01] [-3.90417422e-03 -7.63115575e-07 9.99992379e-01 -7.79932462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03420382200005 meters 0.018291675228105903 Centerline is valid? [True, True] Translation: X:274.04, Y:-38.27, Z:-7.80 [[ 9.82971042e-01 1.83709439e-01 4.33278335e-03 2.74040071e+02] [-1.83707793e-01 9.82980590e-01 -7.78306477e-04 -3.82732692e+01] [-4.40202418e-03 -3.09133371e-05 9.99990311e-01 -7.79874243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064203822 meters 0.020632525444857823 Centerline is valid? [True, True] Translation: X:274.07, Y:-38.27, Z:-7.80 [[ 9.82327194e-01 1.87125754e-01 4.15166367e-03 2.74068541e+02] [-1.87124272e-01 9.82335966e-01 -7.45913032e-04 -3.82736271e+01] [-4.21790808e-03 -4.41463884e-05 9.99991104e-01 -7.80057516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09420382200005 meters 0.027591673498104773 Centerline is valid? [True, True] Translation: X:274.10, Y:-38.27, Z:-7.80 [[ 9.81025624e-01 1.93826690e-01 4.46527753e-03 2.74098697e+02] [-1.93825049e-01 9.81035783e-01 -8.01614643e-04 -3.82681584e+01] [-4.53597135e-03 -7.90781283e-05 9.99989709e-01 -7.80374802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124203822 meters 0.029948707233386482 Centerline is valid? [True, True] Translation: X:274.13, Y:-38.27, Z:-7.80 [[ 9.80471236e-01 1.96598150e-01 5.03215793e-03 2.74128360e+02] [-1.96596105e-01 9.80484144e-01 -9.02784225e-04 -3.82681771e+01] [-5.11143676e-03 -1.04148681e-04 9.99986931e-01 -7.80318296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15420382200006 meters 0.03352607589143046 Centerline is valid? [True, True] Translation: X:274.16, Y:-38.26, Z:-7.80 [[ 9.79686924e-01 2.00453699e-01 5.64314943e-03 2.74159010e+02] [-2.00451195e-01 9.79703167e-01 -1.01169864e-03 -3.82635782e+01] [-5.73141010e-03 -1.40028115e-04 9.99983566e-01 -7.80279884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18420382200003 meters 0.03087789621433169 Centerline is valid? [True, True] Translation: X:274.19, Y:-38.27, Z:-7.80 [[ 9.79541128e-01 2.01181635e-01 5.01287274e-03 2.74187120e+02] [-2.01179667e-01 9.79553946e-01 -8.98982079e-04 -3.82689100e+01] [-5.09123796e-03 -1.27898148e-04 9.99987031e-01 -7.80075052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21420382200006 meters 0.03391466928169084 Centerline is valid? [True, True] Translation: X:274.22, Y:-38.26, Z:-7.81 [[ 9.79603096e-01 2.00894497e-01 4.37899313e-03 2.74215953e+02] [-2.00892992e-01 9.79612877e-01 -7.85555870e-04 -3.82642732e+01] [-4.44753191e-03 -1.10176067e-04 9.99990104e-01 -7.80627698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24420382200003 meters 0.03282819653485547 Centerline is valid? [True, True] Translation: X:274.24, Y:-38.27, Z:-7.81 [[ 9.79847415e-01 1.99691358e-01 4.73330490e-03 2.74244776e+02] [-1.99689588e-01 9.79858841e-01 -8.48324259e-04 -3.82685230e+01] [-4.80737367e-03 -1.13963373e-04 9.99988438e-01 -7.80755237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27420382200006 meters 0.025560769498155278 Centerline is valid? [True, True] Translation: X:274.27, Y:-38.28, Z:-7.81 [[ 9.80909237e-01 1.94411782e-01 4.59648059e-03 2.74272859e+02] [-1.94410060e-01 9.80920003e-01 -8.22780835e-04 -3.82815091e+01] [-4.66873804e-03 -8.65287463e-05 9.99989098e-01 -7.80531542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30420382200003 meters 0.022911290634409377 Centerline is valid? [True, True] Translation: X:274.30, Y:-38.29, Z:-7.81 [[ 9.81679833e-01 1.90491920e-01 4.18731036e-03 2.74299807e+02] [-1.90490451e-01 9.81688762e-01 -7.50728029e-04 -3.82897910e+01] [-4.25364315e-03 -6.06680723e-05 9.99990951e-01 -7.80736157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33420382200006 meters 0.016949628553574046 Centerline is valid? [True, True] Translation: X:274.33, Y:-38.30, Z:-7.81 [[ 9.83258120e-01 1.82171484e-01 4.12554133e-03 2.74327209e+02] [-1.82169988e-01 9.83266775e-01 -7.38536094e-04 -3.83036124e+01] [-4.19104793e-03 -2.53782052e-05 9.99991217e-01 -7.80632532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36420382200004 meters 0.016915265986637423 Centerline is valid? [True, True] Translation: X:274.35, Y:-38.31, Z:-7.81 [[ 9.84038137e-01 1.77909163e-01 4.15634486e-03 2.74354232e+02] [-1.77907604e-01 9.84046914e-01 -7.44886826e-04 -3.83121045e+01] [-4.22256052e-03 -6.44830936e-06 9.99991085e-01 -7.81043576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39420382200007 meters 0.01831891255250205 Centerline is valid? [True, True] Translation: X:274.38, Y:-38.33, Z:-7.81 [[ 9.85515952e-01 1.69550508e-01 3.30654057e-03 2.74381288e+02] [-1.69549475e-01 9.85521499e-01 -5.92368154e-04 -3.83264813e+01] [-3.35910314e-03 2.31660479e-05 9.99994358e-01 -7.81196212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42420382200004 meters 0.02199076365146702 Centerline is valid? [True, True] Translation: X:274.41, Y:-38.34, Z:-7.82 [[ 9.86222687e-01 1.65386272e-01 3.49189241e-03 2.74407369e+02] [-1.65385093e-01 9.86228868e-01 -6.25612413e-04 -3.83371828e+01] [-3.54727281e-03 3.94862015e-05 9.99993708e-01 -7.81605632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45420382200007 meters 0.03182994219142276 Centerline is valid? [True, True] Translation: X:274.44, Y:-38.34, Z:-7.82 [[ 9.87357892e-01 1.58479754e-01 2.92579951e-03 2.74435758e+02] [-1.58478898e-01 9.87362226e-01 -5.23673643e-04 -3.83448508e+01] [-2.97181559e-03 5.33758221e-05 9.99995583e-01 -7.81581417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48420382200004 meters 0.028873534186980538 Centerline is valid? [True, True] Translation: X:274.46, Y:-38.36, Z:-7.82 [[ 9.87797253e-01 1.55715367e-01 3.05153705e-03 2.74462762e+02] [-1.55714423e-01 9.87801964e-01 -5.46011276e-04 -3.83556440e+01] [-3.09933664e-03 6.41801080e-05 9.99995195e-01 -7.81699145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51420382200007 meters 0.031806718370757596 Centerline is valid? [True, True] Translation: X:274.49, Y:-38.37, Z:-7.82 [[ 9.88424314e-01 1.51694943e-01 2.45358808e-03 2.74491548e+02] [-1.51694322e-01 9.88427357e-01 -4.38469393e-04 -3.83655925e+01] [-2.49170717e-03 6.11984301e-05 9.99996894e-01 -7.81753351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54420382200004 meters 0.03828577035142546 Centerline is valid? [True, True] Translation: X:274.52, Y:-38.37, Z:-7.82 [[ 9.88602726e-01 1.50529431e-01 2.35401477e-03 2.74518997e+02] [-1.50528855e-01 9.88605526e-01 -4.21291588e-04 -3.83722123e+01] [-2.39060879e-03 6.21428662e-05 9.99997141e-01 -7.82309393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5742038220001 meters 0.034910662093185385 Centerline is valid? [True, True] Translation: X:274.55, Y:-38.38, Z:-7.82 [[ 9.88812624e-01 1.49125370e-01 3.34949157e-03 2.74547377e+02] [-1.49124196e-01 9.88818292e-01 -5.98874259e-04 -3.83778968e+01] [-3.40134588e-03 9.26841906e-05 9.99994211e-01 -7.81905389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60420382200004 meters 0.03561863891610801 Centerline is valid? [True, True] Translation: X:274.58, Y:-38.38, Z:-7.82 [[ 9.88803335e-01 1.49178887e-01 3.69099014e-03 2.74575188e+02] [-1.49177464e-01 9.88810219e-01 -6.59385263e-04 -3.83834102e+01] [-3.74805512e-03 1.01389798e-04 9.99992971e-01 -7.81962562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634203822 meters 0.041489509106396386 Centerline is valid? [True, True] Translation: X:274.60, Y:-38.39, Z:-7.82 [[ 9.88683282e-01 1.49989082e-01 2.94000108e-03 2.74603471e+02] [-1.49988180e-01 9.88687650e-01 -5.25947106e-04 -3.83864676e+01] [-2.98562908e-03 7.90296990e-05 9.99995540e-01 -7.82263604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66420382200005 meters 0.03375357594591525 Centerline is valid? [True, True] Translation: X:274.63, Y:-38.40, Z:-7.82 [[ 9.88693894e-01 1.49914817e-01 3.15144748e-03 2.74630954e+02] [-1.49913783e-01 9.88698913e-01 -5.63197016e-04 -3.83951169e+01] [-3.20026428e-03 8.43840382e-05 9.99994876e-01 -7.82120119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694203822 meters 0.03375357594591525 Centerline is valid? [True, True] Translation: X:274.66, Y:-38.40, Z:-7.82 [[ 9.88701047e-01 1.49867635e-01 3.15141749e-03 2.74658867e+02] [-1.49866600e-01 9.88706066e-01 -5.63365300e-04 -3.84000066e+01] [-3.20025582e-03 8.47076377e-05 9.99994876e-01 -7.82200783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72420382200005 meters 0.030625267232347424 Centerline is valid? [True, True] Translation: X:274.69, Y:-38.40, Z:-7.82 [[ 9.88452654e-01 1.51478388e-01 3.95576648e-03 2.74688517e+02] [-1.51476773e-01 9.88460565e-01 -7.06333312e-04 -3.84014702e+01] [-4.01711340e-03 9.89702952e-05 9.99991926e-01 -7.81957522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754203822 meters 0.03243685258912879 Centerline is valid? [True, True] Translation: X:274.72, Y:-38.40, Z:-7.82 [[ 9.88207641e-01 1.53084950e-01 3.26430061e-03 2.74717831e+02] [-1.53083859e-01 9.88213030e-01 -5.82931419e-04 -3.84036700e+01] [-3.31506242e-03 7.63455471e-05 9.99994502e-01 -7.82456170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78420382200005 meters 0.037527637636673404 Centerline is valid? [True, True] Translation: X:274.75, Y:-38.41, Z:-7.83 [[ 9.87623304e-01 1.56810418e-01 3.27153100e-03 2.74746808e+02] [-1.56809344e-01 9.87628720e-01 -5.83781910e-04 -3.84060130e+01] [-3.32260106e-03 6.35499886e-05 9.99994478e-01 -7.82694040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814203822 meters 0.026332632280002023 Centerline is valid? [True, True] Translation: X:274.77, Y:-38.41, Z:-7.83 [[ 9.87315878e-01 1.58698068e-01 4.72014784e-03 2.74774764e+02] [-1.58695853e-01 9.87327158e-01 -8.42421929e-04 -3.84113755e+01] [-4.79402089e-03 8.26686565e-05 9.99988505e-01 -7.82532349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84420382200005 meters 0.021570954781753096 Centerline is valid? [True, True] Translation: X:274.80, Y:-38.41, Z:-7.83 [[ 9.86635140e-01 1.62916447e-01 3.05475366e-03 2.74804443e+02] [-1.62915539e-01 9.86639868e-01 -5.45557913e-04 -3.84105630e+01] [-3.10282210e-03 4.05997701e-05 9.99995185e-01 -7.82521762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874203822 meters 0.02187878783039827 Centerline is valid? [True, True] Translation: X:274.83, Y:-38.42, Z:-7.83 [[ 9.86324935e-01 1.64789813e-01 2.72760494e-03 2.74831719e+02] [-1.64789095e-01 9.86328706e-01 -4.87462480e-04 -3.84155160e+01] [-2.77064390e-03 3.13168502e-05 9.99996161e-01 -7.82973737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90420382200006 meters 0.018343707047715048 Centerline is valid? [True, True] Translation: X:274.86, Y:-38.41, Z:-7.83 [[ 9.85601799e-01 1.69051324e-01 3.27788029e-03 2.74861399e+02] [-1.69050313e-01 9.85607249e-01 -5.84927939e-04 -3.84135092e+01] [-3.32958542e-03 2.23793391e-05 9.99994457e-01 -7.82752580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93420382200003 meters 0.02515936055305544 Centerline is valid? [True, True] Translation: X:274.89, Y:-38.41, Z:-7.83 [[ 9.85248654e-01 1.71110065e-01 2.53665729e-03 2.74890530e+02] [-1.71109467e-01 9.85251920e-01 -4.52864604e-04 -3.84147275e+01] [-2.57673616e-03 1.21381651e-05 9.99996680e-01 -7.83181679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96420382200006 meters 0.03304010589543121 Centerline is valid? [True, True] Translation: X:274.92, Y:-38.42, Z:-7.83 [[ 9.84612511e-01 1.74718321e-01 3.42222152e-03 2.74918510e+02] [-1.74717254e-01 9.84618458e-01 -6.10596049e-04 -3.84158339e+01] [-3.47626480e-03 3.27936283e-06 9.99993958e-01 -7.83410580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99420382200003 meters 0.028867931819523913 Centerline is valid? [True, True] Translation: X:274.95, Y:-38.42, Z:-7.83 [[ 9.84392096e-01 1.75962358e-01 3.07420045e-03 2.74947817e+02] [-1.75961505e-01 9.84396896e-01 -5.48157924e-04 -3.84182244e+01] [-3.12268855e-03 -1.33860949e-06 9.99995124e-01 -7.83435669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02420382200006 meters 0.028316178863717973 Centerline is valid? [True, True] Translation: X:274.98, Y:-38.42, Z:-7.83 [[ 9.84100743e-01 1.77592724e-01 2.55967176e-03 2.74977011e+02] [-1.77592137e-01 9.84104072e-01 -4.56574340e-04 -3.84174265e+01] [-2.60006769e-03 -5.26243020e-06 9.99996620e-01 -7.83393624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05420382200003 meters 0.024910120743437906 Centerline is valid? [True, True] Translation: X:275.00, Y:-38.43, Z:-7.84 [[ 9.84224914e-01 1.76889792e-01 3.36467160e-03 2.75003927e+02] [-1.76888775e-01 9.84230665e-01 -5.99845406e-04 -3.84258105e+01] [-3.41771949e-03 -4.78984338e-06 9.99994160e-01 -7.83637037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08420382200006 meters 0.01693201714473857 Centerline is valid? [True, True] Translation: X:275.03, Y:-38.43, Z:-7.83 [[ 9.84428669e-01 1.75715136e-01 4.93826883e-03 2.75031294e+02] [-1.75712938e-01 9.84441055e-01 -8.78837462e-04 -3.84342405e+01] [-5.01585962e-03 -2.56493130e-06 9.99987420e-01 -7.83415643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11420382200004 meters 0.016380126915058277 Centerline is valid? [True, True] Translation: X:275.06, Y:-38.44, Z:-7.83 [[ 9.84647033e-01 1.74475891e-01 5.32765364e-03 2.75059776e+02] [-1.74473317e-01 9.84661446e-01 -9.47741976e-04 -3.84408825e+01] [-5.41129326e-03 3.65792191e-06 9.99985359e-01 -7.83234544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14420382200007 meters 0.016809952923723476 Centerline is valid? [True, True] Translation: X:275.09, Y:-38.45, Z:-7.83 [[ 9.85130764e-01 1.71712886e-01 5.66242348e-03 2.75086591e+02] [-1.71709934e-01 9.85147037e-01 -1.00719307e-03 -3.84488934e+01] [-5.75126775e-03 1.99225201e-05 9.99983461e-01 -7.83380768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17420382200004 meters 0.03413527280926542 Centerline is valid? [True, True] Translation: X:275.11, Y:-38.46, Z:-7.84 [[ 9.85378863e-01 1.70309117e-01 4.82714272e-03 2.75114344e+02] [-1.70306955e-01 9.85390686e-01 -8.58284411e-04 -3.84563113e+01] [-4.90279514e-03 2.36393371e-05 9.99987981e-01 -7.83957063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20420382200007 meters 0.018672123057201073 Centerline is valid? [True, True] Translation: X:275.14, Y:-38.47, Z:-7.84 [[ 9.85854709e-01 1.67550658e-01 4.15569055e-03 2.75141624e+02] [-1.67549032e-01 9.85863467e-01 -7.38889889e-04 -3.84672620e+01] [-4.22074498e-03 3.21561480e-05 9.99991092e-01 -7.83670596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23420382200004 meters 0.03094123073166266 Centerline is valid? [True, True] Translation: X:275.17, Y:-38.47, Z:-7.84 [[ 9.86010133e-01 1.66649862e-01 3.44110571e-03 2.75170257e+02] [-1.66648741e-01 9.86016137e-01 -6.11954546e-04 -3.84730093e+01] [-3.49496790e-03 2.99374500e-05 9.99993892e-01 -7.83910778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26420382200007 meters 0.01985539397639152 Centerline is valid? [True, True] Translation: X:275.20, Y:-38.49, Z:-7.84 [[ 9.86332697e-01 1.64669024e-01 5.65001108e-03 2.75196920e+02] [-1.64665977e-01 9.86348878e-01 -1.00352089e-03 -3.84852350e+01] [-5.73813090e-03 5.94408758e-05 9.99983535e-01 -7.83620666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29420382200004 meters 0.020322635341635933 Centerline is valid? [True, True] Translation: X:275.22, Y:-38.49, Z:-7.84 [[ 9.86462799e-01 1.63847442e-01 6.72021934e-03 2.75223764e+02] [-1.63843115e-01 9.86485687e-01 -1.19318697e-03 -3.84934554e+01] [-6.82490082e-03 7.59728876e-05 9.99976707e-01 -7.83536701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3242038220001 meters 0.020114619379890692 Centerline is valid? [True, True] Translation: X:275.25, Y:-38.50, Z:-7.83 [[ 9.86459702e-01 1.63812048e-01 7.92896356e-03 2.75251292e+02] [-1.63806030e-01 9.86491564e-01 -1.40697828e-03 -3.84995085e+01] [-8.05233566e-03 8.91153355e-05 9.99967575e-01 -7.83454861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35420382200004 meters 0.031348875526838856 Centerline is valid? [True, True] Translation: X:275.28, Y:-38.51, Z:-7.84 [[ 9.86332921e-01 1.64554548e-01 8.31689555e-03 2.75279001e+02] [-1.64547960e-01 9.86367981e-01 -1.47498148e-03 -3.85057464e+01] [-8.44623438e-03 8.62945962e-05 9.99964326e-01 -7.83862625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384203822 meters 0.026888017754799466 Centerline is valid? [True, True] Translation: X:275.31, Y:-38.51, Z:-7.84 [[ 9.86242461e-01 1.65147715e-01 7.21385127e-03 2.75306708e+02] [-1.65142778e-01 9.86268841e-01 -1.27892890e-03 -3.85108793e+01] [-7.32600892e-03 7.00185466e-05 9.99973162e-01 -7.84081727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41420382200005 meters 0.01877550486690021 Centerline is valid? [True, True] Translation: X:275.34, Y:-38.52, Z:-7.84 [[ 9.86039871e-01 1.66335998e-01 7.59656538e-03 2.75335323e+02] [-1.66330559e-01 9.86069131e-01 -1.34668638e-03 -3.85159555e+01] [-7.71474104e-03 6.43454987e-05 9.99970239e-01 -7.83754667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444203822 meters 0.017437830035245686 Centerline is valid? [True, True] Translation: X:275.36, Y:-38.52, Z:-7.84 [[ 9.85586315e-01 1.69005516e-01 7.53333562e-03 2.75364427e+02] [-1.69000247e-01 9.85615104e-01 -1.33512262e-03 -3.85188597e+01] [-7.65061246e-03 4.27429992e-05 9.99970733e-01 -7.83869109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47420382200005 meters 0.016280122778377034 Centerline is valid? [True, True] Translation: X:275.39, Y:-38.52, Z:-7.84 [[ 9.85341543e-01 1.70439815e-01 7.23278596e-03 2.75393133e+02] [-1.70434999e-01 9.85368088e-01 -1.28160576e-03 -3.85217589e+01] [-7.34539312e-03 3.00995299e-05 9.99973022e-01 -7.83736107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504203822 meters 0.02617045384031749 Centerline is valid? [True, True] Translation: X:275.42, Y:-38.52, Z:-7.84 [[ 9.85094903e-01 1.71881934e-01 6.68078237e-03 2.75422076e+02] [-1.71877860e-01 9.85117557e-01 -1.18357506e-03 -3.85245433e+01] [-6.78479117e-03 1.76551824e-05 9.99976983e-01 -7.84300843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53420382200005 meters 0.015856469387912013 Centerline is valid? [True, True] Translation: X:275.45, Y:-38.53, Z:-7.84 [[ 9.84761661e-01 1.73790634e-01 6.42547843e-03 2.75450958e+02] [-1.73786908e-01 9.84782623e-01 -1.13806875e-03 -3.85277460e+01] [-6.52548519e-03 4.06244439e-06 9.99978709e-01 -7.84018069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564203822 meters 0.016299121340264726 Centerline is valid? [True, True] Translation: X:275.48, Y:-38.53, Z:-7.84 [[ 9.84692871e-01 1.74172586e-01 6.62275405e-03 2.75478367e+02] [-1.74168636e-01 9.84715142e-01 -1.17298492e-03 -3.85340833e+01] [-6.72582801e-03 1.55384551e-06 9.99977381e-01 -7.84344952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59420382200005 meters 0.01531803927139459 Centerline is valid? [True, True] Translation: X:275.51, Y:-38.54, Z:-7.84 [[ 9.84785898e-01 1.73654770e-01 6.38403376e-03 2.75506464e+02] [-1.73651093e-01 9.84806591e-01 -1.13002037e-03 -3.85413591e+01] [-6.48327195e-03 4.23368250e-06 9.99978983e-01 -7.83992570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624203822 meters 0.016092894972631416 Centerline is valid? [True, True] Translation: X:275.53, Y:-38.55, Z:-7.84 [[ 9.84989899e-01 1.72507149e-01 6.01525382e-03 2.75533135e+02] [-1.72503864e-01 9.85008266e-01 -1.06479119e-03 -3.85490402e+01] [-6.10875883e-03 1.11540370e-05 9.99981341e-01 -7.84311422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65420382200006 meters 0.02221878997690298 Centerline is valid? [True, True] Translation: X:275.56, Y:-38.55, Z:-7.85 [[ 9.85069817e-01 1.72059177e-01 5.75291903e-03 2.75561715e+02] [-1.72056168e-01 9.85086615e-01 -1.01773487e-03 -3.85545830e+01] [-5.84223416e-03 1.27146967e-05 9.99982934e-01 -7.84755380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68420382200003 meters 0.016117041227359564 Centerline is valid? [True, True] Translation: X:275.59, Y:-38.56, Z:-7.84 [[ 9.85314504e-01 1.70617553e-01 6.70664839e-03 2.75588872e+02] [-1.70613432e-01 9.85337328e-01 -1.18620041e-03 -3.85639679e+01] [-6.81069761e-03 2.45361720e-05 9.99976807e-01 -7.84397602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71420382200006 meters 0.016277554014458077 Centerline is valid? [True, True] Translation: X:275.62, Y:-38.57, Z:-7.84 [[ 9.85380223e-01 1.70224167e-01 7.03914495e-03 2.75616770e+02] [-1.70219623e-01 9.85405364e-01 -1.24411632e-03 -3.85716083e+01] [-7.14818986e-03 2.77270197e-05 9.99974451e-01 -7.84485136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74420382200003 meters 0.02729122767983955 Centerline is valid? [True, True] Translation: X:275.64, Y:-38.58, Z:-7.85 [[ 9.85271624e-01 1.70835112e-01 7.42916752e-03 2.75644567e+02] [-1.70830071e-01 9.85299632e-01 -1.31259884e-03 -3.85782210e+01] [-7.54419399e-03 2.41411795e-05 9.99971542e-01 -7.84871152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77420382200006 meters 0.015768298002347882 Centerline is valid? [True, True] Translation: X:275.67, Y:-38.58, Z:-7.84 [[ 9.85231956e-01 1.71036930e-01 8.02261326e-03 2.75672437e+02] [-1.71031064e-01 9.85264618e-01 -1.41667479e-03 -3.85838744e+01] [-8.14670070e-03 2.36371867e-05 9.99966815e-01 -7.84399510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80420382200003 meters 0.015525653075863588 Centerline is valid? [True, True] Translation: X:275.70, Y:-38.59, Z:-7.84 [[ 9.85119967e-01 1.71709884e-01 7.37333896e-03 2.75701725e+02] [-1.71704951e-01 9.85147560e-01 -1.30158476e-03 -3.85887553e+01] [-7.48732186e-03 1.61783263e-05 9.99971969e-01 -7.84446756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83420382200006 meters 0.01604775319694182 Centerline is valid? [True, True] Translation: X:275.73, Y:-38.59, Z:-7.85 [[ 9.85081521e-01 1.71967100e-01 6.45868046e-03 2.75729537e+02] [-1.71963319e-01 9.85102693e-01 -1.14032096e-03 -3.85937667e+01] [-6.55856120e-03 1.26529757e-05 9.99978492e-01 -7.84789603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86420382200004 meters 0.015844896492188336 Centerline is valid? [True, True] Translation: X:275.76, Y:-38.60, Z:-7.85 [[ 9.84849316e-01 1.73314743e-01 5.81592543e-03 2.75758207e+02] [-1.73311702e-01 9.84866488e-01 -1.02672928e-03 -3.85990770e+01] [-5.90585738e-03 3.20569646e-06 9.99982560e-01 -7.84895904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89420382200007 meters 0.0220458605402792 Centerline is valid? [True, True] Translation: X:275.79, Y:-38.60, Z:-7.85 [[ 9.84647083e-01 1.74463268e-01 5.71744868e-03 2.75787123e+02] [-1.74460348e-01 9.84663683e-01 -1.00942904e-03 -3.86027663e+01] [-5.80587236e-03 -3.53672119e-06 9.99983146e-01 -7.85385844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92420382200004 meters 0.016956653269395452 Centerline is valid? [True, True] Translation: X:275.82, Y:-38.60, Z:-7.85 [[ 9.84000841e-01 1.78110753e-01 4.34785280e-03 2.75816752e+02] [-1.78109099e-01 9.84010447e-01 -7.67750226e-04 -3.86035463e+01] [-4.41507715e-03 -1.89252768e-05 9.99990253e-01 -7.85138439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95420382200007 meters 0.020179975949792383 Centerline is valid? [True, True] Translation: X:275.84, Y:-38.60, Z:-7.86 [[ 9.83681689e-01 1.79866473e-01 4.28791478e-03 2.75844548e+02] [-1.79864881e-01 9.83691034e-01 -7.57258395e-04 -3.86046912e+01] [-4.35418872e-03 -2.63440625e-05 9.99990520e-01 -7.85936659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98420382200004 meters 0.01874440931122308 Centerline is valid? [True, True] Translation: X:275.87, Y:-38.61, Z:-7.85 [[ 9.83392873e-01 1.81434346e-01 4.47607262e-03 2.75872938e+02] [-1.81432631e-01 9.83403059e-01 -7.89805725e-04 -3.86087968e+01] [-4.54508139e-03 -3.54163086e-05 9.99989670e-01 -7.85376665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01420382200007 meters 0.021575611276404602 Centerline is valid? [True, True] Translation: X:275.90, Y:-38.61, Z:-7.86 [[ 9.82900800e-01 1.84062996e-01 5.17978061e-03 2.75901701e+02] [-1.84060736e-01 9.82914447e-01 -9.13773434e-04 -3.86055724e+01] [-5.25947307e-03 -5.52455895e-05 9.99986167e-01 -7.85676472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04420382200004 meters 0.021198946028207433 Centerline is valid? [True, True] Translation: X:275.93, Y:-38.61, Z:-7.86 [[ 9.82857007e-01 1.84272187e-01 5.98878307e-03 2.75930032e+02] [-1.84269175e-01 9.82875250e-01 -1.05551981e-03 -3.86103071e+01] [-6.08072960e-03 -6.61230764e-05 9.99981510e-01 -7.85590923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0742038220001 meters 0.0206938215583132 Centerline is valid? [True, True] Translation: X:275.96, Y:-38.61, Z:-7.86 [[ 9.82986364e-01 1.83550264e-01 6.86354014e-03 2.75957492e+02] [-1.83546293e-01 9.83010323e-01 -1.20941828e-03 -3.86144160e+01] [-6.96891986e-03 -7.09356697e-05 9.99975714e-01 -7.85576722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10420382200004 meters 0.01819467285688887 Centerline is valid? [True, True] Translation: X:275.99, Y:-38.62, Z:-7.85 [[ 9.83370827e-01 1.81512721e-01 5.91168225e-03 2.75985391e+02] [-1.81509740e-01 9.83388595e-01 -1.04137171e-03 -3.86207148e+01] [-6.00250311e-03 -4.89733510e-05 9.99981984e-01 -7.85480610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134203822 meters 0.01819260183771786 Centerline is valid? [True, True] Translation: X:276.01, Y:-38.63, Z:-7.86 [[ 9.83613092e-01 1.80224140e-01 4.95418705e-03 2.76012502e+02] [-1.80222029e-01 9.83625568e-01 -8.72968043e-04 -3.86277587e+01] [-5.03039497e-03 -3.41908477e-05 9.99987347e-01 -7.85782989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16420382200005 meters 0.018135005780939656 Centerline is valid? [True, True] Translation: X:276.04, Y:-38.63, Z:-7.86 [[ 9.83998769e-01 1.78110010e-01 4.82159602e-03 2.76039983e+02] [-1.78107986e-01 9.84010581e-01 -8.49331220e-04 -3.86342991e+01] [-4.89577589e-03 -2.30238826e-05 9.99988015e-01 -7.86099842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194203822 meters 0.0171531009281037 Centerline is valid? [True, True] Translation: X:276.07, Y:-38.64, Z:-7.86 [[ 9.84144070e-01 1.77308891e-01 4.69105361e-03 2.76068222e+02] [-1.77306968e-01 9.84155250e-01 -8.25803275e-04 -3.86397190e+01] [-4.76314730e-03 -1.90470979e-05 9.99988656e-01 -7.85953258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22420382200005 meters 0.01704112101090066 Centerline is valid? [True, True] Translation: X:276.10, Y:-38.64, Z:-7.86 [[ 9.84340846e-01 1.76225908e-01 4.18661106e-03 2.76096547e+02] [-1.76224367e-01 9.84349749e-01 -7.36949349e-04 -3.86449415e+01] [-4.25095912e-03 -1.23735400e-05 9.99990965e-01 -7.86081798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254203822 meters 0.017484086118792364 Centerline is valid? [True, True] Translation: X:276.12, Y:-38.65, Z:-7.86 [[ 9.84734385e-01 1.74011584e-01 4.26137596e-03 2.76123694e+02] [-1.74009967e-01 9.84743606e-01 -7.50163568e-04 -3.86509921e+01] [-4.32689988e-03 -2.81003039e-06 9.99990639e-01 -7.86364717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28420382200005 meters 0.016257380484579507 Centerline is valid? [True, True] Translation: X:276.15, Y:-38.66, Z:-7.86 [[ 9.85129903e-01 1.71752911e-01 4.47348563e-03 2.76151265e+02] [-1.71751108e-01 9.85140060e-01 -7.86861757e-04 -3.86603172e+01] [-4.54215570e-03 6.83493210e-06 9.99989684e-01 -7.86009543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314203822 meters 0.016538360869275747 Centerline is valid? [True, True] Translation: X:276.18, Y:-38.67, Z:-7.86 [[ 9.85329711e-01 1.70608641e-01 4.24883898e-03 2.76179430e+02] [-1.70607005e-01 9.85338871e-01 -7.47199355e-04 -3.86669201e+01] [-4.31402487e-03 1.13560313e-05 9.99990694e-01 -7.86132411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34420382200005 meters 0.016791087723671872 Centerline is valid? [True, True] Translation: X:276.21, Y:-38.67, Z:-7.86 [[ 9.85661061e-01 1.68670934e-01 4.73169345e-03 2.76207782e+02] [-1.68668885e-01 9.85672418e-01 -8.31703518e-04 -3.86729665e+01] [-4.80418394e-03 2.16883136e-05 9.99988460e-01 -7.86099069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374203822 meters 0.01799997602789316 Centerline is valid? [True, True] Translation: X:276.24, Y:-38.68, Z:-7.86 [[ 9.85800987e-01 1.67823969e-01 5.61506743e-03 2.76235636e+02] [-1.67821074e-01 9.85816978e-01 -9.86123594e-04 -3.86800049e+01] [-5.70092398e-03 2.97949646e-05 9.99983749e-01 -7.86427765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40420382200006 meters 0.02536397504552669 Centerline is valid? [True, True] Translation: X:276.26, Y:-38.68, Z:-7.87 [[ 9.85918317e-01 1.67138085e-01 5.47101424e-03 2.76264448e+02] [-1.67135326e-01 9.85933496e-01 -9.60915394e-04 -3.86847695e+01] [-5.55466175e-03 3.29843390e-05 9.99984572e-01 -7.86579346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43420382200003 meters 0.01833629816795702 Centerline is valid? [True, True] Translation: X:276.29, Y:-38.69, Z:-7.87 [[ 9.85947583e-01 1.66973614e-01 5.21309245e-03 2.76292521e+02] [-1.66971110e-01 9.85961364e-01 -9.15127022e-04 -3.86910227e+01] [-5.29270981e-03 3.18314434e-05 9.99985993e-01 -7.86517964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46420382200006 meters 0.017487654462274425 Centerline is valid? [True, True] Translation: X:276.32, Y:-38.70, Z:-7.86 [[ 9.85846907e-01 1.67588902e-01 4.45377698e-03 2.76321296e+02] [-1.67587079e-01 9.85856967e-01 -7.82120207e-04 -3.86965688e+01] [-4.52186173e-03 2.46553138e-05 9.99989776e-01 -7.86418891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49420382200003 meters 0.017507705807781014 Centerline is valid? [True, True] Translation: X:276.35, Y:-38.70, Z:-7.87 [[ 9.85679990e-01 1.68584639e-01 3.76511718e-03 2.76349593e+02] [-1.68583343e-01 9.85687181e-01 -6.61214333e-04 -3.86997245e+01] [-3.82269832e-03 1.70096968e-05 9.99992693e-01 -7.86645886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52420382200006 meters 0.016943232339642584 Centerline is valid? [True, True] Translation: X:276.38, Y:-38.70, Z:-7.87 [[ 9.85585008e-01 1.69152917e-01 3.07952707e-03 2.76378115e+02] [-1.69152052e-01 9.85589819e-01 -5.40961749e-04 -3.87037670e+01] [-3.12665578e-03 1.22554668e-05 9.99995112e-01 -7.86585551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55420382200003 meters 0.026944971653068136 Centerline is valid? [True, True] Translation: X:276.41, Y:-38.71, Z:-7.87 [[ 9.85231808e-01 1.71208489e-01 2.43667078e-03 2.76405323e+02] [-1.71207953e-01 9.85234821e-01 -4.28713519e-04 -3.87065945e+01] [-2.47409230e-03 5.20477993e-06 9.99996939e-01 -7.87271697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58420382200006 meters 0.01710668660025152 Centerline is valid? [True, True] Translation: X:276.43, Y:-38.71, Z:-7.87 [[ 9.84971395e-01 1.72694120e-01 2.84472525e-03 2.76434711e+02] [-1.72693396e-01 9.84975503e-01 -5.00150379e-04 -3.87095038e+01] [-2.88835771e-03 1.36855287e-06 9.99995829e-01 -7.86888530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61420382200004 meters 0.01710668660025152 Centerline is valid? [True, True] Translation: X:276.46, Y:-38.71, Z:-7.87 [[ 9.84979946e-01 1.72645339e-01 2.84488379e-03 2.76462631e+02] [-1.72644617e-01 9.84984054e-01 -4.99244813e-04 -3.87143006e+01] [-2.88835746e-03 5.92258210e-07 9.99995829e-01 -7.86969163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64420382200007 meters 0.01718397874716755 Centerline is valid? [True, True] Translation: X:276.49, Y:-38.71, Z:-7.87 [[ 9.84375749e-01 1.76041382e-01 3.71698487e-03 2.76491916e+02] [-1.76040176e-01 9.84382767e-01 -6.51660729e-04 -3.87127612e+01] [-3.77365511e-03 -1.28596527e-05 9.99992880e-01 -7.86873125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67420382200004 meters 0.017314412258719193 Centerline is valid? [True, True] Translation: X:276.52, Y:-38.71, Z:-7.87 [[ 9.84078585e-01 1.77681386e-01 4.32021857e-03 2.76521226e+02] [-1.77679775e-01 9.84088068e-01 -7.56976331e-04 -3.87149560e+01] [-4.38597615e-03 -2.26912662e-05 9.99990381e-01 -7.86764449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70420382200007 meters 0.01872192695667967 Centerline is valid? [True, True] Translation: X:276.55, Y:-38.71, Z:-7.87 [[ 9.83569815e-01 1.80458024e-01 5.03189145e-03 2.76550200e+02] [-1.80455876e-01 9.83582686e-01 -8.81464819e-04 -3.87129431e+01] [-5.10834871e-03 -4.10521927e-05 9.99986951e-01 -7.86682617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73420382200004 meters 0.02052605549134471 Centerline is valid? [True, True] Translation: X:276.58, Y:-38.71, Z:-7.87 [[ 9.83347466e-01 1.81647706e-01 5.64547602e-03 2.76577721e+02] [-1.81645022e-01 9.83363670e-01 -9.88916610e-04 -3.87122662e+01] [-5.73119045e-03 -5.30239726e-05 9.99983575e-01 -7.86934810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76420382200007 meters 0.021841877579166745 Centerline is valid? [True, True] Translation: X:276.61, Y:-38.71, Z:-7.87 [[ 9.83082967e-01 1.83068193e-01 5.82382619e-03 2.76606110e+02] [-1.83065369e-01 9.83100215e-01 -1.01893131e-03 -3.87125936e+01] [-5.91193869e-03 -6.44468757e-05 9.99982522e-01 -7.87101800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79420382200004 meters 0.020862932323235897 Centerline is valid? [True, True] Translation: X:276.63, Y:-38.72, Z:-7.87 [[ 9.83086667e-01 1.83067641e-01 5.18112661e-03 2.76634009e+02] [-1.83065408e-01 9.83100318e-01 -9.06131928e-04 -3.87188300e+01] [-5.25945066e-03 -5.76788399e-05 9.99986167e-01 -7.87059346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8242038220001 meters 0.021215396705703275 Centerline is valid? [True, True] Translation: X:276.66, Y:-38.73, Z:-7.88 [[ 9.83349663e-01 1.81664558e-01 4.62918233e-03 2.76661330e+02] [-1.81662757e-01 9.83360558e-01 -8.10123265e-04 -3.87260956e+01] [-4.69932600e-03 -4.43155831e-05 9.99988957e-01 -7.87569550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85420382200004 meters 0.02010093321501991 Centerline is valid? [True, True] Translation: X:276.69, Y:-38.73, Z:-7.88 [[ 9.83615547e-01 1.80232611e-01 4.08193918e-03 2.76688115e+02] [-1.80231199e-01 9.83624016e-01 -7.14239884e-04 -3.87327581e+01] [-4.14382273e-03 -3.31553367e-05 9.99991414e-01 -7.87620681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884203822 meters 0.018783234005000083 Centerline is valid? [True, True] Translation: X:276.72, Y:-38.74, Z:-7.88 [[ 9.84138466e-01 1.77369814e-01 3.38080051e-03 2.76716374e+02] [-1.77368830e-01 9.84144272e-01 -5.91070142e-04 -3.87400970e+01] [-3.43203346e-03 -1.79537677e-05 9.99994110e-01 -7.87743277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91420382200005 meters 0.026851818556135103 Centerline is valid? [True, True] Translation: X:276.74, Y:-38.75, Z:-7.88 [[ 9.84706879e-01 1.74190500e-01 3.16734374e-03 2.76744492e+02] [-1.74189620e-01 9.84711973e-01 -5.53739458e-04 -3.87488576e+01] [-3.21537746e-03 -6.44734989e-06 9.99994831e-01 -7.87900441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944203822 meters 0.01711977575832719 Centerline is valid? [True, True] Translation: X:276.77, Y:-38.76, Z:-7.88 [[ 9.84996933e-01 1.72547374e-01 2.90629166e-03 2.76771446e+02] [-1.72546625e-01 9.85001220e-01 -5.08387264e-04 -3.87562542e+01] [-2.95042172e-03 -7.10921961e-07 9.99995648e-01 -7.87635870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97420382200005 meters 0.01730398151604481 Centerline is valid? [True, True] Translation: X:276.80, Y:-38.77, Z:-7.88 [[ 9.85604576e-01 1.69054827e-01 2.02097333e-03 2.76798053e+02] [-1.69054457e-01 9.85606648e-01 -3.53970330e-04 -3.87683942e+01] [-2.05172514e-03 7.22022921e-06 9.99997895e-01 -7.87691687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004203822 meters 0.017046679985818984 Centerline is valid? [True, True] Translation: X:276.83, Y:-38.78, Z:-7.88 [[ 9.85882880e-01 1.67421828e-01 2.20877271e-03 2.76825938e+02] [-1.67421383e-01 9.85885354e-01 -3.86242579e-04 -3.87763434e+01] [-2.24226211e-03 1.09941646e-05 9.99997486e-01 -7.87562029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03420382200005 meters 0.017889259083251313 Centerline is valid? [True, True] Translation: X:276.85, Y:-38.78, Z:-7.88 [[ 9.86174044e-01 1.65657989e-01 4.26447543e-03 2.76853145e+02] [-1.65656318e-01 9.86183264e-01 -7.44407087e-04 -3.87841964e+01] [-4.32887128e-03 2.76776469e-05 9.99990630e-01 -7.87583809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064203822 meters 0.017718605938442444 Centerline is valid? [True, True] Translation: X:276.88, Y:-38.79, Z:-7.88 [[ 9.86228374e-01 1.65328283e-01 4.48931951e-03 2.76881693e+02] [-1.65326432e-01 9.86238591e-01 -7.82892800e-04 -3.87898070e+01] [-4.55697447e-03 2.99079136e-05 9.99989616e-01 -7.87541627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09420382200005 meters 0.01787584394312783 Centerline is valid? [True, True] Translation: X:276.91, Y:-38.80, Z:-7.88 [[ 9.86227590e-01 1.65351724e-01 3.73475115e-03 2.76910389e+02] [-1.65350445e-01 9.86234661e-01 -6.50742317e-04 -3.87980416e+01] [-3.79094239e-03 2.42372633e-05 9.99992814e-01 -7.87681879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124203822 meters 0.0329809900037296 Centerline is valid? [True, True] Translation: X:276.94, Y:-38.80, Z:-7.88 [[ 9.86189867e-01 1.65578955e-01 3.62701204e-03 2.76938379e+02] [-1.65577750e-01 9.86196537e-01 -6.32205053e-04 -3.88040888e+01] [-3.68162657e-03 2.29217262e-05 9.99993223e-01 -7.88397833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15420382200006 meters 0.01759215519860427 Centerline is valid? [True, True] Translation: X:276.97, Y:-38.81, Z:-7.88 [[ 9.85956124e-01 1.66964117e-01 3.67482256e-03 2.76966969e+02] [-1.66962890e-01 9.85962973e-01 -6.40381619e-04 -3.88095707e+01] [-3.73015973e-03 1.78291854e-05 9.99993043e-01 -7.87886381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18420382200003 meters 0.01718096846868132 Centerline is valid? [True, True] Translation: X:276.99, Y:-38.82, Z:-7.88 [[ 9.85885533e-01 1.67382027e-01 3.60165057e-03 2.76994826e+02] [-1.67380851e-01 9.85892112e-01 -6.27841065e-04 -3.88154582e+01] [-3.65592820e-03 1.61320870e-05 9.99993317e-01 -7.87869890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21420382200006 meters 0.016665006193637196 Centerline is valid? [True, True] Translation: X:277.02, Y:-38.82, Z:-7.88 [[ 9.85722246e-01 1.68336744e-01 3.79389448e-03 2.77023783e+02] [-1.68335449e-01 9.85729547e-01 -6.60462285e-04 -3.88236922e+01] [-3.85093396e-03 1.23854378e-05 9.99992585e-01 -7.87728314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24420382200003 meters 0.01721389604657404 Centerline is valid? [True, True] Translation: X:277.05, Y:-38.83, Z:-7.88 [[ 9.85677731e-01 1.68596271e-01 3.83518255e-03 2.77051478e+02] [-1.68594949e-01 9.85685192e-01 -6.67853460e-04 -3.88302834e+01] [-3.89288025e-03 1.16958765e-05 9.99992423e-01 -7.87974918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27420382200006 meters 0.016743838449992613 Centerline is valid? [True, True] Translation: X:277.08, Y:-38.84, Z:-7.88 [[ 9.85624722e-01 1.68903972e-01 3.91853232e-03 2.77080808e+02] [-1.68902596e-01 9.85632512e-01 -6.81875302e-04 -3.88365602e+01] [-3.97740430e-03 1.02228739e-05 9.99992090e-01 -7.87902788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30420382200003 meters 0.016889683594621733 Centerline is valid? [True, True] Translation: X:277.11, Y:-38.85, Z:-7.88 [[ 9.85653598e-01 1.68712667e-01 4.79807941e-03 2.77108576e+02] [-1.68710603e-01 9.85665276e-01 -8.34640289e-04 -3.88472832e+01] [-4.87011465e-03 1.31793320e-05 9.99988141e-01 -7.87980116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33420382200006 meters 0.016497746604255563 Centerline is valid? [True, True] Translation: X:277.14, Y:-38.86, Z:-7.88 [[ 9.85672348e-01 1.68606118e-01 4.69034364e-03 2.77136958e+02] [-1.68604145e-01 9.85683507e-01 -8.15801073e-04 -3.88563749e+01] [-4.76074342e-03 1.33011798e-05 9.99988668e-01 -7.87905059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36420382200004 meters 0.017564124585861863 Centerline is valid? [True, True] Translation: X:277.17, Y:-38.86, Z:-7.88 [[ 9.85626133e-01 1.68898578e-01 3.79428352e-03 2.77165892e+02] [-1.68897290e-01 9.85633436e-01 -6.59675032e-04 -3.88620994e+01] [-3.85119088e-03 9.34874753e-06 9.99992584e-01 -7.88368618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39420382200007 meters 0.027598685213626156 Centerline is valid? [True, True] Translation: X:277.19, Y:-38.87, Z:-7.89 [[ 9.85405614e-01 1.70196695e-01 2.97673389e-03 2.77193668e+02] [-1.70195907e-01 9.85410110e-01 -5.17955912e-04 -3.88684840e+01] [-3.02145806e-03 3.76873807e-06 9.99995435e-01 -7.89149727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42420382200004 meters 0.01708981372273268 Centerline is valid? [True, True] Translation: X:277.22, Y:-38.87, Z:-7.89 [[ 9.85218324e-01 1.71263614e-01 3.69173616e-03 2.77222482e+02] [-1.71262410e-01 9.85225241e-01 -6.42002773e-04 -3.88749359e+01] [-3.74714337e-03 2.57261274e-07 9.99992979e-01 -7.88574809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45420382200007 meters 0.017435000293011964 Centerline is valid? [True, True] Translation: X:277.25, Y:-38.88, Z:-7.89 [[ 9.84937099e-01 1.72889867e-01 2.82920234e-03 2.77251267e+02] [-1.72889169e-01 9.84941163e-01 -4.91283077e-04 -3.88843725e+01] [-2.87153570e-03 -5.25551315e-06 9.99995877e-01 -7.88689732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48420382200004 meters 0.024879396689834923 Centerline is valid? [True, True] Translation: X:277.28, Y:-38.89, Z:-7.89 [[ 9.84861128e-01 1.73337894e-01 1.59154953e-03 2.77280534e+02] [-1.73337674e-01 9.84862414e-01 -2.76485631e-04 -3.88922748e+01] [-1.61538275e-03 -3.57554222e-06 9.99998695e-01 -7.89150316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51420382200007 meters 0.017943986254623682 Centerline is valid? [True, True] Translation: X:277.31, Y:-38.90, Z:-7.89 [[ 9.84468019e-01 1.75533155e-01 3.29103251e-03 2.77308435e+02] [-1.75532221e-01 9.84473520e-01 -5.72654358e-04 -3.88993725e+01] [-3.34045418e-03 -1.39223458e-05 9.99994421e-01 -7.88731058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54420382200004 meters 0.017891594984194754 Centerline is valid? [True, True] Translation: X:277.34, Y:-38.90, Z:-7.89 [[ 9.84200134e-01 1.77030378e-01 3.21577906e-03 2.77338274e+02] [-1.77029496e-01 9.84205388e-01 -5.59156587e-04 -3.89038203e+01] [-3.26397478e-03 -1.89657575e-05 9.99994673e-01 -7.88606662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5742038220001 meters 0.02007643461569245 Centerline is valid? [True, True] Translation: X:277.37, Y:-38.91, Z:-7.89 [[ 9.83555632e-01 1.80555428e-01 4.24931632e-03 2.77366486e+02] [-1.80553921e-01 9.83564810e-01 -7.38829610e-04 -3.89059480e+01] [-4.31287769e-03 -4.05506970e-05 9.99990699e-01 -7.88719964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60420382200004 meters 0.022012421442533882 Centerline is valid? [True, True] Translation: X:277.40, Y:-38.91, Z:-7.89 [[ 9.83180721e-01 1.82581053e-01 4.45298248e-03 2.77395166e+02] [-1.82579420e-01 9.83190804e-01 -7.73988639e-04 -3.89081021e+01] [-4.51944708e-03 -5.20522485e-05 9.99989786e-01 -7.88893676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634203822 meters 0.02420083339944532 Centerline is valid? [True, True] Translation: X:277.43, Y:-38.91, Z:-7.89 [[ 9.82232717e-01 1.87650594e-01 2.47894493e-03 2.77425436e+02] [-1.87650104e-01 9.82235844e-01 -4.30629641e-04 -3.89102870e+01] [-2.51571647e-03 -4.21957518e-05 9.99996835e-01 -7.88861561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66420382200005 meters 0.027467745552915687 Centerline is valid? [True, True] Translation: X:277.45, Y:-38.91, Z:-7.89 [[ 9.81799769e-01 1.89911373e-01 1.69812262e-03 2.77454187e+02] [-1.89911146e-01 9.81801237e-01 -2.95742432e-04 -3.89117692e+01] [-1.72338374e-03 -3.21325612e-05 9.99998514e-01 -7.89228083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694203822 meters 0.033074996314299845 Centerline is valid? [True, True] Translation: X:277.48, Y:-38.91, Z:-7.90 [[ 9.81032827e-01 1.93834791e-01 1.63278010e-03 2.77483780e+02] [-1.93834586e-01 9.81034185e-01 -2.84320692e-04 -3.89100063e+01] [-1.65692434e-03 -3.75613218e-05 9.99998627e-01 -7.89549946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72420382200005 meters 0.033877980044923525 Centerline is valid? [True, True] Translation: X:277.51, Y:-38.91, Z:-7.90 [[ 9.80678278e-01 1.95621499e-01 1.53076530e-03 2.77512461e+02] [-1.95621321e-01 9.80679472e-01 -2.67186044e-04 -3.89104189e+01] [-1.55345744e-03 -3.74267797e-05 9.99998793e-01 -7.89507913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754203822 meters 0.0368047205320261 Centerline is valid? [True, True] Translation: X:277.54, Y:-38.91, Z:-7.90 [[ 9.80311500e-01 1.97454729e-01 9.96344081e-04 2.77541866e+02] [-1.97454654e-01 9.80312006e-01 -1.74080475e-04 -3.89095323e+01] [-1.01110108e-03 -2.60796842e-05 9.99999489e-01 -7.89846054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78420382200005 meters 0.035167778443712626 Centerline is valid? [True, True] Translation: X:277.57, Y:-38.92, Z:-7.90 [[ 9.80322989e-01 1.97399577e-01 4.93734384e-04 2.77570075e+02] [-1.97399559e-01 9.80323113e-01 -8.69520297e-05 -3.89151647e+01] [-5.01183523e-04 -1.22218758e-05 9.99999874e-01 -7.89804433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814203822 meters 0.03267518918748369 Centerline is valid? [True, True] Translation: X:277.60, Y:-38.92, Z:-7.90 [[ 9.80739961e-01 1.95311758e-01 1.56387346e-03 2.77599817e+02] [-1.95311572e-01 9.80741207e-01 -2.72049692e-04 -3.89212791e+01] [-1.58688965e-03 -3.86325808e-05 9.99998740e-01 -7.89734217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84420382200005 meters 0.02922949921881322 Centerline is valid? [True, True] Translation: X:277.63, Y:-38.93, Z:-7.89 [[ 9.81153378e-01 1.93217419e-01 2.25331652e-03 2.77627404e+02] [-1.93217028e-01 9.81155964e-01 -3.91805584e-04 -3.89307298e+01] [-2.28655861e-03 -5.09577492e-05 9.99997385e-01 -7.89495642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874203822 meters 0.025311624586215536 Centerline is valid? [True, True] Translation: X:277.66, Y:-38.94, Z:-7.89 [[ 9.82111164e-01 1.88284638e-01 2.56059695e-03 2.77655189e+02] [-1.88284119e-01 9.82114501e-01 -4.44268269e-04 -3.89404198e+01] [-2.59844828e-03 -4.57989143e-05 9.99996623e-01 -7.89491721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90420382200006 meters 0.03278754310133334 Centerline is valid? [True, True] Translation: X:277.68, Y:-38.95, Z:-7.90 [[ 9.82687260e-01 1.85261733e-01 1.95926084e-03 2.77683914e+02] [-1.85261423e-01 9.82689213e-01 -3.40062089e-04 -3.89476733e+01] [-1.98834498e-03 -2.88007691e-05 9.99998023e-01 -7.89891206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93420382200003 meters 0.02033559243576321 Centerline is valid? [True, True] Translation: X:277.71, Y:-38.96, Z:-7.90 [[ 9.83760949e-01 1.79454036e-01 3.26246379e-03 2.77711811e+02] [-1.79453147e-01 9.83766359e-01 -5.65377408e-04 -3.89581318e+01] [-3.31096138e-03 -2.92631803e-05 9.99994518e-01 -7.89959937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96420382200006 meters 0.01874894907883112 Centerline is valid? [True, True] Translation: X:277.74, Y:-38.97, Z:-7.90 [[ 9.84228031e-01 1.76864973e-01 3.73688932e-03 2.77740022e+02] [-1.76863788e-01 9.84235125e-01 -6.47777492e-04 -3.89675155e+01] [-3.79254687e-03 -2.33596339e-05 9.99992808e-01 -7.89948434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99420382200003 meters 0.01719496834338531 Centerline is valid? [True, True] Translation: X:277.77, Y:-38.98, Z:-7.90 [[ 9.85034629e-01 1.72324322e-01 3.33280175e-03 2.77769342e+02] [-1.72323356e-01 9.85040267e-01 -5.77121553e-04 -3.89786114e+01] [-3.38239601e-03 -5.83486580e-06 9.99994280e-01 -7.89913989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02420382200006 meters 0.01748234674434457 Centerline is valid? [True, True] Translation: X:277.80, Y:-38.99, Z:-7.90 [[ 9.85440585e-01 1.69979691e-01 3.70910522e-03 2.77797693e+02] [-1.69978479e-01 9.85447566e-01 -6.41922842e-04 -3.89866536e+01] [-3.76424256e-03 2.10875790e-06 9.99992915e-01 -7.90116816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05420382200003 meters 0.017977397181892653 Centerline is valid? [True, True] Translation: X:277.83, Y:-39.00, Z:-7.90 [[ 9.86157846e-01 1.65748895e-01 4.47291947e-03 2.77827821e+02] [-1.65747104e-01 9.86167990e-01 -7.70549985e-04 -3.90014178e+01] [-4.53876781e-03 1.85104627e-05 9.99989700e-01 -7.90009778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08420382200006 meters 0.019269161154976924 Centerline is valid? [True, True] Translation: X:277.86, Y:-39.01, Z:-7.90 [[ 9.86423227e-01 1.64181276e-01 3.70483224e-03 2.77858854e+02] [-1.64180038e-01 9.86430184e-01 -6.38053051e-04 -3.90110225e+01] [-3.75931472e-03 2.11308506e-05 9.99992934e-01 -7.90251270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11420382200004 meters 0.028948538570439934 Centerline is valid? [True, True] Translation: X:277.89, Y:-39.02, Z:-7.91 [[ 9.86768047e-01 1.62130065e-01 1.63193741e-03 2.77890380e+02] [-1.62129821e-01 9.86769397e-01 -2.81823322e-04 -3.90187492e+01] [-1.65603792e-03 1.35085307e-05 9.99998629e-01 -7.90573609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14420382200007 meters 0.028882489174094157 Centerline is valid? [True, True] Translation: X:277.92, Y:-39.02, Z:-7.91 [[ 9.86601469e-01 1.63142646e-01 1.42056444e-03 2.77921146e+02] [-1.63142464e-01 9.86602492e-01 -2.43915462e-04 -3.90243248e+01] [-1.44132543e-03 8.89297044e-06 9.99998961e-01 -7.90859324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17420382200004 meters 0.01919250020950652 Centerline is valid? [True, True] Translation: X:277.95, Y:-39.03, Z:-7.91 [[ 9.86382089e-01 1.64454631e-01 2.24712525e-03 2.77952486e+02] [-1.64454170e-01 9.86384648e-01 -3.89617505e-04 -3.90284417e+01] [-2.28060426e-03 1.47626098e-05 9.99997399e-01 -7.90638822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20420382200007 meters 0.019356418958785072 Centerline is valid? [True, True] Translation: X:277.98, Y:-39.03, Z:-7.91 [[ 9.86136749e-01 1.65916862e-01 2.43051223e-03 2.77982583e+02] [-1.65916326e-01 9.86139744e-01 -4.21859014e-04 -3.90327846e+01] [-2.46681823e-03 1.27490177e-05 9.99996957e-01 -7.91028652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23420382200004 meters 0.017556903815139083 Centerline is valid? [True, True] Translation: X:278.01, Y:-39.04, Z:-7.91 [[ 9.85690631e-01 1.68557744e-01 1.50560646e-03 2.78013829e+02] [-1.68557542e-01 9.85691781e-01 -2.60861029e-04 -3.90369007e+01] [-1.52803406e-03 3.34694876e-06 9.99998833e-01 -7.90808768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26420382200007 meters 0.01754791095051716 Centerline is valid? [True, True] Translation: X:278.04, Y:-39.04, Z:-7.91 [[ 9.85086024e-01 1.72040453e-01 2.75841669e-03 2.78044102e+02] [-1.72039785e-01 9.85089886e-01 -4.79243086e-04 -3.90376403e+01] [-2.79973758e-03 -2.46174882e-06 9.99996081e-01 -7.90972511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29420382200004 meters 0.01736327206232457 Centerline is valid? [True, True] Translation: X:278.07, Y:-39.04, Z:-7.91 [[ 9.84839776e-01 1.73446515e-01 2.63084020e-03 2.78074146e+02] [-1.73445912e-01 9.84843290e-01 -4.57078143e-04 -3.90414860e+01] [-2.67024393e-03 -6.15974297e-06 9.99996435e-01 -7.90999394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3242038220001 meters 0.018602227319146483 Centerline is valid? [True, True] Translation: X:278.10, Y:-39.04, Z:-7.91 [[ 9.84249457e-01 1.76775470e-01 1.85438823e-03 2.78104858e+02] [-1.76775177e-01 9.84251204e-01 -3.22178568e-04 -3.90416589e+01] [-1.88213712e-03 -1.07057269e-05 9.99998229e-01 -7.91163432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35420382200004 meters 0.019587693773437848 Centerline is valid? [True, True] Translation: X:278.13, Y:-39.04, Z:-7.91 [[ 9.83863050e-01 1.78915001e-01 1.70897614e-03 2.78134482e+02] [-1.78914754e-01 9.83864535e-01 -2.97575465e-04 -3.90419963e+01] [-1.73464173e-03 -1.29875409e-05 9.99998495e-01 -7.91311160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384203822 meters 0.023751749852540055 Centerline is valid? [True, True] Translation: X:278.16, Y:-39.04, Z:-7.92 [[ 9.82935665e-01 1.83941195e-01 1.76504969e-03 2.78163635e+02] [-1.83940941e-01 9.82937249e-01 -3.06877930e-04 -3.90379176e+01] [-1.79138058e-03 -2.30236385e-05 9.99998395e-01 -7.91656222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41420382200005 meters 0.024776684112383145 Centerline is valid? [True, True] Translation: X:278.19, Y:-39.04, Z:-7.92 [[ 9.82504943e-01 1.86226658e-01 1.91536777e-03 2.78191987e+02] [-1.86226360e-01 9.82506810e-01 -3.34315205e-04 -3.90407564e+01] [-1.94412028e-03 -2.82256263e-05 9.99998110e-01 -7.91526053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444203822 meters 0.027263138024568284 Centerline is valid? [True, True] Translation: X:278.22, Y:-39.04, Z:-7.91 [[ 9.81899559e-01 1.89377526e-01 3.06747738e-03 2.78220690e+02] [-1.89376781e-01 9.81904348e-01 -5.34173422e-04 -3.90399187e+01] [-3.11312982e-03 -5.64043455e-05 9.99995153e-01 -7.91440091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47420382200005 meters 0.03458530711609278 Centerline is valid? [True, True] Translation: X:278.25, Y:-39.04, Z:-7.92 [[ 9.81731192e-01 1.90245196e-01 3.26055903e-03 2.78249354e+02] [-1.90244361e-01 9.81736605e-01 -5.67184793e-04 -3.90423459e+01] [-3.30891433e-03 -6.34799653e-05 9.99994524e-01 -7.91645610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504203822 meters 0.03458530711609278 Centerline is valid? [True, True] Translation: X:278.28, Y:-39.05, Z:-7.92 [[ 9.81740244e-01 1.90198481e-01 3.26058640e-03 2.78277287e+02] [-1.90197647e-01 9.81745656e-01 -5.67027211e-04 -3.90471029e+01] [-3.30891425e-03 -6.34824277e-05 9.99994524e-01 -7.91726261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53420382200005 meters 0.036162769227648155 Centerline is valid? [True, True] Translation: X:278.31, Y:-39.05, Z:-7.91 [[ 9.81711758e-01 1.90326411e-01 4.22870396e-03 2.78305994e+02] [-1.90325011e-01 9.81720862e-01 -7.34804430e-04 -3.90488665e+01] [-4.29125959e-03 -8.34619800e-05 9.99990789e-01 -7.91481916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564203822 meters 0.025027086887870826 Centerline is valid? [True, True] Translation: X:278.33, Y:-39.05, Z:-7.92 [[ 9.82140850e-01 1.88078623e-01 5.07755611e-03 2.78333510e+02] [-1.88076575e-01 9.82153972e-01 -8.82046280e-04 -3.90511093e+01] [-5.15283595e-03 -8.86756813e-05 9.99986720e-01 -7.91505512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59420382200005 meters 0.02372358048936775 Centerline is valid? [True, True] Translation: X:278.36, Y:-39.06, Z:-7.92 [[ 9.82619518e-01 1.85576238e-01 4.51034879e-03 2.78360686e+02] [-1.85574596e-01 9.82629867e-01 -7.83403914e-04 -3.90581638e+01] [-4.57738459e-03 -6.72181811e-05 9.99989521e-01 -7.91825569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624203822 meters 0.026941927496682175 Centerline is valid? [True, True] Translation: X:278.39, Y:-39.07, Z:-7.92 [[ 9.83203293e-01 1.82473069e-01 3.85523793e-03 2.78387857e+02] [-1.82471847e-01 9.83210851e-01 -6.69318555e-04 -3.90663449e+01] [-3.91264438e-03 -4.53961791e-05 9.99992345e-01 -7.92401642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65420382200006 meters 0.017633957678830012 Centerline is valid? [True, True] Translation: X:278.42, Y:-39.08, Z:-7.92 [[ 9.84358939e-01 1.76121994e-01 4.30372704e-03 2.78415952e+02] [-1.76120414e-01 9.84368347e-01 -7.46362632e-04 -3.90807544e+01] [-4.36790354e-03 -2.32854587e-05 9.99990460e-01 -7.91997134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68420382200003 meters 0.01670661105390864 Centerline is valid? [True, True] Translation: X:278.45, Y:-39.09, Z:-7.92 [[ 9.84940237e-01 1.72842181e-01 4.27899026e-03 2.78445120e+02] [-1.72840592e-01 9.84949532e-01 -7.41245738e-04 -3.90894298e+01] [-4.34270799e-03 -9.50045611e-06 9.99990570e-01 -7.92034297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71420382200006 meters 0.01736500564298169 Centerline is valid? [True, True] Translation: X:278.47, Y:-39.10, Z:-7.92 [[ 9.85937338e-01 1.67043663e-01 4.89688004e-03 2.78473981e+02] [-1.67041512e-01 9.85949499e-01 -8.47991810e-04 -3.91014940e+01] [-4.96972808e-03 1.80845438e-05 9.99987651e-01 -7.92181238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74420382200003 meters 0.01929150130351158 Centerline is valid? [True, True] Translation: X:278.50, Y:-39.11, Z:-7.92 [[ 9.86726496e-01 1.62275299e-01 6.12777209e-03 2.78503993e+02] [-1.62271857e-01 9.86745522e-01 -1.05806953e-03 -3.91134206e+01] [-6.21825022e-03 4.96602846e-05 9.99980665e-01 -7.92086035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77420382200006 meters 0.021577254690645795 Centerline is valid? [True, True] Translation: X:278.53, Y:-39.12, Z:-7.92 [[ 9.87158941e-01 1.59622166e-01 6.16357186e-03 2.78533677e+02] [-1.59618616e-01 9.87178180e-01 -1.06675981e-03 -3.91226879e+01] [-6.25482216e-03 6.92406773e-05 9.99980436e-01 -7.92244512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80420382200003 meters 0.022844431996476337 Centerline is valid? [True, True] Translation: X:278.57, Y:-39.13, Z:-7.92 [[ 9.87577272e-01 1.57011564e-01 6.20489014e-03 2.78565067e+02] [-1.57007922e-01 9.87596761e-01 -1.07271546e-03 -3.91315965e+01] [-6.29635813e-03 8.51724970e-05 9.99980174e-01 -7.92199101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83420382200006 meters 0.024862264311184948 Centerline is valid? [True, True] Translation: X:278.60, Y:-39.14, Z:-7.92 [[ 9.88239173e-01 1.52771270e-01 6.65407694e-03 2.78595926e+02] [-1.52766959e-01 9.88261566e-01 -1.15449820e-03 -3.91419073e+01] [-6.75234265e-03 1.24397245e-04 9.99977195e-01 -7.92015535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86420382200004 meters 0.026983178043949393 Centerline is valid? [True, True] Translation: X:278.63, Y:-39.15, Z:-7.92 [[ 9.88401378e-01 1.51726545e-01 6.46310437e-03 2.78626116e+02] [-1.51722460e-01 9.88422500e-01 -1.12065959e-03 -3.91502126e+01] [-6.55831159e-03 1.27063394e-04 9.99978486e-01 -7.92294568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89420382200007 meters 0.02864832118353326 Centerline is valid? [True, True] Translation: X:278.66, Y:-39.16, Z:-7.93 [[ 9.88384794e-01 1.51847373e-01 6.15423049e-03 2.78656398e+02] [-1.51843668e-01 9.88403946e-01 -1.06759862e-03 -3.91579923e+01] [-6.24497774e-03 1.20717305e-04 9.99980493e-01 -7.92664473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92420382200004 meters 0.027735572303772993 Centerline is valid? [True, True] Translation: X:278.69, Y:-39.16, Z:-7.93 [[ 9.88241366e-01 1.52776104e-01 6.20198719e-03 2.78687815e+02] [-1.52772366e-01 9.88260820e-01 -1.07491754e-03 -3.91630701e+01] [-6.29340266e-03 1.14785725e-04 9.99980190e-01 -7.92723542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95420382200007 meters 0.03274383774443694 Centerline is valid? [True, True] Translation: X:278.72, Y:-39.16, Z:-7.93 [[ 9.87694258e-01 1.56297820e-01 5.57175632e-03 2.78720439e+02] [-1.56294857e-01 9.87709970e-01 -9.65997847e-04 -3.91635822e+01] [-5.65426263e-03 8.32736675e-05 9.99984011e-01 -7.92939057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98420382200004 meters 0.021558922013921903 Centerline is valid? [True, True] Translation: X:278.75, Y:-39.17, Z:-7.93 [[ 9.87339453e-01 1.58512630e-01 5.87799749e-03 2.78752715e+02] [-1.58509364e-01 9.87356947e-01 -1.02034345e-03 -3.91668639e+01] [-5.96541898e-03 7.57076987e-05 9.99982204e-01 -7.92682104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01420382200007 meters 0.022777229513388602 Centerline is valid? [True, True] Translation: X:278.78, Y:-39.17, Z:-7.93 [[ 9.86621120e-01 1.62942578e-01 5.33687243e-03 2.78783894e+02] [-1.62939946e-01 9.86635553e-01 -9.27210822e-04 -3.91664204e+01] [-5.41663020e-03 4.52160735e-05 9.99985329e-01 -7.93155505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04420382200004 meters 0.017824649977426495 Centerline is valid? [True, True] Translation: X:278.81, Y:-39.17, Z:-7.93 [[ 9.86272788e-01 1.65007963e-01 6.19345479e-03 2.78814717e+02] [-1.65004429e-01 9.86292234e-01 -1.08085899e-03 -3.91703881e+01] [-6.28690670e-03 4.40743336e-05 9.99980236e-01 -7.93004600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0742038220001 meters 0.015804670716602572 Centerline is valid? [True, True] Translation: X:278.85, Y:-39.18, Z:-7.93 [[ 9.85656206e-01 1.68582791e-01 7.85402218e-03 2.78845711e+02] [-1.68577218e-01 9.85687497e-01 -1.37104328e-03 -3.91750756e+01] [-7.97274577e-03 2.73681073e-05 9.99968217e-01 -7.92840547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10420382200004 meters 0.024449505284482115 Centerline is valid? [True, True] Translation: X:278.88, Y:-39.18, Z:-7.93 [[ 9.85347571e-01 1.70419516e-01 6.88133073e-03 2.78877084e+02] [-1.70415305e-01 9.85371599e-01 -1.19813814e-03 -3.91793788e+01] [-6.98485399e-03 7.89843370e-06 9.99975606e-01 -7.93242475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134203822 meters 0.015540753883257135 Centerline is valid? [True, True] Translation: X:278.91, Y:-39.18, Z:-7.93 [[ 9.84851242e-01 1.73257725e-01 7.05639763e-03 2.78907766e+02] [-1.73253334e-01 9.84876521e-01 -1.23342229e-03 -3.91826515e+01] [-7.16338028e-03 -7.80694617e-06 9.99974343e-01 -7.93194316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16420382200005 meters 0.015545066789348055 Centerline is valid? [True, True] Translation: X:278.94, Y:-39.19, Z:-7.93 [[ 9.84633537e-01 1.74487512e-01 7.13477418e-03 2.78939112e+02] [-1.74483057e-01 9.84659387e-01 -1.24694978e-03 -3.91881065e+01] [-7.24289954e-03 -1.71086382e-05 9.99973770e-01 -7.93216369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194203822 meters 0.01632284012009095 Centerline is valid? [True, True] Translation: X:278.97, Y:-39.19, Z:-7.93 [[ 9.84133496e-01 1.77291881e-01 6.98930620e-03 2.78969375e+02] [-1.77287674e-01 9.84158314e-01 -1.22195452e-03 -3.91926721e+01] [-7.09522643e-03 -3.65514659e-05 9.99974828e-01 -7.93347232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22420382200005 meters 0.01738853229734743 Centerline is valid? [True, True] Translation: X:279.00, Y:-39.20, Z:-7.94 [[ 9.83808479e-01 1.79087547e-01 6.96618725e-03 2.78998331e+02] [-1.79083408e-01 9.83833140e-01 -1.21852671e-03 -3.91958241e+01] [-7.07178884e-03 -4.87316439e-05 9.99974993e-01 -7.93525663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254203822 meters 0.021242063413376675 Centerline is valid? [True, True] Translation: X:279.03, Y:-39.19, Z:-7.94 [[ 9.82887092e-01 1.84074059e-01 7.05014666e-03 2.79027689e+02] [-1.84069945e-01 9.82912373e-01 -1.23362796e-03 -3.91947088e+01] [-7.15675529e-03 -8.52031071e-05 9.99974386e-01 -7.93718949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28420382200005 meters 0.022451642265757188 Centerline is valid? [True, True] Translation: X:279.06, Y:-39.20, Z:-7.94 [[ 9.82329839e-01 1.87033449e-01 6.82467443e-03 2.79057221e+02] [-1.87029668e-01 9.82353540e-01 -1.19371144e-03 -3.91977518e+01] [-6.92750705e-03 -1.03798223e-04 9.99975999e-01 -7.93657963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314203822 meters 0.029423753292179333 Centerline is valid? [True, True] Translation: X:279.09, Y:-39.20, Z:-7.94 [[ 9.81287018e-01 1.92456358e-01 6.02816857e-03 2.79087324e+02] [-1.92453511e-01 9.81305526e-01 -1.05432056e-03 -3.91951235e+01] [-6.11838583e-03 -1.25551129e-04 9.99981275e-01 -7.94215510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34420382200005 meters 0.028856809966132872 Centerline is valid? [True, True] Translation: X:279.12, Y:-39.20, Z:-7.94 [[ 9.80901156e-01 1.94410402e-01 6.12512790e-03 2.79116753e+02] [-1.94407502e-01 9.80920270e-01 -1.07111676e-03 -3.92004257e+01] [-6.21649835e-03 -1.40111147e-04 9.99980668e-01 -7.94006466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374203822 meters 0.03233324334935332 Centerline is valid? [True, True] Translation: X:279.15, Y:-39.20, Z:-7.94 [[ 9.80569304e-01 1.96065391e-01 6.49635181e-03 2.79145144e+02] [-1.96062163e-01 9.80590810e-01 -1.13635756e-03 -3.92014051e+01] [-6.59306328e-03 -1.59411445e-04 9.99978253e-01 -7.94295706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40420382200006 meters 0.03087383985356537 Centerline is valid? [True, True] Translation: X:279.17, Y:-39.21, Z:-7.94 [[ 9.80688788e-01 1.95462239e-01 6.63434053e-03 2.79173153e+02] [-1.95458861e-01 9.80711215e-01 -1.16012368e-03 -3.92104241e+01] [-6.73313253e-03 -1.59020357e-04 9.99977320e-01 -7.94235090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43420382200003 meters 0.03494767422441474 Centerline is valid? [True, True] Translation: X:279.20, Y:-39.22, Z:-7.94 [[ 9.81037129e-01 1.93698748e-01 6.85177401e-03 2.79201287e+02] [-1.93695108e-01 9.81061044e-01 -1.19725810e-03 -3.92224318e+01] [-6.95391596e-03 -1.52600455e-04 9.99975810e-01 -7.94413434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46420382200006 meters 0.026753609273993506 Centerline is valid? [True, True] Translation: X:279.23, Y:-39.23, Z:-7.94 [[ 9.81163765e-01 1.93032828e-01 7.48287461e-03 2.79230479e+02] [-1.93028473e-01 9.81192285e-01 -1.30677840e-03 -3.92312750e+01] [-7.59438998e-03 -1.62244247e-04 9.99971149e-01 -7.94023709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49420382200003 meters 0.025709759754201443 Centerline is valid? [True, True] Translation: X:279.26, Y:-39.24, Z:-7.94 [[ 9.81412767e-01 1.91771978e-01 7.24495057e-03 2.79259525e+02] [-1.91767861e-01 9.81439497e-01 -1.26522832e-03 -3.92423689e+01] [-7.35311598e-03 -1.47637447e-04 9.99972955e-01 -7.94127374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52420382200006 meters 0.02439959173422592 Centerline is valid? [True, True] Translation: X:279.29, Y:-39.25, Z:-7.94 [[ 9.81542396e-01 1.91092083e-01 7.63816857e-03 2.79289774e+02] [-1.91087490e-01 9.81572103e-01 -1.33337782e-03 -3.92511417e+01] [-7.75221113e-03 -1.50791608e-04 9.99969940e-01 -7.94060718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55420382200003 meters 0.024531437037228095 Centerline is valid? [True, True] Translation: X:279.32, Y:-39.26, Z:-7.94 [[ 9.81615453e-01 1.90707958e-01 7.84713339e-03 2.79320309e+02] [-1.90703119e-01 9.81646806e-01 -1.36725973e-03 -3.92577675e+01] [-7.96386074e-03 -1.54349538e-04 9.99968276e-01 -7.94332344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58420382200006 meters 0.026443211424000253 Centerline is valid? [True, True] Translation: X:279.35, Y:-39.26, Z:-7.95 [[ 9.81675651e-01 1.90424990e-01 7.15813980e-03 2.79349843e+02] [-1.90420934e-01 9.81701739e-01 -1.25024717e-03 -3.92620933e+01] [-7.26523660e-03 -1.35722466e-04 9.99973599e-01 -7.94839211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61420382200004 meters 0.02465976938652468 Centerline is valid? [True, True] Translation: X:279.38, Y:-39.27, Z:-7.95 [[ 9.81636496e-01 1.90637031e-01 6.87830705e-03 2.79379452e+02] [-1.90633285e-01 9.81660585e-01 -1.20237089e-03 -3.92735271e+01] [-6.98137934e-03 -1.30943122e-04 9.99975621e-01 -7.94703340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64420382200007 meters 0.02682390889021481 Centerline is valid? [True, True] Translation: X:279.41, Y:-39.28, Z:-7.95 [[ 9.81430101e-01 1.91708948e-01 6.52965764e-03 2.79409397e+02] [-1.91705593e-01 9.81451813e-01 -1.14182401e-03 -3.92769306e+01] [-6.62744221e-03 -1.31151433e-04 9.99978030e-01 -7.94994152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67420382200004 meters 0.031374020748395584 Centerline is valid? [True, True] Translation: X:279.44, Y:-39.27, Z:-7.95 [[ 9.80679562e-01 1.95566577e-01 4.61640987e-03 2.79439550e+02] [-1.95564942e-01 9.80690421e-01 -8.07333566e-04 -3.92745147e+01] [-4.68515640e-03 -1.11072400e-04 9.99989018e-01 -7.95411756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70420382200007 meters 0.03264629199426373 Centerline is valid? [True, True] Translation: X:279.47, Y:-39.27, Z:-7.95 [[ 9.79796961e-01 1.99944216e-01 4.49728126e-03 2.79470417e+02] [-1.99942708e-01 9.79807274e-01 -7.87001257e-04 -3.92744662e+01] [-4.56382524e-03 -1.28097153e-04 9.99989577e-01 -7.95315096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73420382200004 meters 0.0373571160264249 Centerline is valid? [True, True] Translation: X:279.50, Y:-39.27, Z:-7.96 [[ 9.79416526e-01 2.01791183e-01 4.85671867e-03 2.79499749e+02] [-2.01789445e-01 9.79428556e-01 -8.50392551e-04 -3.92715707e+01] [-4.92841068e-03 -1.47146046e-04 9.99987844e-01 -7.95604208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76420382200007 meters 0.045204376396347966 Centerline is valid? [True, True] Translation: X:279.53, Y:-39.26, Z:-7.96 [[ 9.78729650e-01 2.05061324e-01 6.17451500e-03 2.79530807e+02] [-2.05058583e-01 9.78749105e-01 -1.08057736e-03 -3.92593890e+01] [-6.26488565e-03 -2.08544195e-04 9.99980354e-01 -7.95775363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79420382200004 meters 0.04103148496470563 Centerline is valid? [True, True] Translation: X:279.56, Y:-39.27, Z:-7.95 [[ 9.78534916e-01 2.05956675e-01 7.15999471e-03 2.79558858e+02] [-2.05953015e-01 9.78561079e-01 -1.25287411e-03 -3.92650313e+01] [-7.26452994e-03 -2.48641437e-04 9.99973582e-01 -7.95287136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8242038220001 meters 0.040597863181767016 Centerline is valid? [True, True] Translation: X:279.59, Y:-39.27, Z:-7.95 [[ 9.78625667e-01 2.05531967e-01 6.95798758e-03 2.79588314e+02] [-2.05528501e-01 9.78650374e-01 -1.21722939e-03 -3.92657368e+01] [-7.05961669e-03 -2.38852836e-04 9.99975052e-01 -7.95291888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85420382200004 meters 0.03969089378044497 Centerline is valid? [True, True] Translation: X:279.62, Y:-39.27, Z:-7.95 [[ 9.78913668e-01 2.04200783e-01 5.48365183e-03 2.79616271e+02] [-2.04198609e-01 9.78929011e-01 -9.59400106e-04 -3.92746624e+01] [-5.56401611e-03 -1.80584195e-04 9.99984504e-01 -7.95459973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884203822 meters 0.03802193755687007 Centerline is valid? [True, True] Translation: X:279.64, Y:-39.27, Z:-7.96 [[ 9.79346944e-01 2.02119995e-01 5.20303704e-03 2.79644370e+02] [-2.02118008e-01 9.79360752e-01 -9.10401754e-04 -3.92731632e+01] [-5.27966066e-03 -1.60028306e-04 9.99986050e-01 -7.95739274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91420382200005 meters 0.03100600052751575 Centerline is valid? [True, True] Translation: X:279.67, Y:-39.28, Z:-7.96 [[ 9.80566696e-01 1.96103276e-01 5.69737872e-03 2.79673733e+02] [-1.96100803e-01 9.80583237e-01 -9.94983023e-04 -3.92807382e+01] [-5.78187350e-03 -1.41613328e-04 9.99983275e-01 -7.95602245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944203822 meters 0.023174997267198343 Centerline is valid? [True, True] Translation: X:279.70, Y:-39.29, Z:-7.95 [[ 9.82122783e-01 1.88105150e-01 7.16188272e-03 2.79702702e+02] [-1.88101030e-01 9.82148888e-01 -1.25070154e-03 -3.92926519e+01] [-7.26929855e-03 -1.18815041e-04 9.99973571e-01 -7.95350929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97420382200005 meters 0.019866203944195984 Centerline is valid? [True, True] Translation: X:279.73, Y:-39.30, Z:-7.95 [[ 9.82996669e-01 1.83448768e-01 8.00615096e-03 2.79730591e+02] [-1.83443461e-01 9.83029267e-01 -1.39856421e-03 -3.93010919e+01] [-8.12684559e-03 -9.38920831e-05 9.99966972e-01 -7.95411575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004203822 meters 0.015099004835636335 Centerline is valid? [True, True] Translation: X:279.76, Y:-39.32, Z:-7.95 [[ 9.84702515e-01 1.74011484e-01 8.99777342e-03 2.79759484e+02] [-1.74004393e-01 9.84743623e-01 -1.57101788e-03 -3.93151888e+01] [-9.13387515e-03 -1.86668458e-05 9.99958285e-01 -7.95434854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03420382200005 meters 0.016949333202009084 Centerline is valid? [True, True] Translation: X:279.79, Y:-39.33, Z:-7.95 [[ 9.85499514e-01 1.69427788e-01 9.21585513e-03 2.79790395e+02] [-1.69420181e-01 9.85542604e-01 -1.60563537e-03 -3.93265201e+01] [-9.35465711e-03 2.10010342e-05 9.99956244e-01 -7.95426498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064203822 meters 0.019904430340813867 Centerline is valid? [True, True] Translation: X:279.82, Y:-39.34, Z:-7.96 [[ 9.86794524e-01 1.61708883e-01 9.31690430e-03 2.79819128e+02] [-1.61700744e-01 9.86838501e-01 -1.62526168e-03 -3.93449333e+01] [-9.45709913e-03 9.72489599e-05 9.99955276e-01 -7.95705569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09420382200005 meters 0.025492060018547674 Centerline is valid? [True, True] Translation: X:279.85, Y:-39.35, Z:-7.96 [[ 9.87296921e-01 1.58660465e-01 8.46447792e-03 2.79850552e+02] [-1.58653608e-01 9.87333197e-01 -1.47984844e-03 -3.93524919e+01] [-8.59205349e-03 1.18129849e-04 9.99963081e-01 -7.95840175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124203822 meters 0.026233284763795234 Centerline is valid? [True, True] Translation: X:279.88, Y:-39.37, Z:-7.96 [[ 9.87839508e-01 1.55302343e-01 7.36801985e-03 2.79879593e+02] [-1.55297070e-01 9.87866978e-01 -1.28598366e-03 -3.93660169e+01] [-7.47833977e-03 1.26113571e-04 9.99972029e-01 -7.96128189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15420382200006 meters 0.030733534006870417 Centerline is valid? [True, True] Translation: X:279.91, Y:-39.37, Z:-7.96 [[ 9.87943866e-01 1.54706024e-01 5.74133808e-03 2.79911001e+02] [-1.54702803e-01 9.87960543e-01 -1.00360216e-03 -3.93693684e+01] [-5.82747879e-03 1.03301498e-04 9.99983015e-01 -7.96403375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18420382200003 meters 0.02520066345695912 Centerline is valid? [True, True] Translation: X:279.94, Y:-39.38, Z:-7.96 [[ 9.87925826e-01 1.54831727e-01 5.44962435e-03 2.79943485e+02] [-1.54828839e-01 9.87940852e-01 -9.50499948e-04 -3.93759984e+01] [-5.53107407e-03 9.52644343e-05 9.99984699e-01 -7.96234510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21420382200006 meters 0.023376590097988065 Centerline is valid? [True, True] Translation: X:279.98, Y:-39.38, Z:-7.96 [[ 9.87496359e-01 1.57551447e-01 5.33693164e-03 2.79975541e+02] [-1.57548708e-01 9.87510777e-01 -9.32414269e-04 -3.93792569e+01] [-5.41718073e-03 7.99290092e-05 9.99985324e-01 -7.96367340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24420382200003 meters 0.021700785043063938 Centerline is valid? [True, True] Translation: X:280.01, Y:-39.38, Z:-7.96 [[ 9.87097569e-01 1.60040384e-01 5.04628850e-03 2.80007391e+02] [-1.60037964e-01 9.87110466e-01 -8.82255060e-04 -3.93819423e+01] [-5.12244063e-03 6.32740846e-05 9.99986878e-01 -7.96456062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27420382200006 meters 0.026672460540093798 Centerline is valid? [True, True] Translation: X:280.04, Y:-39.38, Z:-7.97 [[ 9.86099729e-01 1.66074221e-01 5.16503891e-03 2.80038424e+02] [-1.66071744e-01 9.86113255e-01 -9.07831142e-04 -3.93779124e+01] [-5.24408068e-03 3.74450212e-05 9.99986249e-01 -7.97085784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30420382200003 meters 0.016328300467149878 Centerline is valid? [True, True] Translation: X:280.07, Y:-39.37, Z:-7.97 [[ 9.84903212e-01 1.73032340e-01 5.04708985e-03 2.80069890e+02] [-1.73030061e-01 9.84916143e-01 -8.88024719e-04 -3.93696185e+01] [-5.12461726e-03 1.32013509e-06 9.99986869e-01 -7.96763767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33420382200006 meters 0.026595474746087523 Centerline is valid? [True, True] Translation: X:280.10, Y:-39.37, Z:-7.97 [[ 9.84332037e-01 1.76262674e-01 4.68085794e-03 2.80099002e+02] [-1.76260748e-01 9.84343167e-01 -8.24108480e-04 -3.93681512e+01] [-4.75283009e-03 -1.38551436e-05 9.99988705e-01 -7.97218569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36420382200004 meters 0.020223107871839688 Centerline is valid? [True, True] Translation: X:280.13, Y:-39.37, Z:-7.97 [[ 9.83838577e-01 1.78998698e-01 4.59574456e-03 2.80127500e+02] [-1.78996871e-01 9.83849310e-01 -8.09201675e-04 -3.93686214e+01] [-4.66636616e-03 -2.65000720e-05 9.99989112e-01 -7.97263186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39420382200007 meters 0.034164205570755474 Centerline is valid? [True, True] Translation: X:280.16, Y:-39.37, Z:-7.97 [[ 9.83033723e-01 1.83359335e-01 4.90446661e-03 2.80156732e+02] [-1.83357310e-01 9.83045956e-01 -8.63168282e-04 -3.93666818e+01] [-4.97958603e-03 -5.07462775e-05 9.99987601e-01 -7.97134139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42420382200004 meters 0.034164205570755474 Centerline is valid? [True, True] Translation: X:280.18, Y:-39.37, Z:-7.97 [[ 9.83042788e-01 1.83310724e-01 4.90457122e-03 2.80184649e+02] [-1.83308702e-01 9.83055022e-01 -8.62572856e-04 -3.93714960e+01] [-4.97958222e-03 -5.11045585e-05 9.99987601e-01 -7.97214774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45420382200007 meters 0.03170689816843428 Centerline is valid? [True, True] Translation: X:280.21, Y:-39.37, Z:-7.97 [[ 9.82764839e-01 1.84751861e-01 6.32630376e-03 2.80212739e+02] [-1.84748529e-01 9.82785197e-01 -1.11214745e-03 -3.93719027e+01] [-6.42286900e-03 -7.57958986e-05 9.99979370e-01 -7.97326701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48420382200004 meters 0.02152930814452903 Centerline is valid? [True, True] Translation: X:280.24, Y:-39.37, Z:-7.97 [[ 9.82438341e-01 1.86501738e-01 5.65755057e-03 2.80241797e+02] [-1.86499105e-01 9.82454628e-01 -9.94125343e-04 -3.93717240e+01] [-5.74369284e-03 -7.84612658e-05 9.99983502e-01 -7.96920690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51420382200007 meters 0.022816624303737244 Centerline is valid? [True, True] Translation: X:280.27, Y:-39.37, Z:-7.97 [[ 9.82367643e-01 1.86884073e-01 5.30634188e-03 2.80270212e+02] [-1.86881762e-01 9.82381971e-01 -9.32505227e-04 -3.93728635e+01] [-5.38712497e-03 -7.55955568e-05 9.99985486e-01 -7.97291079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54420382200004 meters 0.02324295266579081 Centerline is valid? [True, True] Translation: X:280.30, Y:-39.37, Z:-7.97 [[ 9.82377623e-01 1.86825699e-01 5.51027932e-03 2.80298597e+02] [-1.86823208e-01 9.82393074e-01 -9.67898425e-04 -3.93730342e+01] [-5.59408854e-03 -7.86063080e-05 9.99984350e-01 -7.97457433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5742038220001 meters 0.02687670218710064 Centerline is valid? [True, True] Translation: X:280.33, Y:-39.38, Z:-7.98 [[ 9.82433594e-01 1.86543963e-01 5.05805263e-03 2.80326893e+02] [-1.86541863e-01 9.82446612e-01 -8.88050268e-04 -3.93765318e+01] [-5.13492708e-03 -7.10881431e-05 9.99986814e-01 -7.97682310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60420382200004 meters 0.021828519188058823 Centerline is valid? [True, True] Translation: X:280.35, Y:-39.38, Z:-7.98 [[ 9.82655899e-01 1.85384198e-01 4.48136330e-03 2.80354700e+02] [-1.85382536e-01 9.82666116e-01 -7.87133166e-04 -3.93795427e+01] [-4.54960592e-03 -5.72854437e-05 9.99989649e-01 -7.97642050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634203822 meters 0.020053125551700073 Centerline is valid? [True, True] Translation: X:280.38, Y:-39.38, Z:-7.98 [[ 9.83010504e-01 1.83477491e-01 5.13411278e-03 2.80383185e+02] [-1.83475289e-01 9.83023910e-01 -9.00774633e-04 -3.93840908e+01] [-5.21222749e-03 -5.65119002e-05 9.99986415e-01 -7.97585652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66420382200005 meters 0.02303325820755042 Centerline is valid? [True, True] Translation: X:280.41, Y:-39.39, Z:-7.98 [[ 9.83248871e-01 1.82213546e-01 4.45885768e-03 2.80411592e+02] [-1.82211872e-01 9.83258980e-01 -7.82284261e-04 -3.93889216e+01] [-4.52675465e-03 -4.32766874e-05 9.99989753e-01 -7.97888542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694203822 meters 0.018686604057280152 Centerline is valid? [True, True] Translation: X:280.44, Y:-39.39, Z:-7.98 [[ 9.83423432e-01 1.81277097e-01 4.11919989e-03 2.80440253e+02] [-1.81275660e-01 9.83432058e-01 -7.22593146e-04 -3.93942662e+01] [-4.18194281e-03 -3.60956482e-05 9.99991255e-01 -7.97741754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72420382200005 meters 0.019453223999087794 Centerline is valid? [True, True] Translation: X:280.47, Y:-39.40, Z:-7.98 [[ 9.83764712e-01 1.79419256e-01 3.96510300e-03 2.80468216e+02] [-1.79417909e-01 9.83772702e-01 -6.95714064e-04 -3.93970447e+01] [-4.02558460e-03 -2.69915456e-05 9.99991897e-01 -7.98178468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754203822 meters 0.03056719179170136 Centerline is valid? [True, True] Translation: X:280.50, Y:-39.40, Z:-7.98 [[ 9.83939942e-01 1.78461902e-01 3.67972868e-03 2.80496946e+02] [-1.78460737e-01 9.83946822e-01 -6.45219573e-04 -3.94008953e+01] [-3.73580446e-03 -2.18297828e-05 9.99993022e-01 -7.98189492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78420382200005 meters 0.017488793031503067 Centerline is valid? [True, True] Translation: X:280.52, Y:-39.40, Z:-7.98 [[ 9.84335384e-01 1.76247655e-01 4.54047574e-03 2.80524842e+02] [-1.76245858e-01 9.84345856e-01 -7.95879061e-04 -3.94044478e+01] [-4.60967030e-03 -1.68281240e-05 9.99989375e-01 -7.98109364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814203822 meters 0.01625716977914044 Centerline is valid? [True, True] Translation: X:280.55, Y:-39.41, Z:-7.98 [[ 9.84554766e-01 1.75005381e-01 5.00295080e-03 2.80553561e+02] [-1.75003188e-01 9.84567477e-01 -8.76157969e-04 -3.94101072e+01] [-5.07907501e-03 -1.29068356e-05 9.99987101e-01 -7.97864771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84420382200005 meters 0.01625700135199077 Centerline is valid? [True, True] Translation: X:280.58, Y:-39.41, Z:-7.98 [[ 9.84974904e-01 1.72574213e-01 6.52529751e-03 2.80580735e+02] [-1.72570433e-01 9.84996518e-01 -1.14224620e-03 -3.94143342e+01] [-6.62451756e-03 -9.89578822e-07 9.99978058e-01 -7.97922624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874203822 meters 0.015710828279666137 Centerline is valid? [True, True] Translation: X:280.61, Y:-39.42, Z:-7.98 [[ 9.85220110e-01 1.71137903e-01 7.29063625e-03 2.80609627e+02] [-1.71133151e-01 9.85247085e-01 -1.27526814e-03 -3.94182174e+01] [-7.40132482e-03 8.75025719e-06 9.99972610e-01 -7.97872505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90420382200006 meters 0.01583288141647737 Centerline is valid? [True, True] Translation: X:280.64, Y:-39.42, Z:-7.98 [[ 9.85296414e-01 1.70702359e-01 7.18900691e-03 2.80638479e+02] [-1.70697730e-01 9.85322640e-01 -1.25716046e-03 -3.94225393e+01] [-7.29809152e-03 1.15285354e-05 9.99973369e-01 -7.97960185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93420382200003 meters 0.02415759164965722 Centerline is valid? [True, True] Translation: X:280.67, Y:-39.42, Z:-7.98 [[ 9.85335176e-01 1.70566008e-01 4.67203907e-03 2.80667346e+02] [-1.70564050e-01 9.85346252e-01 -8.17299835e-04 -3.94245555e+01] [-4.74297976e-03 8.43237128e-06 9.99988752e-01 -7.98381276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96420382200006 meters 0.016403268458718038 Centerline is valid? [True, True] Translation: X:280.69, Y:-39.43, Z:-7.98 [[ 9.85403194e-01 1.70178041e-01 4.46980371e-03 2.80694741e+02] [-1.70176244e-01 9.85413332e-01 -7.82059587e-04 -3.94281660e+01] [-4.53769354e-03 9.98960826e-06 9.99989705e-01 -7.98312105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99420382200003 meters 0.016789667645039138 Centerline is valid? [True, True] Translation: X:280.72, Y:-39.43, Z:-7.99 [[ 9.85401137e-01 1.70210864e-01 3.58635882e-03 2.80722958e+02] [-1.70209707e-01 9.85407663e-01 -6.27605951e-04 -3.94307081e+01] [-3.64085081e-03 8.01053474e-06 9.99993372e-01 -7.98540382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02420382200006 meters 0.017387349649684476 Centerline is valid? [True, True] Translation: X:280.75, Y:-39.43, Z:-7.99 [[ 9.85225624e-01 1.71252534e-01 1.74340029e-03 2.80752592e+02] [-1.71252261e-01 9.85227167e-01 -3.05565472e-04 -3.94290382e+01] [-1.76997419e-03 2.48969160e-06 9.99998434e-01 -7.98832816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05420382200003 meters 0.026055251771460265 Centerline is valid? [True, True] Translation: X:280.78, Y:-39.43, Z:-7.99 [[ 9.84997099e-01 1.72547516e-01 2.84056957e-03 2.80780532e+02] [-1.72546800e-01 9.85001195e-01 -4.97138656e-04 -3.94276989e+01] [-2.88374446e-03 -4.51053477e-07 9.99995842e-01 -7.99304239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08420382200006 meters 0.01596902800587721 Centerline is valid? [True, True] Translation: X:280.81, Y:-39.43, Z:-7.98 [[ 9.84939614e-01 1.72849784e-01 4.11211575e-03 2.80809475e+02] [-1.72848292e-01 9.84948198e-01 -7.18352253e-04 -3.94305751e+01] [-4.17438803e-03 -3.23859179e-06 9.99991287e-01 -7.98338497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11420382200004 meters 0.016106371570521777 Centerline is valid? [True, True] Translation: X:280.84, Y:-39.43, Z:-7.98 [[ 9.84807415e-01 1.73562782e-01 5.50607299e-03 2.80837607e+02] [-1.73560120e-01 9.84822807e-01 -9.61370419e-04 -3.94304277e+01] [-5.58936438e-03 -8.86997284e-06 9.99984379e-01 -7.98464084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14420382200007 meters 0.01613586606550602 Centerline is valid? [True, True] Translation: X:280.87, Y:-39.43, Z:-7.99 [[ 9.84718346e-01 1.74073390e-01 5.31358290e-03 2.80867059e+02] [-1.74070921e-01 9.84732682e-01 -9.27168085e-04 -3.94319754e+01] [-5.39385403e-03 -1.19408441e-05 9.99985453e-01 -7.98508972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17420382200004 meters 0.017014218426730263 Centerline is valid? [True, True] Translation: X:280.90, Y:-39.43, Z:-7.99 [[ 9.84612832e-01 1.74658500e-01 5.65504645e-03 2.80895601e+02] [-1.74655714e-01 9.84629071e-01 -9.86648142e-04 -3.94316930e+01] [-5.74044962e-03 -1.62197563e-05 9.99983523e-01 -7.98831547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20420382200007 meters 0.01749120837128106 Centerline is valid? [True, True] Translation: X:280.93, Y:-39.43, Z:-7.99 [[ 9.84351661e-01 1.76131012e-01 5.44746125e-03 2.80926115e+02] [-1.76128453e-01 9.84366733e-01 -9.49833271e-04 -3.94268077e+01] [-5.52959473e-03 -2.44829652e-05 9.99984711e-01 -7.99022835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23420382200004 meters 0.017478135562304705 Centerline is valid? [True, True] Translation: X:280.95, Y:-39.43, Z:-7.99 [[ 9.84331873e-01 1.76279646e-01 4.03119021e-03 2.80954831e+02] [-1.76278245e-01 9.84340127e-01 -7.03086906e-04 -3.94281996e+01] [-4.09200219e-03 -1.85402851e-05 9.99991628e-01 -7.99165848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26420382200007 meters 0.017169316515845946 Centerline is valid? [True, True] Translation: X:280.98, Y:-39.43, Z:-7.99 [[ 9.84448735e-01 1.75633055e-01 3.70381156e-03 2.80983700e+02] [-1.75631868e-01 9.84455702e-01 -6.45925819e-04 -3.94317800e+01] [-3.75968434e-03 -1.46264860e-05 9.99992932e-01 -7.99238813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29420382200004 meters 0.02619575175133417 Centerline is valid? [True, True] Translation: X:281.01, Y:-39.44, Z:-8.00 [[ 9.84843001e-01 1.73423356e-01 2.93302261e-03 2.81012301e+02] [-1.73422602e-01 9.84847369e-01 -5.11669333e-04 -3.94363296e+01] [-2.97731501e-03 -4.73845040e-06 9.99995568e-01 -7.99637704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3242038220001 meters 0.017244359728566944 Centerline is valid? [True, True] Translation: X:281.04, Y:-39.44, Z:-8.00 [[ 9.85141100e-01 1.71693825e-01 4.27122953e-03 2.81039427e+02] [-1.71692211e-01 9.85150359e-01 -7.44539777e-04 -3.94415015e+01] [-4.33563619e-03 1.39892432e-07 9.99990601e-01 -7.99596074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35420382200004 meters 0.01900688685728853 Centerline is valid? [True, True] Translation: X:281.07, Y:-39.44, Z:-8.00 [[ 9.85473439e-01 1.69740600e-01 5.49821724e-03 2.81067742e+02] [-1.69737901e-01 9.85488777e-01 -9.57201511e-04 -3.94445315e+01] [-5.58090734e-03 1.00408092e-05 9.99984427e-01 -7.99573627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384203822 meters 0.016251300082493574 Centerline is valid? [True, True] Translation: X:281.10, Y:-39.45, Z:-7.99 [[ 9.85754441e-01 1.68119095e-01 4.91439896e-03 2.81095703e+02] [-1.68116917e-01 9.85766691e-01 -8.55818098e-04 -3.94494052e+01] [-4.98833016e-03 1.74328884e-05 9.99987558e-01 -7.99303160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41420382200005 meters 0.01913178379880711 Centerline is valid? [True, True] Translation: X:281.12, Y:-39.46, Z:-8.00 [[ 9.86434776e-01 1.64094644e-01 4.40224567e-03 2.81122158e+02] [-1.64092857e-01 9.86444599e-01 -7.66525207e-04 -3.94607276e+01] [-4.46835415e-03 3.37500497e-05 9.99990016e-01 -7.99867483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444203822 meters 0.030305881875910618 Centerline is valid? [True, True] Translation: X:281.15, Y:-39.47, Z:-8.00 [[ 9.86769724e-01 1.62089556e-01 3.53373880e-03 2.81150431e+02] [-1.62088392e-01 9.86776051e-01 -6.15119156e-04 -3.94676658e+01] [-3.58671321e-03 3.42029191e-05 9.99993567e-01 -8.00070494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47420382200005 meters 0.021984210233372575 Centerline is valid? [True, True] Translation: X:281.18, Y:-39.48, Z:-8.00 [[ 9.87410846e-01 1.58148649e-01 2.97099175e-03 2.81177901e+02] [-1.58147808e-01 9.87415314e-01 -5.17182586e-04 -3.94778188e+01] [-3.01539448e-03 4.08158607e-05 9.99995453e-01 -7.99855654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504203822 meters 0.02989153405299328 Centerline is valid? [True, True] Translation: X:281.20, Y:-39.48, Z:-8.00 [[ 9.87580199e-01 1.57088017e-01 2.95036095e-03 2.81204454e+02] [-1.57087182e-01 9.87584605e-01 -5.14113208e-04 -3.94839267e+01] [-2.99449208e-03 4.42641363e-05 9.99995516e-01 -8.00327370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53420382200005 meters 0.023807345533291672 Centerline is valid? [True, True] Translation: X:281.23, Y:-39.49, Z:-8.00 [[ 9.87770754e-01 1.55880769e-01 3.18186762e-03 2.81232784e+02] [-1.55879795e-01 9.87775877e-01 -5.53435675e-04 -3.94895783e+01] [-3.22924206e-03 5.06787015e-05 9.99994785e-01 -8.00014525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564203822 meters 0.023670179106649786 Centerline is valid? [True, True] Translation: X:281.26, Y:-39.49, Z:-8.00 [[ 9.87935605e-01 1.54847397e-01 2.35043079e-03 2.81260778e+02] [-1.54846861e-01 9.87938400e-01 -4.09425004e-04 -3.94942388e+01] [-2.38547923e-03 4.05287074e-05 9.99997154e-01 -8.00093880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59420382200005 meters 0.023216669934544854 Centerline is valid? [True, True] Translation: X:281.29, Y:-39.50, Z:-8.00 [[ 9.87815843e-01 1.55591333e-01 3.34620184e-03 2.81288247e+02] [-1.55590254e-01 9.87821509e-01 -5.81908768e-04 -3.95006395e+01] [-3.39599011e-03 5.41823077e-05 9.99994232e-01 -8.00126998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624203822 meters 0.023115485429208146 Centerline is valid? [True, True] Translation: X:281.32, Y:-39.50, Z:-8.00 [[ 9.87608443e-01 1.56889673e-01 3.89796798e-03 2.81316168e+02] [-1.56888222e-01 9.87616134e-01 -6.77309071e-04 -3.95036450e+01] [-3.95595887e-03 5.73708924e-05 9.99992174e-01 -8.00222904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65420382200006 meters 0.024699099609227015 Centerline is valid? [True, True] Translation: X:281.35, Y:-39.50, Z:-8.01 [[ 9.86772886e-01 1.62058761e-01 4.02868736e-03 2.81345268e+02] [-1.62057253e-01 9.86781109e-01 -7.00082618e-04 -3.94968011e+01] [-4.08888710e-03 3.79445386e-05 9.99991640e-01 -8.00609037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68420382200003 meters 0.02485588652534632 Centerline is valid? [True, True] Translation: X:281.37, Y:-39.50, Z:-8.01 [[ 9.86320066e-01 1.64814042e-01 3.00985751e-03 2.81374611e+02] [-1.64813214e-01 9.86324658e-01 -5.22662687e-04 -3.94952434e+01] [-3.05483883e-03 1.94484059e-05 9.99995334e-01 -8.00639089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71420382200006 meters 0.016935967286828738 Centerline is valid? [True, True] Translation: X:281.40, Y:-39.50, Z:-8.00 [[ 9.85923060e-01 1.67166512e-01 3.32814610e-03 2.81404198e+02] [-1.67165514e-01 9.85928678e-01 -5.77620877e-04 -3.94950508e+01] [-3.37787355e-03 1.31384886e-05 9.99994295e-01 -8.00352331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74420382200003 meters 0.01649865431001685 Centerline is valid? [True, True] Translation: X:281.43, Y:-39.49, Z:-8.00 [[ 9.84925389e-01 1.72925263e-01 4.33945889e-03 2.81434431e+02] [-1.72923626e-01 9.84934949e-01 -7.52489167e-04 -3.94873171e+01] [-4.40420911e-03 -9.24928177e-06 9.99990301e-01 -8.00365712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77420382200006 meters 0.017044112670392738 Centerline is valid? [True, True] Translation: X:281.46, Y:-39.49, Z:-8.00 [[ 9.84512701e-01 1.75248599e-01 4.76126042e-03 2.81463240e+02] [-1.75246654e-01 9.84524214e-01 -8.25843940e-04 -3.94870345e+01] [-4.83230416e-03 -2.13411090e-05 9.99988324e-01 -8.00418953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80420382200003 meters 0.01848767317057032 Centerline is valid? [True, True] Translation: X:281.49, Y:-39.49, Z:-8.01 [[ 9.84100327e-01 1.77528443e-01 5.49526221e-03 2.81490606e+02] [-1.77525891e-01 9.84115669e-01 -9.52693214e-04 -3.94859200e+01] [-5.57710379e-03 -3.80056150e-05 9.99984447e-01 -8.00566872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83420382200006 meters 0.017888819129464797 Centerline is valid? [True, True] Translation: X:281.52, Y:-39.49, Z:-8.01 [[ 9.84405995e-01 1.75848923e-01 4.68972187e-03 2.81519052e+02] [-1.75847049e-01 9.84417166e-01 -8.12094553e-04 -3.94915939e+01] [-4.75944866e-03 -2.52430071e-05 9.99988673e-01 -8.00758663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86420382200004 meters 0.017169981432942582 Centerline is valid? [True, True] Translation: X:281.55, Y:-39.50, Z:-8.01 [[ 9.84843769e-01 1.73389360e-01 4.34525127e-03 2.81546315e+02] [-1.73387726e-01 9.84853354e-01 -7.52918046e-04 -3.94979717e+01] [-4.40998327e-03 -1.19065902e-05 9.99990276e-01 -8.00919916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89420382200007 meters 0.016664253208471324 Centerline is valid? [True, True] Translation: X:281.57, Y:-39.51, Z:-8.01 [[ 9.85842423e-01 1.67635049e-01 3.63410916e-03 2.81573640e+02] [-1.67633869e-01 9.85849121e-01 -6.29199274e-04 -3.95104997e+01] [-3.68815917e-03 1.10915596e-05 9.99993199e-01 -8.00964444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92420382200004 meters 0.017456678310376665 Centerline is valid? [True, True] Translation: X:281.60, Y:-39.52, Z:-8.01 [[ 9.86272051e-01 1.65104769e-01 2.80279631e-03 2.81601075e+02] [-1.65104056e-01 9.86276034e-01 -4.85448453e-04 -3.95200898e+01] [-2.84448068e-03 1.60312016e-05 9.99995954e-01 -8.01120302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95420382200007 meters 0.030621416262137553 Centerline is valid? [True, True] Translation: X:281.63, Y:-39.53, Z:-8.02 [[ 9.86504301e-01 1.63730929e-01 1.20324449e-03 2.81628723e+02] [-1.63730795e-01 9.86505034e-01 -2.09156823e-04 -3.95273785e+01] [-1.22125219e-03 9.32592776e-06 9.99999254e-01 -8.01678347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98420382200004 meters 0.01940289493098308 Centerline is valid? [True, True] Translation: X:281.66, Y:-39.54, Z:-8.02 [[ 9.86777387e-01 1.62077260e-01 1.16183571e-03 2.81655949e+02] [-1.62077135e-01 9.86778071e-01 -2.02282009e-04 -3.95358333e+01] [-1.17925931e-03 1.13003101e-05 9.99999305e-01 -8.01572632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01420382200007 meters 0.021413032599791496 Centerline is valid? [True, True] Translation: X:281.68, Y:-39.54, Z:-8.02 [[ 9.86502474e-01 1.63743227e-01 1.01199895e-03 2.81683785e+02] [-1.63743133e-01 9.86502993e-01 -1.76029172e-04 -3.95420161e+01] [-1.02716358e-03 7.94533522e-06 9.99999472e-01 -8.01742818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04420382200004 meters 0.01840670234620615 Centerline is valid? [True, True] Translation: X:281.71, Y:-39.54, Z:-8.02 [[ 9.86281998e-01 1.65064168e-01 1.28131332e-03 2.81711956e+02] [-1.65064018e-01 9.86282830e-01 -2.22765966e-04 -3.95448524e+01] [-1.30050801e-03 8.21133678e-06 9.99999154e-01 -8.01727921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0742038220001 meters 0.017067542910298248 Centerline is valid? [True, True] Translation: X:281.74, Y:-39.54, Z:-8.02 [[ 9.85625947e-01 1.68918651e-01 2.82528143e-03 2.81742408e+02] [-1.68917942e-01 9.85629996e-01 -4.89463939e-04 -3.95414937e+01] [-2.86736171e-03 5.18763323e-06 9.99995889e-01 -8.01547996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10420382200004 meters 0.03150175548585406 Centerline is valid? [True, True] Translation: X:281.77, Y:-39.54, Z:-8.02 [[ 9.85318993e-01 1.70691687e-01 3.29098733e-03 2.81771369e+02] [-1.70690740e-01 9.85324489e-01 -5.68601308e-04 -3.95436954e+01] [-3.33974592e-03 -1.48739440e-06 9.99994423e-01 -8.01527500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134203822 meters 0.021454388379712183 Centerline is valid? [True, True] Translation: X:281.80, Y:-39.54, Z:-8.02 [[ 9.84836967e-01 1.73446709e-01 3.51961876e-03 2.81799002e+02] [-1.73445641e-01 9.84843256e-01 -6.08768780e-04 -3.95431833e+01] [-3.57186175e-03 -1.09245354e-05 9.99993621e-01 -8.01832268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16420382200005 meters 0.016981572912617208 Centerline is valid? [True, True] Translation: X:281.83, Y:-39.55, Z:-8.01 [[ 9.84690327e-01 1.74263000e-01 4.16737927e-03 2.81828302e+02] [-1.74261506e-01 9.84699145e-01 -7.21715595e-04 -3.95463170e+01] [-4.22938313e-03 -1.55474245e-05 9.99991056e-01 -8.01418476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194203822 meters 0.01762030315158057 Centerline is valid? [True, True] Translation: X:281.86, Y:-39.55, Z:-8.01 [[ 9.84302443e-01 1.76393043e-01 5.84771456e-03 2.81856492e+02] [-1.76390169e-01 9.84319812e-01 -1.00761456e-03 -3.95479249e+01] [-5.93375750e-03 -3.96818931e-05 9.99982394e-01 -8.01343739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22420382200005 meters 0.01897973175206326 Centerline is valid? [True, True] Translation: X:281.88, Y:-39.55, Z:-8.02 [[ 9.84120968e-01 1.77401780e-01 5.87604722e-03 2.81884288e+02] [-1.77398899e-01 9.84138510e-01 -1.01209482e-03 -3.95505956e+01] [-5.96239178e-03 -4.63805710e-05 9.99982224e-01 -8.01619865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254203822 meters 0.019844803054810144 Centerline is valid? [True, True] Translation: X:281.91, Y:-39.55, Z:-8.02 [[ 9.83844957e-01 1.78935527e-01 5.58377271e-03 2.81913044e+02] [-1.78932953e-01 9.83860800e-01 -9.61200560e-04 -3.95522313e+01] [-5.66564801e-03 -5.34486164e-05 9.99983949e-01 -8.01676062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28420382200005 meters 0.021292816225083732 Centerline is valid? [True, True] Translation: X:281.94, Y:-39.55, Z:-8.02 [[ 9.83706643e-01 1.79704560e-01 5.24507061e-03 2.81940798e+02] [-1.79702300e-01 9.83720625e-01 -9.02991575e-04 -3.95534949e+01] [-5.32195585e-03 -5.42724405e-05 9.99985837e-01 -8.01937068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314203822 meters 0.021292816225083732 Centerline is valid? [True, True] Translation: X:281.97, Y:-39.56, Z:-8.02 [[ 9.83740272e-01 1.79520394e-01 5.24462186e-03 2.81967904e+02] [-1.79518117e-01 9.83754251e-01 -9.05605499e-04 -3.95579423e+01] [-5.32199371e-03 -5.06240404e-05 9.99985837e-01 -8.02015270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34420382200005 meters 0.020829298416243376 Centerline is valid? [True, True] Translation: X:282.00, Y:-39.56, Z:-8.02 [[ 9.83603709e-01 1.80264868e-01 5.32173504e-03 2.81996307e+02] [-1.80262558e-01 9.83618104e-01 -9.14565755e-04 -3.95604549e+01] [-5.39941900e-03 -5.97393022e-05 9.99985421e-01 -8.01962700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374203822 meters 0.028426395937903103 Centerline is valid? [True, True] Translation: X:282.02, Y:-39.57, Z:-8.02 [[ 9.83639520e-01 1.80083947e-01 4.80275059e-03 2.82024562e+02] [-1.80082063e-01 9.83651244e-01 -8.25293173e-04 -3.95666342e+01] [-4.87285365e-03 -5.30982554e-05 9.99988126e-01 -8.02282889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40420382200006 meters 0.01886027518085197 Centerline is valid? [True, True] Translation: X:282.05, Y:-39.57, Z:-8.02 [[ 9.84029893e-01 1.77917750e-01 5.51756973e-03 2.82052373e+02] [-1.77915233e-01 9.84045361e-01 -9.47625531e-04 -3.95742033e+01] [-5.59813829e-03 -4.91678548e-05 9.99984329e-01 -8.01961460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43420382200003 meters 0.018172961588216234 Centerline is valid? [True, True] Translation: X:282.08, Y:-39.58, Z:-8.02 [[ 9.84237934e-01 1.76753924e-01 5.80853478e-03 2.82079821e+02] [-1.76751115e-01 9.84255073e-01 -9.97508766e-04 -3.95796781e+01] [-5.89339341e-03 -4.48790307e-05 9.99982633e-01 -8.01999923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46420382200006 meters 0.024305345155135764 Centerline is valid? [True, True] Translation: X:282.11, Y:-39.59, Z:-8.02 [[ 9.84644780e-01 1.74491681e-01 5.22605267e-03 2.82106748e+02] [-1.74489374e-01 9.84658648e-01 -8.97609702e-04 -3.95867608e+01] [-5.30250338e-03 -2.80639514e-05 9.99985941e-01 -8.02391236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49420382200003 meters 0.017028507581045425 Centerline is valid? [True, True] Translation: X:282.13, Y:-39.59, Z:-8.02 [[ 9.84817970e-01 1.73502887e-01 5.50574677e-03 2.82133668e+02] [-1.73500317e-01 9.84833360e-01 -9.44835673e-04 -3.95923124e+01] [-5.58617481e-03 -2.47576575e-05 9.99984397e-01 -8.02179370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52420382200006 meters 0.016394032016205585 Centerline is valid? [True, True] Translation: X:282.16, Y:-39.60, Z:-8.02 [[ 9.85198132e-01 1.71298867e-01 6.42957767e-03 2.82160515e+02] [-1.71295319e-01 9.85219112e-01 -1.10266095e-03 -3.95992861e+01] [-6.52342737e-03 -1.50170525e-05 9.99978722e-01 -8.02190695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55420382200003 meters 0.015020540880082351 Centerline is valid? [True, True] Translation: X:282.19, Y:-39.61, Z:-8.02 [[ 9.85404010e-01 1.70079450e-01 7.20546772e-03 2.82189191e+02] [-1.70074967e-01 9.85430353e-01 -1.23483862e-03 -3.96054964e+01] [-7.31050727e-03 -8.65475564e-06 9.99973278e-01 -8.01821732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58420382200006 meters 0.014649120331032127 Centerline is valid? [True, True] Translation: X:282.22, Y:-39.62, Z:-8.02 [[ 9.85811777e-01 1.67663138e-01 8.01328814e-03 2.82216901e+02] [-1.67657519e-01 9.85844345e-01 -1.37272138e-03 -3.96158789e+01] [-8.13000957e-03 9.75689817e-06 9.99966951e-01 -8.01714503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61420382200004 meters 0.01522103701729829 Centerline is valid? [True, True] Translation: X:282.24, Y:-39.63, Z:-8.02 [[ 9.86163701e-01 1.65544717e-01 8.72357815e-03 2.82243675e+02] [-1.65537979e-01 9.86202284e-01 -1.49382549e-03 -3.96272564e+01] [-8.85050762e-03 2.90729759e-05 9.99960833e-01 -8.01853692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64420382200007 meters 0.015057023373692227 Centerline is valid? [True, True] Translation: X:282.27, Y:-39.63, Z:-8.02 [[ 9.86344898e-01 1.64442893e-01 9.07071239e-03 2.82271533e+02] [-1.64435566e-01 9.86386604e-01 -1.55275810e-03 -3.96339978e+01] [-9.20256923e-03 4.00072957e-05 9.99957655e-01 -8.01793423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67420382200004 meters 0.02446991350492765 Centerline is valid? [True, True] Translation: X:282.30, Y:-39.64, Z:-8.02 [[ 9.86537445e-01 1.63303884e-01 8.70123634e-03 2.82299836e+02] [-1.63297102e-01 9.86575815e-01 -1.48914496e-03 -3.96402304e+01] [-8.82761250e-03 4.82105921e-05 9.99961035e-01 -8.02172036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70420382200007 meters 0.02346667606595529 Centerline is valid? [True, True] Translation: X:282.33, Y:-39.65, Z:-8.02 [[ 9.86790395e-01 1.61796362e-01 8.16420264e-03 2.82327853e+02] [-1.61790341e-01 9.86824166e-01 -1.39691600e-03 -3.96483632e+01] [-8.28264838e-03 5.75741580e-05 9.99965697e-01 -8.02285842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73420382200004 meters 0.017087948648136633 Centerline is valid? [True, True] Translation: X:282.35, Y:-39.65, Z:-8.02 [[ 9.86862330e-01 1.61353831e-01 8.22692383e-03 2.82354293e+02] [-1.61347696e-01 9.86896619e-01 -1.40845134e-03 -3.96546813e+01] [-8.34638234e-03 6.25523697e-05 9.99965166e-01 -8.02211909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76420382200007 meters 0.01675750350639648 Centerline is valid? [True, True] Translation: X:282.38, Y:-39.66, Z:-8.02 [[ 9.86833197e-01 1.61595681e-01 6.86134556e-03 2.82381709e+02] [-1.61591431e-01 9.86857048e-01 -1.17309485e-03 -3.96632888e+01] [-6.96073429e-03 4.89142921e-05 9.99975773e-01 -8.02375698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79420382200004 meters 0.016984495733882256 Centerline is valid? [True, True] Translation: X:282.41, Y:-39.67, Z:-8.03 [[ 9.86763708e-01 1.62034267e-01 6.50244203e-03 2.82408796e+02] [-1.62030459e-01 9.86785131e-01 -1.11174591e-03 -3.96723805e+01] [-6.59665404e-03 4.34368473e-05 9.99978241e-01 -8.02615056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8242038220001 meters 0.016674033292888357 Centerline is valid? [True, True] Translation: X:282.44, Y:-39.68, Z:-8.03 [[ 9.86528713e-01 1.63457310e-01 6.54269929e-03 2.82435865e+02] [-1.63453489e-01 9.86550408e-01 -1.11819040e-03 -3.96813907e+01] [-6.63747905e-03 3.36999071e-05 9.99977971e-01 -8.02733493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85420382200004 meters 0.015521091014822925 Centerline is valid? [True, True] Translation: X:282.46, Y:-39.69, Z:-8.02 [[ 9.86414203e-01 1.64095781e-01 7.71978617e-03 2.82464346e+02] [-1.64090489e-01 9.86444410e-01 -1.31833543e-03 -3.96859529e+01] [-7.83147319e-03 3.36813086e-05 9.99969333e-01 -8.02496847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884203822 meters 0.01490169735671996 Centerline is valid? [True, True] Translation: X:282.49, Y:-39.69, Z:-8.03 [[ 9.86112910e-01 1.65787974e-01 9.78139564e-03 2.82491697e+02] [-1.65779569e-01 9.86161420e-01 -1.66953354e-03 -3.96943467e+01] [-9.92282360e-03 2.47930265e-05 9.99950767e-01 -8.02525698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91420382200005 meters 0.014651476562692027 Centerline is valid? [True, True] Translation: X:282.52, Y:-39.70, Z:-8.03 [[ 9.85909142e-01 1.67031888e-01 9.13845833e-03 2.82519499e+02] [-1.67024609e-01 9.85951494e-01 -1.55941821e-03 -3.97014325e+01] [-9.27054921e-03 1.10972387e-05 9.99957027e-01 -8.02513098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944203822 meters 0.01563376268872108 Centerline is valid? [True, True] Translation: X:282.55, Y:-39.71, Z:-8.03 [[ 9.85294014e-01 1.70649576e-01 8.62712327e-03 2.82546162e+02] [-1.70643226e-01 9.85331783e-01 -1.47228870e-03 -3.97070024e+01] [-8.75182419e-03 -2.15229080e-05 9.99961702e-01 -8.02868094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97420382200005 meters 0.016135822288255906 Centerline is valid? [True, True] Translation: X:282.58, Y:-39.71, Z:-8.03 [[ 9.84899783e-01 1.72916874e-01 8.49547412e-03 2.82575042e+02] [-1.72910810e-01 9.84936421e-01 -1.44873899e-03 -3.97115652e+01] [-8.61801330e-03 -4.20965940e-05 9.99962863e-01 -8.02880406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004203822 meters 0.02023204119436968 Centerline is valid? [True, True] Translation: X:282.60, Y:-39.71, Z:-8.03 [[ 9.84035776e-01 1.77829187e-01 7.09724568e-03 2.82603330e+02] [-1.77825083e-01 9.84061368e-01 -1.21016305e-03 -3.97149796e+01] [-7.19932760e-03 -7.12245662e-05 9.99974082e-01 -8.03321765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03420382200005 meters 0.0209202633871414 Centerline is valid? [True, True] Translation: X:282.63, Y:-39.72, Z:-8.03 [[ 9.83509844e-01 1.80714948e-01 7.10591127e-03 2.82631953e+02] [-1.80710912e-01 9.83535510e-01 -1.21133210e-03 -3.97194330e+01] [-7.20782188e-03 -9.27586581e-05 9.99974019e-01 -8.03025978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064203822 meters 0.028246397999220324 Centerline is valid? [True, True] Translation: X:282.66, Y:-39.72, Z:-8.03 [[ 9.82250545e-01 1.87385376e-01 8.40163778e-03 2.82661765e+02] [-1.87379986e-01 9.82286461e-01 -1.43127969e-03 -3.97156629e+01] [-8.52101593e-03 -1.68423515e-04 9.99963681e-01 -8.03109761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09420382200005 meters 0.031464709881919545 Centerline is valid? [True, True] Translation: X:282.69, Y:-39.72, Z:-8.03 [[ 9.81566107e-01 1.90947548e-01 8.18601750e-03 2.82691460e+02] [-1.90942559e-01 9.81600222e-01 -1.39399993e-03 -3.97175868e+01] [-8.30157747e-03 -1.94756048e-04 9.99965522e-01 -8.03205260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124203822 meters 0.037739522796038996 Centerline is valid? [True, True] Translation: X:282.72, Y:-39.72, Z:-8.03 [[ 9.80351804e-01 1.97127529e-01 7.14691558e-03 2.82722377e+02] [-1.97123894e-01 9.80377830e-01 -1.21649412e-03 -3.97166951e+01] [-7.24648207e-03 -2.16235623e-04 9.99973721e-01 -8.03408553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15420382200006 meters 0.040872242287404895 Centerline is valid? [True, True] Translation: X:282.75, Y:-39.72, Z:-8.04 [[ 9.79911786e-01 1.99301276e-01 7.20370816e-03 2.82751437e+02] [-1.99297636e-01 9.79938236e-01 -1.22686480e-03 -3.97175607e+01] [-7.30370479e-03 -2.33462730e-04 9.99973300e-01 -8.03589842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18420382200003 meters 0.05023378861473992 Centerline is valid? [True, True] Translation: X:282.78, Y:-39.72, Z:-8.04 [[ 9.79459456e-01 2.01553218e-01 5.95607968e-03 2.82780793e+02] [-2.01550772e-01 9.79477543e-01 -1.01433087e-03 -3.97196794e+01] [-6.03828794e-03 -2.06956490e-04 9.99981748e-01 -8.04259919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21420382200006 meters 0.04739997046712096 Centerline is valid? [True, True] Translation: X:282.81, Y:-39.72, Z:-8.04 [[ 9.79424697e-01 2.01718918e-01 6.06140097e-03 2.82808477e+02] [-2.01716386e-01 9.79443430e-01 -1.03255953e-03 -3.97199213e+01] [-6.14508615e-03 -2.11369590e-04 9.99981096e-01 -8.04362413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24420382200003 meters 0.0426326046000597 Centerline is valid? [True, True] Translation: X:282.84, Y:-39.73, Z:-8.04 [[ 9.79777816e-01 2.00024098e-01 5.07855227e-03 2.82835539e+02] [-2.00022299e-01 9.79790963e-01 -8.64865683e-04 -3.97330934e+01] [-5.14891360e-03 -1.68447490e-04 9.99986730e-01 -8.04279078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27420382200006 meters 0.040196263395413025 Centerline is valid? [True, True] Translation: X:282.86, Y:-39.74, Z:-8.04 [[ 9.80185847e-01 1.98016229e-01 5.02774069e-03 2.82862678e+02] [-1.98014437e-01 9.80198729e-01 -8.56825020e-04 -3.97382851e+01] [-5.09785029e-03 -1.55717483e-04 9.99986994e-01 -8.04417101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30420382200003 meters 0.03199046811082114 Centerline is valid? [True, True] Translation: X:282.89, Y:-39.76, Z:-8.04 [[ 9.81257047e-01 1.92668403e-01 3.67340985e-03 2.82890584e+02] [-1.92667415e-01 9.81263918e-01 -6.24255051e-04 -3.97553085e+01] [-3.72485876e-03 -9.51917122e-05 9.99993058e-01 -8.04392881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33420382200006 meters 0.02940013019187363 Centerline is valid? [True, True] Translation: X:282.92, Y:-39.76, Z:-8.04 [[ 9.81873830e-01 1.89498322e-01 3.76413123e-03 2.82918863e+02] [-1.89497254e-01 9.81881041e-01 -6.41660627e-04 -3.97634002e+01] [-3.81752270e-03 -8.32627531e-05 9.99992710e-01 -8.04490672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36420382200004 meters 0.02284822979753118 Centerline is valid? [True, True] Translation: X:282.95, Y:-39.78, Z:-8.04 [[ 9.83278768e-01 1.82053124e-01 4.41865226e-03 2.82946134e+02] [-1.82051588e-01 9.83288694e-01 -7.50827771e-04 -3.97805480e+01] [-4.48150136e-03 -6.61496548e-05 9.99989956e-01 -8.04455983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39420382200007 meters 0.01737147722245258 Centerline is valid? [True, True] Translation: X:282.97, Y:-39.80, Z:-8.04 [[ 9.84715116e-01 1.74066001e-01 6.09653051e-03 2.82972009e+02] [-1.74062921e-01 9.84733987e-01 -1.03629490e-03 -3.97999803e+01] [-6.18384451e-03 -4.07246593e-05 9.99980879e-01 -8.04230755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42420382200004 meters 0.015526291769350456 Centerline is valid? [True, True] Translation: X:283.00, Y:-39.81, Z:-8.04 [[ 9.85325152e-01 1.70562023e-01 6.55288960e-03 2.82999679e+02] [-1.70558387e-01 9.85346942e-01 -1.11383476e-03 -3.98101145e+01] [-6.64684764e-03 -2.01608764e-05 9.99977909e-01 -8.04006107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45420382200007 meters 0.016464119855489054 Centerline is valid? [True, True] Translation: X:283.03, Y:-39.82, Z:-8.05 [[ 9.86177705e-01 1.65587630e-01 5.85416489e-03 2.83025492e+02] [-1.65584638e-01 9.86195081e-01 -9.95345636e-04 -3.98228490e+01] [-5.93816554e-03 1.22278983e-05 9.99982369e-01 -8.04552695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48420382200004 meters 0.027073002058519525 Centerline is valid? [True, True] Translation: X:283.05, Y:-39.83, Z:-8.05 [[ 9.86392277e-01 1.64342151e-01 4.68335484e-03 2.83053451e+02] [-1.64340225e-01 9.86403395e-01 -7.95899378e-04 -3.98312299e+01] [-4.75047693e-03 1.54054132e-05 9.99988716e-01 -8.04718069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51420382200007 meters 0.01703852660712552 Centerline is valid? [True, True] Translation: X:283.08, Y:-39.84, Z:-8.05 [[ 9.86474849e-01 1.63866827e-01 3.87753381e-03 2.83080465e+02] [-1.63865502e-01 9.86482470e-01 -6.59311686e-04 -3.98401647e+01] [-3.93315844e-03 1.50003733e-05 9.99992265e-01 -8.04783459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54420382200004 meters 0.01661188168561029 Centerline is valid? [True, True] Translation: X:283.11, Y:-39.84, Z:-8.05 [[ 9.86382834e-01 1.64411701e-01 4.20691488e-03 2.83109279e+02] [-1.64410149e-01 9.86391805e-01 -7.14569245e-04 -3.98444066e+01] [-4.26714991e-03 1.31793344e-05 9.99990896e-01 -8.04756338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5742038220001 meters 0.016205970881763464 Centerline is valid? [True, True] Translation: X:283.14, Y:-39.85, Z:-8.05 [[ 9.86269398e-01 1.65082511e-01 4.52090281e-03 2.83137689e+02] [-1.65080727e-01 9.86279760e-01 -7.67572821e-04 -3.98490514e+01] [-4.58558779e-03 1.07196629e-05 9.99989486e-01 -8.04728655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60420382200004 meters 0.016985704777319685 Centerline is valid? [True, True] Translation: X:283.16, Y:-39.85, Z:-8.05 [[ 9.86048490e-01 1.66392898e-01 4.66687368e-03 2.83164857e+02] [-1.66391011e-01 9.86059533e-01 -7.92460911e-04 -3.98547100e+01] [-4.73367515e-03 4.87905458e-06 9.99988796e-01 -8.05058616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634203822 meters 0.015823790733273203 Centerline is valid? [True, True] Translation: X:283.19, Y:-39.86, Z:-8.05 [[ 9.85680704e-01 1.68516311e-01 5.98352968e-03 2.83194010e+02] [-1.68513257e-01 9.85698865e-01 -1.01470616e-03 -3.98579257e+01] [-6.06895295e-03 -8.12779088e-06 9.99981584e-01 -8.04681075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66420382200005 meters 0.016627899636708715 Centerline is valid? [True, True] Translation: X:283.22, Y:-39.86, Z:-8.05 [[ 9.85381480e-01 1.70261831e-01 5.85219072e-03 2.83221397e+02] [-1.70258939e-01 9.85398858e-01 -9.92573260e-04 -3.98601875e+01] [-5.93573939e-03 -1.83244742e-05 9.99982383e-01 -8.04856623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694203822 meters 0.0185343384321859 Centerline is valid? [True, True] Translation: X:283.25, Y:-39.86, Z:-8.05 [[ 9.84687364e-01 1.74249724e-01 5.27524812e-03 2.83251027e+02] [-1.74247434e-01 9.84701494e-01 -8.94120246e-04 -3.98597176e+01] [-5.35034491e-03 -3.87695389e-05 9.99985686e-01 -8.05015891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72420382200005 meters 0.03367509512169365 Centerline is valid? [True, True] Translation: X:283.28, Y:-39.86, Z:-8.05 [[ 9.84317958e-01 1.76325966e-01 5.22602983e-03 2.83279178e+02] [-1.76323746e-01 9.84331830e-01 -8.86143048e-04 -3.98615913e+01] [-5.30039754e-03 -4.92266407e-05 9.99985952e-01 -8.05464049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754203822 meters 0.020917096786768365 Centerline is valid? [True, True] Translation: X:283.31, Y:-39.87, Z:-8.05 [[ 9.83796195e-01 1.79214921e-01 5.20176900e-03 2.83307374e+02] [-1.79212765e-01 9.83809945e-01 -8.81352045e-04 -3.98659719e+01] [-5.27550351e-03 -6.51526195e-05 9.99986082e-01 -8.04991770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78420382200005 meters 0.022023882825569364 Centerline is valid? [True, True] Translation: X:283.33, Y:-39.87, Z:-8.05 [[ 9.83631193e-01 1.80110330e-01 5.47224054e-03 2.83334886e+02] [-1.80107961e-01 9.83646412e-01 -9.26731814e-04 -3.98687606e+01] [-5.54966375e-03 -7.40317645e-05 9.99984598e-01 -8.05130865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814203822 meters 0.02938725168513691 Centerline is valid? [True, True] Translation: X:283.36, Y:-39.87, Z:-8.06 [[ 9.83638819e-01 1.80082406e-01 4.99998300e-03 2.83362245e+02] [-1.80080429e-01 9.83651525e-01 -8.46572151e-04 -3.98698870e+01] [-5.07069365e-03 -6.76778533e-05 9.99987142e-01 -8.05660015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84420382200005 meters 0.022204007488139124 Centerline is valid? [True, True] Translation: X:283.39, Y:-39.88, Z:-8.05 [[ 9.83718701e-01 1.79643296e-01 5.07976810e-03 2.83390366e+02] [-1.79641252e-01 9.83731814e-01 -8.59453500e-04 -3.98750776e+01] [-5.15152454e-03 -6.70754226e-05 9.99986729e-01 -8.05479921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874203822 meters 0.021182938382133122 Centerline is valid? [True, True] Translation: X:283.42, Y:-39.88, Z:-8.06 [[ 9.83871568e-01 1.78812780e-01 4.76732253e-03 2.83418729e+02] [-1.78810971e-01 9.83883116e-01 -8.06460492e-04 -3.98821966e+01] [-4.83469359e-03 -5.89960207e-05 9.99988311e-01 -8.05550154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90420382200006 meters 0.019742493860345427 Centerline is valid? [True, True] Translation: X:283.45, Y:-39.89, Z:-8.06 [[ 9.84197204e-01 1.77025086e-01 4.24046777e-03 2.83446138e+02] [-1.77023639e-01 9.84206339e-01 -7.17301382e-04 -3.98911665e+01] [-4.30047560e-03 -4.46970204e-05 9.99990752e-01 -8.05672028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93420382200003 meters 0.020846878941266977 Centerline is valid? [True, True] Translation: X:283.47, Y:-39.90, Z:-8.06 [[ 9.84276222e-01 1.76581995e-01 4.37231812e-03 2.83473200e+02] [-1.76580451e-01 9.84285933e-01 -7.39632957e-04 -3.98959908e+01] [-4.43421708e-03 -4.40627742e-05 9.99990168e-01 -8.06089514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96420382200006 meters 0.0197047547659289 Centerline is valid? [True, True] Translation: X:283.50, Y:-39.90, Z:-8.06 [[ 9.84382379e-01 1.76005898e-01 3.64081702e-03 2.83501428e+02] [-1.76004825e-01 9.84389111e-01 -6.15640124e-04 -3.99046335e+01] [-3.69233692e-03 -3.47760719e-05 9.99993183e-01 -8.06033546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99420382200003 meters 0.018975076648056102 Centerline is valid? [True, True] Translation: X:283.53, Y:-39.91, Z:-8.06 [[ 9.84447159e-01 1.75635400e-01 3.99972104e-03 2.83530054e+02] [-1.75634103e-01 9.84455283e-01 -6.76003150e-04 -3.99100352e+01] [-4.05627659e-03 -3.69980360e-05 9.99991773e-01 -8.05987816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02420382200006 meters 0.018342538448022996 Centerline is valid? [True, True] Translation: X:283.56, Y:-39.92, Z:-8.06 [[ 9.84682424e-01 1.74310277e-01 4.05587429e-03 2.83557960e+02] [-1.74308933e-01 9.84690777e-01 -6.85262489e-04 -3.99150127e+01] [-4.11323030e-03 -3.22091922e-05 9.99991540e-01 -8.06098723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05420382200003 meters 0.01896468375300948 Centerline is valid? [True, True] Translation: X:283.59, Y:-39.92, Z:-8.07 [[ 9.84903050e-01 1.73065575e-01 3.78007026e-03 2.83585659e+02] [-1.73064399e-01 9.84910304e-01 -6.38559096e-04 -3.99204912e+01] [-3.83354274e-03 -2.52767850e-05 9.99992652e-01 -8.06528010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08420382200006 meters 0.01785781718582752 Centerline is valid? [True, True] Translation: X:283.61, Y:-39.93, Z:-8.06 [[ 9.85149633e-01 1.71669570e-01 3.12402357e-03 2.83613325e+02] [-1.71668759e-01 9.85154586e-01 -5.27820759e-04 -3.99285634e+01] [-3.16825691e-03 -1.63148224e-05 9.99994981e-01 -8.06464070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11420382200004 meters 0.016985824999954293 Centerline is valid? [True, True] Translation: X:283.64, Y:-39.94, Z:-8.06 [[ 9.85612305e-01 1.68986177e-01 3.47227917e-03 2.83641103e+02] [-1.68985160e-01 9.85618421e-01 -5.86324805e-04 -3.99383082e+01] [-3.52142310e-03 -8.87471041e-06 9.99993800e-01 -8.06497445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14420382200007 meters 0.017078756427171167 Centerline is valid? [True, True] Translation: X:283.67, Y:-39.95, Z:-8.07 [[ 9.86053963e-01 1.66406430e-01 2.54600823e-03 2.83668292e+02] [-1.66405874e-01 9.86057250e-01 -4.30172702e-04 -3.99482015e+01] [-2.58209338e-03 5.02773055e-07 9.99996666e-01 -8.06699467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17420382200004 meters 0.01772691544598958 Centerline is valid? [True, True] Translation: X:283.69, Y:-39.95, Z:-8.07 [[ 9.86249338e-01 1.65250364e-01 2.13576533e-03 2.83694929e+02] [-1.65249968e-01 9.86251650e-01 -3.61633911e-04 -3.99542407e+01] [-2.16616222e-03 3.72605275e-06 9.99997654e-01 -8.06951392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20420382200007 meters 0.017153832843805502 Centerline is valid? [True, True] Translation: X:283.72, Y:-39.96, Z:-8.07 [[ 9.86413820e-01 1.64256313e-01 2.76411142e-03 2.83723326e+02] [-1.64255650e-01 9.86417692e-01 -4.66554305e-04 -3.99599734e+01] [-2.80320289e-03 6.19469577e-06 9.99996071e-01 -8.06780772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23420382200004 meters 0.017153832843805502 Centerline is valid? [True, True] Translation: X:283.75, Y:-39.96, Z:-8.07 [[ 9.86421975e-01 1.64207328e-01 2.76413455e-03 2.83751277e+02] [-1.64206666e-01 9.86425848e-01 -4.66417037e-04 -3.99645857e+01] [-2.80320286e-03 6.19469572e-06 9.99996071e-01 -8.06861408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26420382200007 meters 0.016727989426375493 Centerline is valid? [True, True] Translation: X:283.78, Y:-39.97, Z:-8.07 [[ 9.86755131e-01 1.62122535e-01 5.53131234e-03 2.83778933e+02] [-1.62119862e-01 9.86770633e-01 -9.31339148e-04 -3.99717168e+01] [-5.60912764e-03 2.22680917e-05 9.99984268e-01 -8.06621849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29420382200004 meters 0.01762862627927118 Centerline is valid? [True, True] Translation: X:283.81, Y:-39.98, Z:-8.07 [[ 9.87040623e-01 1.60357761e-01 6.01636274e-03 2.83807143e+02] [-1.60354568e-01 9.87058958e-01 -1.01267048e-03 -3.99786692e+01] [-6.10089431e-03 3.47956526e-05 9.99981389e-01 -8.06727760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3242038220001 meters 0.022777083928219907 Centerline is valid? [True, True] Translation: X:283.84, Y:-39.98, Z:-8.07 [[ 9.87196835e-01 1.59403150e-01 5.74845720e-03 2.83836465e+02] [-1.59400220e-01 9.87213571e-01 -9.67138208e-04 -3.99840779e+01] [-5.82911984e-03 3.84504337e-05 9.99983010e-01 -8.06840980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35420382200004 meters 0.0172006869707617 Centerline is valid? [True, True] Translation: X:283.87, Y:-39.99, Z:-8.07 [[ 9.87325589e-01 1.58593884e-01 6.01339054e-03 2.83865200e+02] [-1.58590664e-01 9.87343901e-01 -1.01153981e-03 -3.99906094e+01] [-6.09770850e-03 4.50515377e-05 9.99981408e-01 -8.06590306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384203822 meters 0.017760852042572915 Centerline is valid? [True, True] Translation: X:283.89, Y:-40.00, Z:-8.07 [[ 9.87451690e-01 1.57800294e-01 6.18277941e-03 2.83893424e+02] [-1.57796878e-01 9.87471045e-01 -1.03957020e-03 -3.99977916e+01] [-6.26936013e-03 5.09020666e-05 9.99980346e-01 -8.06759523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41420382200005 meters 0.03257421103773209 Centerline is valid? [True, True] Translation: X:283.92, Y:-40.00, Z:-8.07 [[ 9.87495940e-01 1.57560280e-01 5.15038757e-03 2.83923216e+02] [-1.57557908e-01 9.87509370e-01 -8.65684585e-04 -4.00026285e+01] [-5.22245349e-03 4.33757234e-05 9.99986362e-01 -8.07170005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444203822 meters 0.018594599820652924 Centerline is valid? [True, True] Translation: X:283.95, Y:-40.01, Z:-8.07 [[ 9.87568856e-01 1.57089168e-01 5.54511008e-03 2.83951800e+02] [-1.57086409e-01 9.87584422e-01 -9.32316013e-04 -4.00088023e+01] [-5.62272108e-03 4.96648279e-05 9.99984191e-01 -8.07056410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47420382200005 meters 0.01967285598535903 Centerline is valid? [True, True] Translation: X:283.98, Y:-40.01, Z:-8.07 [[ 9.87533503e-01 1.57336775e-01 4.76645846e-03 2.83980587e+02] [-1.57334739e-01 9.87545005e-01 -8.01386058e-04 -4.00134047e+01] [-4.83317974e-03 4.14660815e-05 9.99988319e-01 -8.07430173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504203822 meters 0.020132577729650696 Centerline is valid? [True, True] Translation: X:284.01, Y:-40.02, Z:-8.08 [[ 9.87503651e-01 1.57532488e-01 4.47815305e-03 2.84008739e+02] [-1.57530691e-01 9.87513804e-01 -7.53440239e-04 -4.00175731e+01] [-4.54092927e-03 3.85784419e-05 9.99989689e-01 -8.07692886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53420382200005 meters 0.018763728848704253 Centerline is valid? [True, True] Translation: X:284.04, Y:-40.02, Z:-8.07 [[ 9.87526679e-01 1.57380076e-01 4.75080784e-03 2.84038279e+02] [-1.57378055e-01 9.87538106e-01 -7.98815539e-04 -4.00212995e+01] [-4.81732143e-03 4.11787612e-05 9.99988396e-01 -8.07421099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564203822 meters 0.019566063689473688 Centerline is valid? [True, True] Translation: X:284.07, Y:-40.03, Z:-8.07 [[ 9.87694693e-01 1.56288863e-01 5.74319997e-03 2.84066244e+02] [-1.56285893e-01 9.87711389e-01 -9.65104920e-04 -4.00305817e+01] [-5.82345918e-03 5.56478734e-05 9.99983042e-01 -8.07399009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59420382200005 meters 0.01961052004065595 Centerline is valid? [True, True] Translation: X:284.10, Y:-40.04, Z:-8.07 [[ 9.87833339e-01 1.55397173e-01 6.08388218e-03 2.84096255e+02] [-1.55393826e-01 9.87852071e-01 -1.02198304e-03 -4.00373984e+01] [-6.16878888e-03 6.41511914e-05 9.99980971e-01 -8.07330417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624203822 meters 0.020991810406437654 Centerline is valid? [True, True] Translation: X:284.13, Y:-40.05, Z:-8.07 [[ 9.88062044e-01 1.53860485e-01 7.76837499e-03 2.84125152e+02] [-1.53854982e-01 9.88092578e-01 -1.30469543e-03 -4.00466201e+01] [-7.87661474e-03 9.39168480e-05 9.99968975e-01 -8.07267129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65420382200006 meters 0.02036080499541535 Centerline is valid? [True, True] Translation: X:284.16, Y:-40.05, Z:-8.07 [[ 9.88132138e-01 1.53363544e-01 8.63140245e-03 2.84156159e+02] [-1.53356732e-01 9.88169829e-01 -1.44954432e-03 -4.00526704e+01] [-8.75159874e-03 1.08657656e-04 9.99961698e-01 -8.07050722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68420382200003 meters 0.020195465054122737 Centerline is valid? [True, True] Translation: X:284.19, Y:-40.06, Z:-8.07 [[ 9.88075387e-01 1.53722383e-01 8.74401078e-03 2.84187799e+02] [-1.53715430e-01 9.88114071e-01 -1.46578785e-03 -4.00608110e+01] [-8.86540450e-03 1.04219527e-04 9.99960696e-01 -8.07051355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71420382200006 meters 0.02047752177754606 Centerline is valid? [True, True] Translation: X:284.22, Y:-40.07, Z:-8.07 [[ 9.87984842e-01 1.54287411e-01 9.01921627e-03 2.84218594e+02] [-1.54280019e-01 9.88026004e-01 -1.51389065e-03 -4.00673106e+01] [-9.14479448e-03 1.04216154e-04 9.99958180e-01 -8.07256454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74420382200003 meters 0.020121977054110018 Centerline is valid? [True, True] Translation: X:284.25, Y:-40.07, Z:-8.07 [[ 9.87869152e-01 1.55018396e-01 9.15621354e-03 2.84248766e+02] [-1.55010768e-01 9.87911578e-01 -1.54127705e-03 -4.00724521e+01] [-9.28445567e-03 1.03268356e-04 9.99956893e-01 -8.07403699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77420382200006 meters 0.01876073271864866 Centerline is valid? [True, True] Translation: X:284.28, Y:-40.08, Z:-8.08 [[ 9.87525944e-01 1.57276312e-01 7.52805119e-03 2.84279897e+02] [-1.57271223e-01 9.87554635e-01 -1.26698462e-03 -4.00769183e+01] [-7.63362852e-03 6.72343711e-05 9.99970861e-01 -8.07763688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80420382200003 meters 0.026135437102544054 Centerline is valid? [True, True] Translation: X:284.31, Y:-40.08, Z:-8.08 [[ 9.87039973e-01 1.60287487e-01 7.74677990e-03 2.84310437e+02] [-1.60282185e-01 9.87070372e-01 -1.30450486e-03 -4.00787281e+01] [-7.85571272e-03 4.59276286e-05 9.99969142e-01 -8.07873306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83420382200006 meters 0.016034000580684958 Centerline is valid? [True, True] Translation: X:284.34, Y:-40.08, Z:-8.08 [[ 9.86688603e-01 1.62382259e-01 8.80926007e-03 2.84340332e+02] [-1.62375488e-01 9.86727927e-01 -1.48317492e-03 -4.00832889e+01] [-8.93318421e-03 3.30238795e-05 9.99960098e-01 -8.07890634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86420382200004 meters 0.015871914382343838 Centerline is valid? [True, True] Translation: X:284.37, Y:-40.09, Z:-8.08 [[ 9.86382325e-01 1.64254569e-01 8.38717279e-03 2.84369184e+02] [-1.64248494e-01 9.86417983e-01 -1.41268586e-03 -4.00870152e+01] [-8.50529817e-03 1.58678652e-05 9.99963829e-01 -8.08082373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89420382200007 meters 0.01605412552757981 Centerline is valid? [True, True] Translation: X:284.40, Y:-40.09, Z:-8.08 [[ 9.85825658e-01 1.67690950e-01 5.24573417e-03 2.84399198e+02] [-1.67688622e-01 9.85839614e-01 -8.83641291e-04 -4.00888327e+01] [-5.31963119e-03 -8.53367779e-06 9.99985851e-01 -8.08294639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92420382200004 meters 0.017191933780051988 Centerline is valid? [True, True] Translation: X:284.43, Y:-40.09, Z:-8.09 [[ 9.85546459e-01 1.69330833e-01 5.02461660e-03 2.84428154e+02] [-1.69328716e-01 9.85559267e-01 -8.46932342e-04 -4.00915030e+01] [-5.09546921e-03 -1.61207059e-05 9.99987018e-01 -8.08719537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95420382200007 meters 0.017101552655670666 Centerline is valid? [True, True] Translation: X:284.46, Y:-40.10, Z:-8.08 [[ 9.85063880e-01 1.72092866e-01 5.76178969e-03 2.84456797e+02] [-1.72090129e-01 9.85080730e-01 -9.71092216e-04 -4.00956177e+01] [-5.84294604e-03 -3.49592667e-05 9.99982929e-01 -8.08495623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98420382200004 meters 0.018194385035924326 Centerline is valid? [True, True] Translation: X:284.48, Y:-40.10, Z:-8.09 [[ 9.84789335e-01 1.73661686e-01 5.61994651e-03 2.84484714e+02] [-1.73659118e-01 9.84805370e-01 -9.45621400e-04 -4.00995427e+01] [-5.69877171e-03 -4.47170819e-05 9.99983761e-01 -8.08626109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01420382200007 meters 0.021256888593446658 Centerline is valid? [True, True] Translation: X:284.51, Y:-40.10, Z:-8.09 [[ 9.84323505e-01 1.76233787e-01 6.99216097e-03 2.84512376e+02] [-1.76229865e-01 9.84348336e-01 -1.17808475e-03 -4.01005713e+01] [-7.09034035e-03 -7.26110692e-05 9.99974861e-01 -8.08936027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04420382200004 meters 0.0207521450673518 Centerline is valid? [True, True] Translation: X:284.54, Y:-40.11, Z:-8.09 [[ 9.84068156e-01 1.77629217e-01 7.59773835e-03 2.84540778e+02] [-1.77624634e-01 9.84097481e-01 -1.27921832e-03 -4.01070601e+01] [-7.70414172e-03 -9.07074818e-05 9.99970319e-01 -8.08638300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0742038220001 meters 0.02151523667940219 Centerline is valid? [True, True] Translation: X:284.57, Y:-40.11, Z:-8.09 [[ 9.83627180e-01 1.80115154e-01 6.00856270e-03 2.84569756e+02] [-1.80112337e-01 9.83645527e-01 -1.01113180e-03 -4.01139635e+01] [-6.09241598e-03 -8.76395472e-05 9.99981437e-01 -8.08613879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10420382200004 meters 0.023701063232711053 Centerline is valid? [True, True] Translation: X:284.60, Y:-40.12, Z:-8.09 [[ 9.83369252e-01 1.81539568e-01 5.31977625e-03 2.84598415e+02] [-1.81537380e-01 9.83383637e-01 -8.95341826e-04 -4.01160632e+01] [-5.39392088e-03 -8.52866190e-05 9.99985449e-01 -8.09005596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134203822 meters 0.026942879138028942 Centerline is valid? [True, True] Translation: X:284.63, Y:-40.12, Z:-8.09 [[ 9.82791678e-01 1.84614328e-01 6.16982500e-03 2.84626939e+02] [-1.84611444e-01 9.82811038e-01 -1.03868317e-03 -4.01153271e+01] [-6.25552790e-03 -1.18211122e-04 9.99980427e-01 -8.09170484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16420382200005 meters 0.02846416851822096 Centerline is valid? [True, True] Translation: X:284.66, Y:-40.12, Z:-8.09 [[ 9.82562037e-01 1.85810854e-01 6.79481440e-03 2.84655198e+02] [-1.85807389e-01 9.82585522e-01 -1.14327847e-03 -4.01178685e+01] [-6.88891980e-03 -1.39184699e-04 9.99976261e-01 -8.09225203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194203822 meters 0.027181610140176928 Centerline is valid? [True, True] Translation: X:284.68, Y:-40.12, Z:-8.09 [[ 9.82282388e-01 1.87289731e-01 6.62313492e-03 2.84683299e+02] [-1.87286477e-01 9.82304706e-01 -1.11382791e-03 -4.01248978e+01] [-6.71454513e-03 -1.46330065e-04 9.99977446e-01 -8.08875902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22420382200005 meters 0.02800358093435619 Centerline is valid? [True, True] Translation: X:284.71, Y:-40.13, Z:-8.09 [[ 9.82206412e-01 1.87676758e-01 6.92813181e-03 2.84710871e+02] [-1.87673207e-01 9.82230834e-01 -1.16496015e-03 -4.01283861e+01] [-7.02366062e-03 -1.55993389e-04 9.99975322e-01 -8.08914836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254203822 meters 0.02840916367742432 Centerline is valid? [True, True] Translation: X:284.74, Y:-40.13, Z:-8.09 [[ 9.82126654e-01 1.88078701e-01 7.32385036e-03 2.84739209e+02] [-1.88074750e-01 9.82153946e-01 -1.23067039e-03 -4.01323949e+01] [-7.42461142e-03 -1.68757138e-04 9.99972423e-01 -8.08974741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28420382200005 meters 0.029745281440454133 Centerline is valid? [True, True] Translation: X:284.77, Y:-40.14, Z:-8.09 [[ 9.81987028e-01 1.88855241e-01 5.93088727e-03 2.84766121e+02] [-1.88852662e-01 9.82004928e-01 -9.96874644e-04 -4.01368458e+01] [-6.01242552e-03 -1.41145883e-04 9.99981915e-01 -8.09321937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314203822 meters 0.027768251145635213 Centerline is valid? [True, True] Translation: X:284.79, Y:-40.14, Z:-8.09 [[ 9.82162855e-01 1.87935081e-01 6.04411931e-03 2.84794744e+02] [-1.87932388e-01 9.82181443e-01 -1.01570263e-03 -4.01433000e+01] [-6.12730798e-03 -1.38300381e-04 9.99981218e-01 -8.09263488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34420382200005 meters 0.027909011839011462 Centerline is valid? [True, True] Translation: X:284.82, Y:-40.15, Z:-8.09 [[ 9.82425039e-01 1.86504630e-01 7.55412091e-03 2.84821828e+02] [-1.86500391e-01 9.82454068e-01 -1.26805195e-03 -4.01478809e+01] [-7.65807438e-03 -1.63080519e-04 9.99970663e-01 -8.09335022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374203822 meters 0.029213424258277783 Centerline is valid? [True, True] Translation: X:284.85, Y:-40.15, Z:-8.10 [[ 9.82840266e-01 1.84268954e-01 8.36447364e-03 2.84850287e+02] [-1.84263688e-01 9.82875845e-01 -1.40256974e-03 -4.01526498e+01] [-8.47968915e-03 -1.62766750e-04 9.99964034e-01 -8.09721828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40420382200006 meters 0.02157552035239333 Centerline is valid? [True, True] Translation: X:284.88, Y:-40.17, Z:-8.09 [[ 9.83829700e-01 1.78929916e-01 7.95030626e-03 2.84877308e+02] [-1.78924984e-01 9.83861816e-01 -1.33321553e-03 -4.01716578e+01] [-8.06055490e-03 -1.10851388e-04 9.99967507e-01 -8.09462543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43420382200003 meters 0.018767406992664 Centerline is valid? [True, True] Translation: X:284.91, Y:-40.18, Z:-8.09 [[ 9.84335684e-01 1.76135402e-01 7.71886705e-03 2.84906282e+02] [-1.76130671e-01 9.84365945e-01 -1.29373813e-03 -4.01824986e+01] [-7.82606294e-03 -8.60566211e-05 9.99969372e-01 -8.09454813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46420382200006 meters 0.02873315078000297 Centerline is valid? [True, True] Translation: X:284.94, Y:-40.20, Z:-8.10 [[ 9.85044659e-01 1.72157960e-01 6.97546396e-03 2.84935337e+02] [-1.72154022e-01 9.85069355e-01 -1.16568460e-03 -4.01967371e+01] [-7.07199767e-03 -5.26027813e-05 9.99974992e-01 -8.10216745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49420382200003 meters 0.016830314159572066 Centerline is valid? [True, True] Translation: X:284.96, Y:-40.21, Z:-8.10 [[ 9.85250340e-01 1.70970352e-01 7.13485970e-03 2.84964979e+02] [-1.70966166e-01 9.85276173e-01 -1.19702319e-03 -4.02063599e+01] [-7.23446274e-03 -4.04521025e-05 9.99973830e-01 -8.09962893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52420382200006 meters 0.01717471849130591 Centerline is valid? [True, True] Translation: X:285.00, Y:-40.21, Z:-8.10 [[ 9.85259435e-01 1.70939154e-01 6.60690839e-03 2.84995184e+02] [-1.70935566e-01 9.85281586e-01 -1.10818813e-03 -4.02119925e+01] [-6.69909793e-03 -3.75028144e-05 9.99977560e-01 -8.10188585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55420382200003 meters 0.01785667764864028 Centerline is valid? [True, True] Translation: X:285.02, Y:-40.22, Z:-8.10 [[ 9.85194950e-01 1.71334528e-01 5.94897339e-03 2.85024360e+02] [-1.71331623e-01 9.85212910e-01 -9.98405026e-04 -4.02165373e+01] [-6.03206664e-03 -3.56236738e-05 9.99981806e-01 -8.10473724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58420382200006 meters 0.021769745245737406 Centerline is valid? [True, True] Translation: X:285.05, Y:-40.22, Z:-8.11 [[ 9.84979500e-01 1.72601916e-01 4.89526386e-03 2.85054522e+02] [-1.72599968e-01 9.84991664e-01 -8.20997166e-04 -4.02231461e+01] [-4.96349978e-03 -3.62570058e-05 9.99987681e-01 -8.10658702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61420382200004 meters 0.018328644546909002 Centerline is valid? [True, True] Translation: X:285.08, Y:-40.23, Z:-8.10 [[ 9.84773443e-01 1.73775627e-01 4.82668960e-03 2.85084733e+02] [-1.73773745e-01 9.84785271e-01 -8.09838953e-04 -4.02289629e+01] [-4.89398310e-03 -4.12440316e-05 9.99988024e-01 -8.10454488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64420382200007 meters 0.01867415750944628 Centerline is valid? [True, True] Translation: X:285.11, Y:-40.23, Z:-8.10 [[ 9.84574241e-01 1.74899606e-01 4.86741332e-03 2.85114899e+02] [-1.74897706e-01 9.84586271e-01 -8.16671722e-04 -4.02331177e+01] [-4.93522390e-03 -4.72254813e-05 9.99987821e-01 -8.10485253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67420382200004 meters 0.01997338157494957 Centerline is valid? [True, True] Translation: X:285.15, Y:-40.23, Z:-8.10 [[ 9.83996535e-01 1.78119638e-01 4.92075509e-03 2.85145323e+02] [-1.78117736e-01 9.84008837e-01 -8.25621592e-04 -4.02340211e+01] [-4.98912591e-03 -6.40649713e-05 9.99987552e-01 -8.10392767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70420382200007 meters 0.02366358583882395 Centerline is valid? [True, True] Translation: X:285.18, Y:-40.23, Z:-8.11 [[ 9.83652476e-01 1.80010968e-01 4.88453124e-03 2.85175065e+02] [-1.80009115e-01 9.83664601e-01 -8.19844313e-04 -4.02346795e+01] [-4.95232143e-03 -7.28182581e-05 9.99987735e-01 -8.10859921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73420382200004 meters 0.026642767082606444 Centerline is valid? [True, True] Translation: X:285.21, Y:-40.23, Z:-8.11 [[ 9.82904485e-01 1.84035473e-01 5.45144271e-03 2.85205137e+02] [-1.84033227e-01 9.82919597e-01 -9.15144575e-04 -4.02341692e+01] [-5.52674894e-03 -1.03746886e-04 9.99984722e-01 -8.10710759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76420382200007 meters 0.02819482926496251 Centerline is valid? [True, True] Translation: X:285.24, Y:-40.23, Z:-8.11 [[ 9.82488813e-01 1.86236143e-01 5.64192118e-03 2.85235009e+02] [-1.86233774e-01 9.82505005e-01 -9.46962253e-04 -4.02346898e+01] [-5.71957439e-03 -1.20336453e-04 9.99983636e-01 -8.10696770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79420382200004 meters 0.033404922540602275 Centerline is valid? [True, True] Translation: X:285.26, Y:-40.23, Z:-8.11 [[ 9.81713654e-01 1.90266882e-01 6.06757004e-03 2.85264987e+02] [-1.90264218e-01 9.81732392e-01 -1.01856489e-03 -4.02287871e+01] [-6.15052921e-03 -1.54502412e-04 9.99981073e-01 -8.10872641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8242038220001 meters 0.034710792586191704 Centerline is valid? [True, True] Translation: X:285.29, Y:-40.23, Z:-8.11 [[ 9.81407334e-01 1.91824825e-01 6.54841320e-03 2.85294255e+02] [-1.91821758e-01 9.81429165e-01 -1.09907280e-03 -4.02298864e+01] [-6.63763315e-03 -1.77490024e-04 9.99977955e-01 -8.10815413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85420382200004 meters 0.03481912020312434 Centerline is valid? [True, True] Translation: X:285.32, Y:-40.23, Z:-8.11 [[ 9.81227982e-01 1.92705494e-01 7.49934764e-03 2.85322913e+02] [-1.92701502e-01 9.81256617e-01 -1.25812757e-03 -4.02315581e+01] [-7.60123259e-03 -2.10625575e-04 9.99971088e-01 -8.10716621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884203822 meters 0.034844511966681736 Centerline is valid? [True, True] Translation: X:285.35, Y:-40.23, Z:-8.11 [[ 9.81359429e-01 1.91991594e-01 8.53807528e-03 2.85350852e+02] [-1.91986396e-01 9.81396542e-01 -1.43199350e-03 -4.02325322e+01] [-8.65416827e-03 -2.33893975e-04 9.99962525e-01 -8.10728568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91420382200005 meters 0.03272360403978279 Centerline is valid? [True, True] Translation: X:285.38, Y:-40.24, Z:-8.11 [[ 9.81661376e-01 1.90447445e-01 8.40919543e-03 2.85379240e+02] [-1.90442352e-01 9.81697369e-01 -1.40969947e-03 -4.02395242e+01] [-8.52375869e-03 -2.17619435e-04 9.99963648e-01 -8.10773511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944203822 meters 0.03618819350411463 Centerline is valid? [True, True] Translation: X:285.41, Y:-40.25, Z:-8.11 [[ 9.82634784e-01 1.85363316e-01 8.32598103e-03 2.85408201e+02] [-1.85358150e-01 9.82670042e-01 -1.39464780e-03 -4.02484335e+01] [-8.44020867e-03 -1.72859004e-04 9.99964366e-01 -8.11272486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97420382200005 meters 0.02483060024338129 Centerline is valid? [True, True] Translation: X:285.44, Y:-40.26, Z:-8.11 [[ 9.83255577e-01 1.82032078e-01 8.53189461e-03 2.85436560e+02] [-1.82026527e-01 9.83292581e-01 -1.42928412e-03 -4.02586608e+01] [-8.64952423e-03 -1.47679558e-04 9.99962581e-01 -8.11022620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004203822 meters 0.01973649515747915 Centerline is valid? [True, True] Translation: X:285.46, Y:-40.27, Z:-8.11 [[ 9.84465735e-01 1.75390733e-01 8.08128596e-03 2.85464676e+02] [-1.75385536e-01 9.84498900e-01 -1.35287691e-03 -4.02711478e+01] [-8.19329921e-03 -8.54797003e-05 9.99966431e-01 -8.11337975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03420382200005 meters 0.027417962569855563 Centerline is valid? [True, True] Translation: X:285.49, Y:-40.28, Z:-8.12 [[ 9.85037307e-01 1.72165996e-01 7.76999763e-03 2.85493641e+02] [-1.72161089e-01 9.85067950e-01 -1.30110339e-03 -4.02826211e+01] [-7.87798140e-03 -5.60558698e-05 9.99968967e-01 -8.11560509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064203822 meters 0.016113748404269143 Centerline is valid? [True, True] Translation: X:285.52, Y:-40.29, Z:-8.11 [[ 9.85517578e-01 1.69421856e-01 7.16510220e-03 2.85523708e+02] [-1.69417616e-01 9.85543623e-01 -1.19902367e-03 -4.02935907e+01] [-7.26466160e-03 -3.22356343e-05 9.99973611e-01 -8.11431242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09420382200005 meters 0.015340645248119287 Centerline is valid? [True, True] Translation: X:285.55, Y:-40.31, Z:-8.11 [[ 9.86182825e-01 1.65490217e-01 7.51154038e-03 2.85553782e+02] [-1.65485462e-01 9.86211432e-01 -1.25447101e-03 -4.03082887e+01] [-7.61556968e-03 -5.91297056e-06 9.99971001e-01 -8.11401787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124203822 meters 0.015340645248119287 Centerline is valid? [True, True] Translation: X:285.58, Y:-40.31, Z:-8.11 [[ 9.86154426e-01 1.65659374e-01 7.51132165e-03 2.85584984e+02] [-1.65654614e-01 9.86183032e-01 -1.25577741e-03 -4.03136670e+01] [-7.61556926e-03 -5.89464298e-06 9.99971001e-01 -8.11491956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15420382200006 meters 0.0241860324782237 Centerline is valid? [True, True] Translation: X:285.62, Y:-40.32, Z:-8.12 [[ 9.86323963e-01 1.64705481e-01 6.09456557e-03 2.85616193e+02] [-1.64702329e-01 9.86342793e-01 -1.01904040e-03 -4.03218847e+01] [-6.17917237e-03 1.31482416e-06 9.99980909e-01 -8.12037593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18420382200003 meters 0.03230703883916029 Centerline is valid? [True, True] Translation: X:285.65, Y:-40.33, Z:-8.12 [[ 9.86258950e-01 1.65104159e-01 5.82240444e-03 2.85648052e+02] [-1.65101284e-01 9.86276136e-01 -9.74318660e-04 -4.03273993e+01] [-5.90336262e-03 -3.55948263e-07 9.99982575e-01 -8.12211275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21420382200006 meters 0.026600557437302396 Centerline is valid? [True, True] Translation: X:285.68, Y:-40.33, Z:-8.12 [[ 9.86100559e-01 1.66024346e-01 6.45018229e-03 2.85679622e+02] [-1.66020827e-01 9.86121654e-01 -1.08105556e-03 -4.03336429e+01] [-6.54014597e-03 -4.83510834e-06 9.99978613e-01 -8.12230568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24420382200003 meters 0.015610517110638558 Centerline is valid? [True, True] Translation: X:285.71, Y:-40.34, Z:-8.12 [[ 9.85715960e-01 1.68287220e-01 6.59226364e-03 2.85710942e+02] [-1.68283586e-01 9.85738003e-01 -1.10613839e-03 -4.03413801e+01] [-6.68439375e-03 -1.90315025e-05 9.99977659e-01 -8.11970391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27420382200006 meters 0.021760120474424417 Centerline is valid? [True, True] Translation: X:285.74, Y:-40.35, Z:-8.12 [[ 9.85130746e-01 1.71658934e-01 7.11500698e-03 2.85742469e+02] [-1.71654776e-01 9.85156439e-01 -1.19551543e-03 -4.03463566e+01] [-7.21461585e-03 -4.35859225e-05 9.99973973e-01 -8.12147708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30420382200003 meters 0.017649918384072302 Centerline is valid? [True, True] Translation: X:285.77, Y:-40.35, Z:-8.12 [[ 9.84855945e-01 1.73224311e-01 7.21845388e-03 2.85773579e+02] [-1.73220061e-01 9.84882397e-01 -1.21455669e-03 -4.03499477e+01] [-7.31971890e-03 -5.42176483e-05 9.99973209e-01 -8.12311409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33420382200006 meters 0.024768848752735054 Centerline is valid? [True, True] Translation: X:285.80, Y:-40.35, Z:-8.13 [[ 9.84503426e-01 1.75186373e-01 7.92074729e-03 2.85803084e+02] [-1.75181281e-01 9.84535286e-01 -1.33759468e-03 -4.03541639e+01] [-8.03258356e-03 -7.07001142e-05 9.99967736e-01 -8.12632357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36420382200004 meters 0.02042910318224504 Centerline is valid? [True, True] Translation: X:285.83, Y:-40.36, Z:-8.12 [[ 9.83978237e-01 1.78070848e-01 8.80926549e-03 2.85833674e+02] [-1.78064661e-01 9.84017664e-01 -1.48801857e-03 -4.03592286e+01] [-8.93344557e-03 -1.04440983e-04 9.99960091e-01 -8.12298083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39420382200007 meters 0.02173414747851051 Centerline is valid? [True, True] Translation: X:285.86, Y:-40.36, Z:-8.12 [[ 9.83593035e-01 1.80152001e-01 9.48672808e-03 2.85864390e+02] [-1.80144923e-01 9.83638775e-01 -1.60245228e-03 -4.03626647e+01] [-9.62019857e-03 -1.32824995e-04 9.99953716e-01 -8.12189631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42420382200004 meters 0.026126842987696564 Centerline is valid? [True, True] Translation: X:285.89, Y:-40.36, Z:-8.12 [[ 9.82668306e-01 1.85093118e-01 1.01753380e-02 2.85894452e+02] [-1.85085239e-01 9.82720968e-01 -1.71878819e-03 -4.03616380e+01] [-1.03176539e-02 -1.94306198e-04 9.99946753e-01 -8.12159212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45420382200007 meters 0.026784656702353235 Centerline is valid? [True, True] Translation: X:285.93, Y:-40.37, Z:-8.12 [[ 9.82190802e-01 1.87618924e-01 1.00183630e-02 2.85925265e+02] [-1.87611423e-01 9.82241870e-01 -1.69179194e-03 -4.03663172e+01] [-1.01578678e-02 -2.17896854e-04 9.99948384e-01 -8.12087330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48420382200004 meters 0.03345907452369342 Centerline is valid? [True, True] Translation: X:285.96, Y:-40.36, Z:-8.12 [[ 9.80871484e-01 1.94603850e-01 4.52466510e-03 2.85957244e+02] [-1.94545114e-01 9.80831662e-01 -1.10203715e-02 -4.03588669e+01] [-6.58254153e-03 9.92931668e-03 9.99929037e-01 -8.12452946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51420382200007 meters 0.04205025770680419 Centerline is valid? [True, True] Translation: X:285.98, Y:-40.37, Z:-8.13 [[ 9.80704586e-01 1.95223782e-01 1.03048272e-02 2.85983214e+02] [-1.95312965e-01 9.80704173e-01 8.49531848e-03 -4.03704545e+01] [-8.44749888e-03 -1.03440642e-02 9.99910816e-01 -8.12863263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54420382200004 meters 0.040966039591158715 Centerline is valid? [True, True] Translation: X:286.01, Y:-40.36, Z:-8.13 [[ 9.79916688e-01 1.99246168e-01 8.01558242e-03 2.86014205e+02] [-1.99241753e-01 9.79949433e-01 -1.35377170e-03 -4.03618533e+01] [-8.12459927e-03 -2.70455213e-04 9.99966958e-01 -8.12937675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5742038220001 meters 0.04104552492932868 Centerline is valid? [True, True] Translation: X:286.04, Y:-40.36, Z:-8.13 [[ 9.79704961e-01 2.00287585e-01 7.94182616e-03 2.86042398e+02] [-2.00283276e-01 9.79737111e-01 -1.34231010e-03 -4.03645454e+01] [-8.04974987e-03 -2.75547104e-04 9.99967562e-01 -8.12986545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60420382200004 meters 0.0419114445832035 Centerline is valid? [True, True] Translation: X:286.07, Y:-40.37, Z:-8.13 [[ 9.79622729e-01 2.00693837e-01 7.82900398e-03 2.86071635e+02] [-2.00689668e-01 9.79653974e-01 -1.32254114e-03 -4.03666568e+01] [-7.93514071e-03 -2.75608853e-04 9.99968478e-01 -8.13162633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634203822 meters 0.03869861656470629 Centerline is valid? [True, True] Translation: X:286.10, Y:-40.37, Z:-8.13 [[ 9.79952036e-01 1.99068260e-01 8.11391097e-03 2.86099318e+02] [-1.99063731e-01 9.79985588e-01 -1.37025228e-03 -4.03749669e+01] [-8.22428955e-03 -2.72403873e-04 9.99966143e-01 -8.13097163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66420382200005 meters 0.04160027312192462 Centerline is valid? [True, True] Translation: X:286.13, Y:-40.38, Z:-8.14 [[ 9.80537844e-01 1.96170114e-01 7.92612593e-03 2.86128853e+02] [-1.96165704e-01 9.80569848e-01 -1.33768289e-03 -4.03752267e+01] [-8.03453350e-03 -2.43185378e-04 9.99967693e-01 -8.13721804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694203822 meters 0.03617314268624334 Centerline is valid? [True, True] Translation: X:286.16, Y:-40.39, Z:-8.14 [[ 9.80816485e-01 1.94789755e-01 7.48158137e-03 2.86156366e+02] [-1.94785783e-01 9.80844995e-01 -1.26300378e-03 -4.03851409e+01] [-7.58429184e-03 -2.18530754e-04 9.99971215e-01 -8.13556575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72420382200005 meters 0.03342391887293169 Centerline is valid? [True, True] Translation: X:286.19, Y:-40.39, Z:-8.14 [[ 9.81371099e-01 1.91975953e-01 7.48323118e-03 2.86185800e+02] [-1.91971904e-01 9.81399610e-01 -1.26244080e-03 -4.03909128e+01] [-7.58639843e-03 -1.97647227e-04 9.99971203e-01 -8.13664752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754203822 meters 0.031899679317249546 Centerline is valid? [True, True] Translation: X:286.21, Y:-40.40, Z:-8.14 [[ 9.81714140e-01 1.90186627e-01 8.14819989e-03 2.86214016e+02] [-1.90181769e-01 9.81747934e-01 -1.37410878e-03 -4.03974696e+01] [-8.26081553e-03 -2.00657046e-04 9.99965859e-01 -8.13699028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78420382200005 meters 0.02959301142877543 Centerline is valid? [True, True] Translation: X:286.24, Y:-40.40, Z:-8.14 [[ 9.82171132e-01 1.87796327e-01 8.50927033e-03 2.86243504e+02] [-1.87790937e-01 9.82207974e-01 -1.43519251e-03 -4.04049738e+01] [-8.62739705e-03 -1.88359198e-04 9.99962766e-01 -8.13672727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814203822 meters 0.036586535376966905 Centerline is valid? [True, True] Translation: X:286.27, Y:-40.41, Z:-8.14 [[ 9.83181827e-01 1.82375637e-01 9.62404614e-03 2.86271638e+02] [-1.82368501e-01 9.83228916e-01 -1.62141600e-03 -4.04146196e+01] [-9.75834723e-03 -1.60976124e-04 9.99952373e-01 -8.13992860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84420382200005 meters 0.028175706059689366 Centerline is valid? [True, True] Translation: X:286.30, Y:-40.43, Z:-8.14 [[ 9.84310172e-01 1.76136217e-01 1.04651167e-02 2.86300953e+02] [-1.76127415e-01 9.84365797e-01 -1.76413181e-03 -4.04296593e+01] [-1.06122305e-02 -1.06741064e-04 9.99943683e-01 -8.13593739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874203822 meters 0.016999491980915698 Centerline is valid? [True, True] Translation: X:286.33, Y:-40.44, Z:-8.14 [[ 9.84835953e-01 1.73150433e-01 1.08200097e-02 2.86330749e+02] [-1.73140854e-01 9.84895386e-01 -1.82297511e-03 -4.04386285e+01] [-1.09722266e-02 -7.80542941e-05 9.99939800e-01 -8.13637608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90420382200006 meters 0.015817287806016343 Centerline is valid? [True, True] Translation: X:286.36, Y:-40.45, Z:-8.14 [[ 9.85247770e-01 1.70757124e-01 1.13505936e-02 2.86360841e+02] [-1.70746420e-01 9.85313149e-01 -1.91271664e-03 -4.04475354e+01] [-1.15104991e-02 -5.35734107e-05 9.99933751e-01 -8.13694721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93420382200003 meters 0.01384489134784671 Centerline is valid? [True, True] Translation: X:286.39, Y:-40.46, Z:-8.13 [[ 9.85766703e-01 1.67662922e-01 1.23754488e-02 2.86392448e+02] [-1.67649928e-01 9.85844381e-01 -2.08740001e-03 -4.04565176e+01] [-1.25502463e-02 -1.70536876e-05 9.99921242e-01 -8.13341108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96420382200006 meters 0.014037548082663328 Centerline is valid? [True, True] Translation: X:286.42, Y:-40.46, Z:-8.14 [[ 9.85910749e-01 1.66828651e-01 1.21736142e-02 2.86423985e+02] [-1.66815979e-01 9.85985903e-01 -2.05617366e-03 -4.04639215e+01] [-1.23460407e-02 -3.54966588e-06 9.99923785e-01 -8.13560039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99420382200003 meters 0.018412569552479 Centerline is valid? [True, True] Translation: X:286.46, Y:-40.47, Z:-8.14 [[ 9.85809371e-01 1.67493533e-01 1.12160575e-02 2.86456188e+02] [-1.67482817e-01 9.85873175e-01 -1.89462499e-03 -4.04685527e+01] [-1.13749477e-02 -1.07578507e-05 9.99935303e-01 -8.13778317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02420382200006 meters 0.018715891654697944 Centerline is valid? [True, True] Translation: X:286.49, Y:-40.47, Z:-8.14 [[ 9.85630481e-01 1.68568370e-01 1.08286593e-02 2.86487996e+02] [-1.68558429e-01 9.85689964e-01 -1.83073971e-03 -4.04707333e+01] [-1.09823056e-02 -2.08289410e-05 9.99939692e-01 -8.13981962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05420382200003 meters 0.026518467645987965 Centerline is valid? [True, True] Translation: X:286.52, Y:-40.47, Z:-8.14 [[ 9.85140417e-01 1.71460709e-01 9.97921381e-03 2.86518912e+02] [-1.71452370e-01 9.85190958e-01 -1.69158265e-03 -4.04712067e+01] [-1.01214712e-02 -4.45134191e-05 9.99948776e-01 -8.14486749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08420382200006 meters 0.0159710700656037 Centerline is valid? [True, True] Translation: X:286.55, Y:-40.47, Z:-8.14 [[ 9.84812399e-01 1.73337024e-01 9.94053735e-03 2.86551026e+02] [-1.73328870e-01 9.84862565e-01 -1.68255278e-03 -4.04746075e+01] [-1.00817118e-02 -6.59832653e-05 9.99949176e-01 -8.14179879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11420382200004 meters 0.01746216717773161 Centerline is valid? [True, True] Translation: X:286.58, Y:-40.48, Z:-8.14 [[ 9.84439612e-01 1.75396390e-01 1.07125083e-02 2.86581964e+02] [-1.75386995e-01 9.84497892e-01 -1.81751547e-03 -4.04751428e+01] [-1.08652275e-02 -8.96004221e-05 9.99940968e-01 -8.14312705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14420382200007 meters 0.018269317492354265 Centerline is valid? [True, True] Translation: X:286.61, Y:-40.48, Z:-8.14 [[ 9.83881468e-01 1.78488753e-01 1.09097070e-02 2.86613441e+02] [-1.78479186e-01 9.83941944e-01 -1.85219344e-03 -4.04750358e+01] [-1.10651140e-02 -1.24816830e-04 9.99938772e-01 -8.14131238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17420382200004 meters 0.018982180121235006 Centerline is valid? [True, True] Translation: X:286.64, Y:-40.48, Z:-8.14 [[ 9.83729498e-01 1.79378998e-01 9.97241675e-03 2.86644452e+02] [-1.79371046e-01 9.83780036e-01 -1.69348764e-03 -4.04764455e+01] [-1.01144406e-02 -1.22829070e-04 9.99948840e-01 -8.14369407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20420382200007 meters 0.02846048395037106 Centerline is valid? [True, True] Translation: X:286.68, Y:-40.48, Z:-8.15 [[ 9.83711479e-01 1.79500515e-01 9.55458532e-03 2.86675714e+02] [-1.79493223e-01 9.83757872e-01 -1.62239725e-03 -4.04804628e+01] [-9.69061967e-03 -1.19012513e-04 9.99953038e-01 -8.14701916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23420382200004 meters 0.01924865282452944 Centerline is valid? [True, True] Translation: X:286.70, Y:-40.48, Z:-8.15 [[ 9.83850585e-01 1.78757825e-01 9.14691613e-03 2.86704705e+02] [-1.78751101e-01 9.83893098e-01 -1.55411216e-03 -4.04830968e+01] [-9.27739736e-03 -1.06007170e-04 9.99956958e-01 -8.14825530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26420382200007 meters 0.019621090769421944 Centerline is valid? [True, True] Translation: X:286.73, Y:-40.49, Z:-8.15 [[ 9.84139190e-01 1.77167891e-01 9.03284828e-03 2.86733797e+02] [-1.77161268e-01 9.84180639e-01 -1.53461026e-03 -4.04873882e+01] [-9.16183806e-03 -9.00007511e-05 9.99958025e-01 -8.15263574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29420382200004 meters 0.017951779916027564 Centerline is valid? [True, True] Translation: X:286.76, Y:-40.49, Z:-8.15 [[ 9.84302160e-01 1.76240278e-01 9.41390527e-03 2.86764113e+02] [-1.76233047e-01 9.84347173e-01 -1.59875614e-03 -4.04946017e+01] [-9.54831627e-03 -8.53820815e-05 9.99954410e-01 -8.15096990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3242038220001 meters 0.017213423530129137 Centerline is valid? [True, True] Translation: X:286.79, Y:-40.50, Z:-8.15 [[ 9.84576834e-01 1.74704092e-01 9.32407735e-03 2.86793739e+02] [-1.74696927e-01 9.84620981e-01 -1.58384204e-03 -4.05011391e+01] [-9.45738587e-03 -6.94734775e-05 9.99955276e-01 -8.15191574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35420382200004 meters 0.016414366931510126 Centerline is valid? [True, True] Translation: X:286.82, Y:-40.51, Z:-8.15 [[ 9.84689717e-01 1.74058642e-01 9.47366345e-03 2.86823420e+02] [-1.74051214e-01 9.84735287e-01 -1.60925160e-03 -4.05065188e+01] [-9.60915484e-03 -6.42891193e-05 9.99953829e-01 -8.15155509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384203822 meters 0.02414991738150104 Centerline is valid? [True, True] Translation: X:286.85, Y:-40.51, Z:-8.15 [[ 9.84900078e-01 1.72822850e-01 1.02028979e-02 2.86854138e+02] [-1.72814171e-01 9.84952922e-01 -1.73289748e-03 -4.05105195e+01] [-1.03488584e-02 -5.64744760e-05 9.99946448e-01 -8.15345595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41420382200005 meters 0.01539876991033757 Centerline is valid? [True, True] Translation: X:286.88, Y:-40.52, Z:-8.15 [[ 9.84998984e-01 1.72246871e-01 1.03931023e-02 2.86884302e+02] [-1.72237832e-01 9.85053812e-01 -1.76534171e-03 -4.05151168e+01] [-1.05418396e-02 -5.12256115e-05 9.99944432e-01 -8.15302915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444203822 meters 0.02374264878074892 Centerline is valid? [True, True] Translation: X:286.91, Y:-40.52, Z:-8.16 [[ 9.85276230e-01 1.70630441e-01 1.07704499e-02 2.86913915e+02] [-1.70620635e-01 9.85335096e-01 -1.82958807e-03 -4.05226238e+01] [-1.09246857e-02 -3.50113587e-05 9.99940323e-01 -8.15687012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47420382200005 meters 0.014603330511270914 Centerline is valid? [True, True] Translation: X:286.94, Y:-40.53, Z:-8.15 [[ 9.85418969e-01 1.69782841e-01 1.11014541e-02 2.86944528e+02] [-1.69772371e-01 9.85481500e-01 -1.88575709e-03 -4.05293473e+01] [-1.12604468e-02 -2.64593686e-05 9.99936599e-01 -8.15438716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504203822 meters 0.014328462727824443 Centerline is valid? [True, True] Translation: X:286.98, Y:-40.54, Z:-8.16 [[ 9.85777124e-01 1.67695485e-01 1.10311831e-02 2.86975549e+02] [-1.67685041e-01 9.85838843e-01 -1.87154272e-03 -4.05396450e+01] [-1.11888181e-02 -4.84039847e-06 9.99937403e-01 -8.15521369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53420382200005 meters 0.014655197887608901 Centerline is valid? [True, True] Translation: X:287.01, Y:-40.55, Z:-8.16 [[ 9.85947544e-01 1.66703958e-01 1.08273259e-02 2.87007179e+02] [-1.66693817e-01 9.86006993e-01 -1.83875669e-03 -4.05481606e+01] [-1.09823471e-02 8.06935475e-06 9.99939692e-01 -8.15694323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564203822 meters 0.014766658801529753 Centerline is valid? [True, True] Translation: X:287.04, Y:-40.56, Z:-8.16 [[ 9.86113580e-01 1.65753709e-01 1.02818105e-02 2.87038793e+02] [-1.65744497e-01 9.86167180e-01 -1.74761230e-03 -4.05563686e+01] [-1.04292573e-02 1.91907119e-05 9.99945614e-01 -8.15789476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59420382200005 meters 0.015407413373596475 Centerline is valid? [True, True] Translation: X:287.07, Y:-40.57, Z:-8.16 [[ 9.86369138e-01 1.64211853e-01 1.05067179e-02 2.87069598e+02] [-1.64202128e-01 9.86425094e-01 -1.78759104e-03 -4.05671005e+01] [-1.06576338e-02 3.79991990e-05 9.99943205e-01 -8.15927406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624203822 meters 0.016210179305203958 Centerline is valid? [True, True] Translation: X:287.10, Y:-40.58, Z:-8.16 [[ 9.86411202e-01 1.63970908e-01 1.03189833e-02 2.87100134e+02] [-1.63961493e-01 9.86465174e-01 -1.75758416e-03 -4.05754303e+01] [-1.04675103e-02 4.17847918e-05 9.99945213e-01 -8.16236635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65420382200006 meters 0.027377020857752236 Centerline is valid? [True, True] Translation: X:287.13, Y:-40.58, Z:-8.17 [[ 9.86215240e-01 1.65258111e-01 8.32204912e-03 2.87131180e+02] [-1.65252025e-01 9.86250352e-01 -1.41854503e-03 -4.05808590e+01] [-8.44204995e-03 2.37552647e-05 9.99964365e-01 -8.16870744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68420382200003 meters 0.015372338088333713 Centerline is valid? [True, True] Translation: X:287.16, Y:-40.58, Z:-8.17 [[ 9.86000217e-01 1.66510294e-01 8.82580683e-03 2.87163219e+02] [-1.66503487e-01 9.86039716e-01 -1.50568451e-03 -4.05841462e+01] [-8.95330804e-03 1.50776375e-05 9.99959918e-01 -8.16506928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71420382200006 meters 0.01509016860195649 Centerline is valid? [True, True] Translation: X:287.20, Y:-40.59, Z:-8.17 [[ 9.85439564e-01 1.69784613e-01 9.05820279e-03 2.87195035e+02] [-1.69777538e-01 9.85481195e-01 -1.54993335e-03 -4.05867015e+01] [-9.18984335e-03 -1.05137283e-05 9.99957772e-01 -8.16516294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74420382200003 meters 0.015594683438922828 Centerline is valid? [True, True] Translation: X:287.23, Y:-40.59, Z:-8.17 [[ 9.85131381e-01 1.71601638e-01 8.30898237e-03 2.87226814e+02] [-1.71595774e-01 9.85166421e-01 -1.41891189e-03 -4.05917193e+01] [-8.42921803e-03 -2.79716372e-05 9.99964473e-01 -8.16654845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77420382200006 meters 0.016786873329704258 Centerline is valid? [True, True] Translation: X:287.26, Y:-40.59, Z:-8.17 [[ 9.84474145e-01 1.75304361e-01 8.89044041e-03 2.87257248e+02] [-1.75297753e-01 9.84514285e-01 -1.52324541e-03 -4.05943159e+01] [-9.01979715e-03 -5.88784996e-05 9.99959319e-01 -8.16689505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80420382200003 meters 0.01787201261840431 Centerline is valid? [True, True] Translation: X:287.29, Y:-40.60, Z:-8.17 [[ 9.84163636e-01 1.77012406e-01 9.40988800e-03 2.87287434e+02] [-1.77005080e-01 9.84208617e-01 -1.61238518e-03 -4.05974934e+01] [-9.54670503e-03 -7.87471198e-05 9.99954426e-01 -8.16754573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83420382200006 meters 0.019408605197459555 Centerline is valid? [True, True] Translation: X:287.32, Y:-40.60, Z:-8.17 [[ 9.83626032e-01 1.79931831e-01 1.02159636e-02 2.87318258e+02] [-1.79923349e-01 9.83679075e-01 -1.75088366e-03 -4.05976870e+01] [-1.03642693e-02 -1.15875631e-04 9.99946283e-01 -8.16664921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86420382200004 meters 0.019638801422026838 Centerline is valid? [True, True] Translation: X:287.35, Y:-40.60, Z:-8.16 [[ 9.83369447e-01 1.81285486e-01 1.09591611e-02 2.87348820e+02] [-1.81275810e-01 9.83430502e-01 -1.87825808e-03 -4.06012324e+01] [-1.11180742e-02 -1.39609189e-04 9.99938183e-01 -8.16497979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89420382200007 meters 0.02019546892533001 Centerline is valid? [True, True] Translation: X:287.38, Y:-40.60, Z:-8.16 [[ 9.83124047e-01 1.82538270e-01 1.21197372e-02 2.87379387e+02] [-1.82526531e-01 9.83198734e-01 -2.07716577e-03 -4.06048941e+01] [-1.22952725e-02 -1.70061963e-04 9.99924396e-01 -8.16438539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92420382200004 meters 0.026998263467400866 Centerline is valid? [True, True] Translation: X:287.41, Y:-40.61, Z:-8.17 [[ 9.82866408e-01 1.83919679e-01 1.21316236e-02 2.87409647e+02] [-1.83908026e-01 9.82941258e-01 -2.07880276e-03 -4.06118038e+01] [-1.23070061e-02 -1.87917557e-04 9.99924248e-01 -8.16747934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95420382200007 meters 0.021653211528823 Centerline is valid? [True, True] Translation: X:287.44, Y:-40.62, Z:-8.17 [[ 9.82901477e-01 1.83758048e-01 1.17331406e-02 2.87440107e+02] [-1.83747160e-01 9.82971488e-01 -2.00854999e-03 -4.06204304e+01] [-1.19024299e-02 -1.81724510e-04 9.99929147e-01 -8.16756195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98420382200004 meters 0.021530414509144207 Centerline is valid? [True, True] Translation: X:287.47, Y:-40.63, Z:-8.17 [[ 9.83026714e-01 1.83104612e-01 1.14534078e-02 2.87469563e+02] [-1.83094144e-01 9.83093421e-01 -1.96491313e-03 -4.06256137e+01] [-1.16195545e-02 -1.65489797e-04 9.99932477e-01 -8.17002999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01420382200007 meters 0.020013946808199106 Centerline is valid? [True, True] Translation: X:287.50, Y:-40.63, Z:-8.17 [[ 9.83225463e-01 1.82132048e-01 9.77782420e-03 2.87499796e+02] [-1.82124373e-01 9.83274071e-01 -1.67728556e-03 -4.06337580e+01] [-9.91976846e-03 -1.31630221e-04 9.99950789e-01 -8.17218872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04420382200004 meters 0.020013946808199106 Centerline is valid? [True, True] Translation: X:287.53, Y:-40.64, Z:-8.17 [[ 9.83220981e-01 1.82156242e-01 9.77778291e-03 2.87530173e+02] [-1.82148565e-01 9.83269590e-01 -1.67752615e-03 -4.06390151e+01] [-9.91976845e-03 -1.31630221e-04 9.99950789e-01 -8.17306649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0742038220001 meters 0.02749888659436093 Centerline is valid? [True, True] Translation: X:287.56, Y:-40.64, Z:-8.18 [[ 9.83273066e-01 1.81887253e-01 9.54493759e-03 2.87559854e+02] [-1.81879920e-01 9.83319384e-01 -1.63803838e-03 -4.06447927e+01] [-9.68366045e-03 -1.25393470e-04 9.99953104e-01 -8.17781323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10420382200004 meters 0.021143241590602047 Centerline is valid? [True, True] Translation: X:287.59, Y:-40.65, Z:-8.18 [[ 9.83161525e-01 1.82485130e-01 9.62253231e-03 2.87589598e+02] [-1.82477703e-01 9.83208604e-01 -1.65171089e-03 -4.06498043e+01] [-9.76236924e-03 -1.31998991e-04 9.99952338e-01 -8.17585578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134203822 meters 0.021225575013472126 Centerline is valid? [True, True] Translation: X:287.62, Y:-40.66, Z:-8.17 [[ 9.82888502e-01 1.83982474e-01 8.98011637e-03 2.87619870e+02] [-1.83976070e-01 9.82929514e-01 -1.54119597e-03 -4.06561329e+01] [-9.11037447e-03 -1.37302716e-04 9.99958490e-01 -8.17484097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16420382200005 meters 0.023282368778429433 Centerline is valid? [True, True] Translation: X:287.65, Y:-40.66, Z:-8.18 [[ 9.82704370e-01 1.84973011e-01 8.78103029e-03 2.87649944e+02] [-1.84966926e-01 9.82743591e-01 -1.50713404e-03 -4.06590945e+01] [-8.90828035e-03 -1.43132970e-04 9.99960310e-01 -8.17808220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194203822 meters 0.02514193823707773 Centerline is valid? [True, True] Translation: X:287.68, Y:-40.66, Z:-8.18 [[ 9.82276557e-01 1.87222194e-01 8.97863613e-03 2.87680647e+02] [-1.87215923e-01 9.82317577e-01 -1.54141509e-03 -4.06612003e+01] [-9.10845920e-03 -1.66847744e-04 9.99958503e-01 -8.17864036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22420382200005 meters 0.026156752627946374 Centerline is valid? [True, True] Translation: X:287.71, Y:-40.66, Z:-8.18 [[ 9.82092927e-01 1.88171496e-01 9.21791580e-03 2.87709902e+02] [-1.88164924e-01 9.82136170e-01 -1.58295753e-03 -4.06636875e+01] [-9.35111600e-03 -1.79877031e-04 9.99956261e-01 -8.17909170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254203822 meters 0.025546322896099483 Centerline is valid? [True, True] Translation: X:287.74, Y:-40.67, Z:-8.18 [[ 9.82000526e-01 1.88630893e-01 9.66191475e-03 2.87740343e+02] [-1.88623701e-01 9.82048038e-01 -1.65847944e-03 -4.06688256e+01] [-9.80130488e-03 -1.93838437e-04 9.99951947e-01 -8.17822476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28420382200005 meters 0.025354270467938995 Centerline is valid? [True, True] Translation: X:287.77, Y:-40.67, Z:-8.18 [[ 9.82070353e-01 1.88238412e-01 1.02040661e-02 2.87770917e+02] [-1.88230369e-01 9.82123343e-01 -1.75154038e-03 -4.06732741e+01] [-1.03513587e-02 -2.00579248e-04 9.99946403e-01 -8.17903220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314203822 meters 0.024517811019348166 Centerline is valid? [True, True] Translation: X:287.80, Y:-40.68, Z:-8.18 [[ 9.82417179e-01 1.86432676e-01 9.96712032e-03 2.87800295e+02] [-1.86424910e-01 9.82467723e-01 -1.71086835e-03 -4.06790733e+01] [-1.01113358e-02 -1.77333044e-04 9.99948863e-01 -8.18108587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34420382200005 meters 0.023800529928739107 Centerline is valid? [True, True] Translation: X:287.83, Y:-40.69, Z:-8.18 [[ 9.82692871e-01 1.84983839e-01 9.78264899e-03 2.87829113e+02] [-1.84976283e-01 9.82741550e-01 -1.67942659e-03 -4.06862930e+01] [-9.92448241e-03 -1.59197511e-04 9.99950738e-01 -8.18331524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374203822 meters 0.03845289400451756 Centerline is valid? [True, True] Translation: X:287.86, Y:-40.70, Z:-8.18 [[ 9.83088995e-01 1.82843109e-01 1.02189210e-02 2.87858718e+02] [-1.82834758e-01 9.83142094e-01 -1.75351665e-03 -4.06973327e+01] [-1.03672698e-02 -1.44511027e-04 9.99946248e-01 -8.18472610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40420382200006 meters 0.01907609810631598 Centerline is valid? [True, True] Translation: X:287.89, Y:-40.71, Z:-8.18 [[ 9.83621778e-01 1.79994478e-01 9.49658152e-03 2.87889041e+02] [-1.79987155e-01 9.83667615e-01 -1.62719858e-03 -4.07068707e+01] [-9.63436645e-03 -1.08714737e-04 9.99953583e-01 -8.18466043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43420382200003 meters 0.01751117515957748 Centerline is valid? [True, True] Translation: X:287.92, Y:-40.72, Z:-8.18 [[ 9.83908817e-01 1.78431017e-01 9.26349235e-03 2.87920776e+02] [-1.78423950e-01 9.83952420e-01 -1.59052017e-03 -4.07153444e+01] [-9.39863385e-03 -8.79020783e-05 9.99955828e-01 -8.18447043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46420382200006 meters 0.016324308755186725 Centerline is valid? [True, True] Translation: X:287.95, Y:-40.73, Z:-8.19 [[ 9.84428451e-01 1.75445683e-01 1.09287140e-02 2.87950655e+02] [-1.75435670e-01 9.84489110e-01 -1.87573180e-03 -4.07251344e+01] [-1.10882890e-02 -7.07625139e-05 9.99938521e-01 -8.18525355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49420382200003 meters 0.015504139793939765 Centerline is valid? [True, True] Translation: X:287.98, Y:-40.73, Z:-8.18 [[ 9.84648078e-01 1.74173736e-01 1.14748824e-02 2.87981984e+02] [-1.74162587e-01 9.84714937e-01 -1.97151819e-03 -4.07334745e+01] [-1.16428748e-02 -5.72436030e-05 9.99932218e-01 -8.18493588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52420382200006 meters 0.014536765538127952 Centerline is valid? [True, True] Translation: X:288.01, Y:-40.74, Z:-8.18 [[ 9.85071277e-01 1.71774655e-01 1.13157620e-02 2.88014175e+02] [-1.71763639e-01 9.85136268e-01 -1.94553960e-03 -4.07425589e+01] [-1.14817620e-02 -2.71412803e-05 9.99934082e-01 -8.18426162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55420382200003 meters 0.014380450061206342 Centerline is valid? [True, True] Translation: X:288.05, Y:-40.75, Z:-8.19 [[ 9.85242886e-01 1.70807880e-01 1.10055986e-02 2.88046277e+02] [-1.70797378e-01 9.85304353e-01 -1.89418987e-03 -4.07495897e+01] [-1.11674068e-02 -1.34902847e-05 9.99937642e-01 -8.18535009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58420382200006 meters 0.021233601884010817 Centerline is valid? [True, True] Translation: X:288.08, Y:-40.76, Z:-8.19 [[ 9.85529603e-01 1.69245089e-01 9.35425755e-03 2.88075783e+02] [-1.69237390e-01 9.85573995e-01 -1.61430477e-03 -4.07577921e+01] [-9.49252614e-03 7.85500594e-06 9.99954945e-01 -8.19367317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61420382200004 meters 0.015121597438852968 Centerline is valid? [True, True] Translation: X:288.11, Y:-40.76, Z:-8.19 [[ 9.85482618e-01 1.69532334e-01 9.09926435e-03 2.88108614e+02] [-1.69525091e-01 9.85524626e-01 -1.56716551e-03 -4.07633716e+01] [-9.23323432e-03 1.86075479e-06 9.99957373e-01 -8.19077825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64420382200007 meters 0.015015356662625405 Centerline is valid? [True, True] Translation: X:288.14, Y:-40.77, Z:-8.19 [[ 9.85425326e-01 1.69845929e-01 9.44920065e-03 2.88139783e+02] [-1.69838093e-01 9.85470629e-01 -1.63146345e-03 -4.07678783e+01] [-9.58900713e-03 2.85117527e-06 9.99954024e-01 -8.19145296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67420382200004 meters 0.02317957724941253 Centerline is valid? [True, True] Translation: X:288.17, Y:-40.77, Z:-8.19 [[ 9.85330699e-01 1.70377466e-01 9.74333789e-03 2.88172790e+02] [-1.70369169e-01 9.85378871e-01 -1.68143779e-03 -4.07721076e+01] [-9.88735840e-03 -3.19210620e-06 9.99951119e-01 -8.19407870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70420382200007 meters 0.015451016955912797 Centerline is valid? [True, True] Translation: X:288.20, Y:-40.78, Z:-8.19 [[ 9.85145509e-01 1.71439776e-01 9.83507851e-03 2.88204160e+02] [-1.71431341e-01 9.85194602e-01 -1.70068437e-03 -4.07765505e+01] [-9.98103120e-03 -1.06191205e-05 9.99950188e-01 -8.19390361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73420382200004 meters 0.014609315542217947 Centerline is valid? [True, True] Translation: X:288.24, Y:-40.78, Z:-8.19 [[ 9.85121929e-01 1.71527598e-01 1.06333801e-02 2.88236216e+02] [-1.71517734e-01 9.85179315e-01 -1.83948073e-03 -4.07822462e+01] [-1.07913078e-02 -1.17004502e-05 9.99941772e-01 -8.19125031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76420382200007 meters 0.023627918642015727 Centerline is valid? [True, True] Translation: X:288.27, Y:-40.79, Z:-8.19 [[ 9.85337791e-01 1.70301147e-01 1.03419626e-02 2.88268234e+02] [-1.70291737e-01 9.85392064e-01 -1.79023515e-03 -4.07895540e+01] [-1.04957670e-02 2.83557487e-06 9.99944918e-01 -8.19493920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79420382200004 meters 0.015025833728221031 Centerline is valid? [True, True] Translation: X:288.30, Y:-40.80, Z:-8.19 [[ 9.85436231e-01 1.69785484e-01 9.39806112e-03 2.88298457e+02] [-1.69777670e-01 9.85481045e-01 -1.62895149e-03 -4.07967154e+01] [-9.53818341e-03 9.64690128e-06 9.99954510e-01 -8.19439435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8242038220001 meters 0.015170363471006587 Centerline is valid? [True, True] Translation: X:288.33, Y:-40.81, Z:-8.20 [[ 9.85658023e-01 1.68505617e-01 9.17157898e-03 2.88329905e+02] [-1.68498114e-01 9.85700693e-01 -1.59032017e-03 -4.08075895e+01] [-9.30840964e-03 2.21180777e-05 9.99956676e-01 -8.19572294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85420382200004 meters 0.026235870976382008 Centerline is valid? [True, True] Translation: X:288.36, Y:-40.82, Z:-8.20 [[ 9.85835427e-01 1.67532486e-01 7.83434675e-03 2.88360157e+02] [-1.67526971e-01 9.85866556e-01 -1.35971435e-03 -4.08183707e+01] [-7.95141677e-03 2.79901961e-05 9.99968387e-01 -8.20144376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884203822 meters 0.016137198664627418 Centerline is valid? [True, True] Translation: X:288.39, Y:-40.83, Z:-8.20 [[ 9.85721335e-01 1.68200759e-01 7.87115148e-03 2.88391200e+02] [-1.68195203e-01 9.85752760e-01 -1.36731003e-03 -4.08255861e+01] [-7.98899188e-03 2.38967437e-05 9.99968087e-01 -8.20193595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91420382200005 meters 0.01619091230475879 Centerline is valid? [True, True] Translation: X:288.42, Y:-40.83, Z:-8.20 [[ 9.85584568e-01 1.69025032e-01 7.32109251e-03 2.88422303e+02] [-1.69020238e-01 9.85611758e-01 -1.27315820e-03 -4.08317754e+01] [-7.43095047e-03 1.73922747e-05 9.99972390e-01 -8.20299418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944203822 meters 0.015007442263841108 Centerline is valid? [True, True] Translation: X:288.45, Y:-40.83, Z:-8.20 [[ 9.85012593e-01 1.72262829e-01 8.70114835e-03 2.88454474e+02] [-1.72256161e-01 9.85051023e-01 -1.51557648e-03 -4.08334225e+01] [-8.83215257e-03 -5.96449910e-06 9.99960996e-01 -8.19948340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97420382200005 meters 0.01500243965786354 Centerline is valid? [True, True] Translation: X:288.49, Y:-40.83, Z:-8.20 [[ 9.84576732e-01 1.74677961e-01 9.81170696e-03 2.88485675e+02] [-1.74669577e-01 9.84625619e-01 -1.71165080e-03 -4.08348807e+01] [-9.95984571e-03 -2.85551466e-05 9.99950399e-01 -8.19920948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004203822 meters 0.015745152323564843 Centerline is valid? [True, True] Translation: X:288.52, Y:-40.84, Z:-8.20 [[ 9.83783751e-01 1.79034347e-01 1.07812073e-02 2.88519266e+02] [-1.79024469e-01 9.83842821e-01 -1.88230252e-03 -4.08358225e+01] [-1.09440102e-02 -7.83212679e-05 9.99940109e-01 -8.19649666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03420382200005 meters 0.01679727331246474 Centerline is valid? [True, True] Translation: X:288.55, Y:-40.84, Z:-8.20 [[ 9.83355670e-01 1.81334637e-01 1.13743566e-02 2.88552113e+02] [-1.81323766e-01 9.83421445e-01 -1.98850121e-03 -4.08387416e+01] [-1.15463704e-02 -1.07037231e-04 9.99933333e-01 -8.19632305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064203822 meters 0.019840829534209115 Centerline is valid? [True, True] Translation: X:288.58, Y:-40.84, Z:-8.20 [[ 9.82561642e-01 1.85577455e-01 1.15597755e-02 2.88584216e+02] [-1.85566483e-01 9.82629627e-01 -2.02398107e-03 -4.08374619e+01] [-1.17345831e-02 -1.56420714e-04 9.99931135e-01 -8.19743152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09420382200005 meters 0.021217024069016183 Centerline is valid? [True, True] Translation: X:288.62, Y:-40.84, Z:-8.20 [[ 9.82214940e-01 1.87457090e-01 1.06606868e-02 2.88616488e+02] [-1.87447857e-01 9.82272779e-01 -1.86772700e-03 -4.08418178e+01] [-1.08218211e-02 -1.63813530e-04 9.99941429e-01 -8.19900876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124203822 meters 0.02335636286901852 Centerline is valid? [True, True] Translation: X:288.65, Y:-40.84, Z:-8.20 [[ 9.81627650e-01 1.90532232e-01 1.02286851e-02 2.88648304e+02] [-1.90523854e-01 9.81680923e-01 -1.79630930e-03 -4.08439285e+01] [-1.03835598e-02 -1.85501622e-04 9.99946072e-01 -8.19885578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15420382200006 meters 0.02386943919231922 Centerline is valid? [True, True] Translation: X:288.68, Y:-40.85, Z:-8.20 [[ 9.81344816e-01 1.92005769e-01 9.80492107e-03 2.88679968e+02] [-1.91998143e-01 9.81393778e-01 -1.72210110e-03 -4.08468182e+01] [-9.95314188e-03 -1.92551650e-04 9.99950448e-01 -8.19920023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18420382200003 meters 0.02528922492831262 Centerline is valid? [True, True] Translation: X:288.71, Y:-40.85, Z:-8.20 [[ 9.81064000e-01 1.93429527e-01 9.92203906e-03 2.88710540e+02] [-1.93421783e-01 9.81114150e-01 -1.74340299e-03 -4.08472079e+01] [-1.00718785e-02 -2.08748573e-04 9.99949256e-01 -8.20052669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21420382200006 meters 0.026883657904247793 Centerline is valid? [True, True] Translation: X:288.74, Y:-40.85, Z:-8.20 [[ 9.81114955e-01 1.93142463e-01 1.04610347e-02 2.88740104e+02] [-1.93133836e-01 9.81170700e-01 -1.83833367e-03 -4.08504326e+01] [-1.06191211e-02 -2.16763114e-04 9.99943592e-01 -8.20260260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24420382200003 meters 0.023171616766618972 Centerline is valid? [True, True] Translation: X:288.77, Y:-40.86, Z:-8.20 [[ 9.81530622e-01 1.90995068e-01 1.08867548e-02 2.88770028e+02] [-1.90985601e-01 9.81590976e-01 -1.91233765e-03 -4.08604994e+01] [-1.10515873e-02 -2.02195443e-04 9.99938909e-01 -8.20042850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27420382200006 meters 0.023137082611633497 Centerline is valid? [True, True] Translation: X:288.80, Y:-40.87, Z:-8.20 [[ 9.81844021e-01 1.89344902e-01 1.14379195e-02 2.88800654e+02] [-1.89334363e-01 9.81910622e-01 -2.00715950e-03 -4.08664758e+01] [-1.16110601e-02 -1.94873652e-04 9.99932570e-01 -8.20276950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30420382200003 meters 0.02036838817467216 Centerline is valid? [True, True] Translation: X:288.83, Y:-40.88, Z:-8.20 [[ 9.82247419e-01 1.87264069e-01 1.10533225e-02 2.88831208e+02] [-1.87254079e-01 9.82309596e-01 -1.94114744e-03 -4.08773718e+01] [-1.12212920e-02 -1.63092671e-04 9.99937026e-01 -8.20284363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33420382200006 meters 0.018112940734949904 Centerline is valid? [True, True] Translation: X:288.86, Y:-40.89, Z:-8.21 [[ 9.83106614e-01 1.82747083e-01 1.02415012e-02 2.88860197e+02] [-1.82738244e-01 9.83159953e-01 -1.80026401e-03 -4.08911194e+01] [-1.03980269e-02 -1.01662498e-04 9.99945934e-01 -8.20711175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36420382200004 meters 0.0253436991840763 Centerline is valid? [True, True] Translation: X:288.89, Y:-40.90, Z:-8.21 [[ 9.83522717e-01 1.80525618e-01 9.67301178e-03 2.88889600e+02] [-1.80517611e-01 9.83570280e-01 -1.70178586e-03 -4.09004039e+01] [-9.82130285e-03 -7.24039298e-05 9.99951767e-01 -8.21254021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39420382200007 meters 0.016122768810219158 Centerline is valid? [True, True] Translation: X:288.92, Y:-40.91, Z:-8.21 [[ 9.83942632e-01 1.78280317e-01 8.54550742e-03 2.88921212e+02] [-1.78273983e-01 9.83979739e-01 -1.50349394e-03 -4.09121816e+01] [-8.67664954e-03 -4.40898599e-05 9.99962356e-01 -8.21185055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42420382200004 meters 0.025314878689114438 Centerline is valid? [True, True] Translation: X:288.95, Y:-40.92, Z:-8.21 [[ 9.84143360e-01 1.77175101e-01 8.41604398e-03 2.88953046e+02] [-1.77168904e-01 9.84179345e-01 -1.48216999e-03 -4.09210149e+01] [-8.54550027e-03 -3.23935383e-05 9.99963486e-01 -8.21463643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45420382200007 meters 0.027854596452529905 Centerline is valid? [True, True] Translation: X:288.98, Y:-40.93, Z:-8.22 [[ 9.84347609e-01 1.76080881e-01 7.43688785e-03 2.88983051e+02] [-1.76075999e-01 9.84375702e-01 -1.31136759e-03 -4.09288467e+01] [-7.55159846e-03 -1.86159057e-05 9.99971486e-01 -8.21757436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48420382200004 meters 0.016362357616539813 Centerline is valid? [True, True] Translation: X:289.01, Y:-40.94, Z:-8.22 [[ 9.84301591e-01 1.76369919e-01 6.63542249e-03 2.89013274e+02] [-1.76366034e-01 9.84323957e-01 -1.17065729e-03 -4.09356507e+01] [-6.73787405e-03 -1.79833113e-05 9.99977300e-01 -8.21858516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51420382200007 meters 0.015509870291837997 Centerline is valid? [True, True] Translation: X:289.04, Y:-40.95, Z:-8.22 [[ 9.84366794e-01 1.76017542e-01 6.31181219e-03 2.89044395e+02] [-1.76014019e-01 9.84387030e-01 -1.11369656e-03 -4.09467375e+01] [-6.40929619e-03 -1.46815145e-05 9.99979460e-01 -8.21684152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54420382200004 meters 0.01530321788746357 Centerline is valid? [True, True] Translation: X:289.08, Y:-40.95, Z:-8.22 [[ 9.84247593e-01 1.76659346e-01 6.93903953e-03 2.89076058e+02] [-1.76655089e-01 9.84272053e-01 -1.22651545e-03 -4.09530207e+01] [-7.04657810e-03 -1.86217680e-05 9.99975172e-01 -8.21637334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5742038220001 meters 0.01538315698157449 Centerline is valid? [True, True] Translation: X:289.11, Y:-40.96, Z:-8.21 [[ 9.83795696e-01 1.79083773e-01 8.66204591e-03 2.89107291e+02] [-1.79077207e-01 9.83833828e-01 -1.53413298e-03 -4.09561545e+01] [-8.79675211e-03 -4.19015638e-05 9.99961307e-01 -8.21468110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60420382200004 meters 0.01628921751718669 Centerline is valid? [True, True] Translation: X:289.14, Y:-40.96, Z:-8.22 [[ 9.83445989e-01 1.80947906e-01 9.58343458e-03 2.89138799e+02] [-1.80939925e-01 9.83492680e-01 -1.70061856e-03 -4.09591707e+01] [-9.73296113e-03 -6.15594289e-05 9.99952632e-01 -8.21501223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634203822 meters 0.020002645435680286 Centerline is valid? [True, True] Translation: X:289.17, Y:-40.96, Z:-8.22 [[ 9.82403407e-01 1.86526610e-01 9.55873618e-03 2.89170852e+02] [-1.86518935e-01 9.82449902e-01 -1.69609633e-03 -4.09565146e+01] [-9.70734652e-03 -1.16634481e-04 9.99952876e-01 -8.21627766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66420382200005 meters 0.022286929688392854 Centerline is valid? [True, True] Translation: X:289.20, Y:-40.96, Z:-8.22 [[ 9.81774478e-01 1.89847107e-01 8.77207507e-03 2.89202721e+02] [-1.89840767e-01 9.81813657e-01 -1.55750497e-03 -4.09583560e+01] [-8.90823092e-03 -1.36178828e-04 9.99960312e-01 -8.21739287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694203822 meters 0.029473450918392777 Centerline is valid? [True, True] Translation: X:289.23, Y:-40.95, Z:-8.22 [[ 9.80534685e-01 1.96134409e-01 9.11181450e-03 2.89234151e+02] [-1.96127795e-01 9.80577001e-01 -1.62269201e-03 -4.09500459e+01] [-9.25310148e-03 -1.95974284e-04 9.99957170e-01 -8.21926498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72420382200005 meters 0.02806880754332945 Centerline is valid? [True, True] Translation: X:289.26, Y:-40.95, Z:-8.22 [[ 9.80060071e-01 1.98474186e-01 9.50026156e-03 2.89264505e+02] [-1.98467108e-01 9.80106089e-01 -1.69151408e-03 -4.09540406e+01] [-9.64698608e-03 -2.27704030e-04 9.99953441e-01 -8.21552320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754203822 meters 0.03203561315997029 Centerline is valid? [True, True] Translation: X:289.29, Y:-40.95, Z:-8.22 [[ 9.79496129e-01 2.01247285e-01 9.32007055e-03 2.89294450e+02] [-2.01240595e-01 9.79540437e-01 -1.65990438e-03 -4.09517911e+01] [-9.46343724e-03 -2.49706623e-04 9.99955190e-01 -8.21868791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78420382200005 meters 0.031900210175154216 Centerline is valid? [True, True] Translation: X:289.32, Y:-40.96, Z:-8.22 [[ 9.79517746e-01 2.01182012e-01 8.41327343e-03 2.89324015e+02] [-2.01176559e-01 9.79553851e-01 -1.49825100e-03 -4.09563914e+01] [-8.54267554e-03 -2.24989952e-04 9.99963485e-01 -8.22073077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814203822 meters 0.031113738982254332 Centerline is valid? [True, True] Translation: X:289.35, Y:-40.96, Z:-8.22 [[ 9.80071484e-01 1.98476536e-01 8.18240271e-03 2.89352571e+02] [-1.98471287e-01 9.80105620e-01 -1.45668255e-03 -4.09591569e+01] [-8.30873619e-03 -1.96318972e-04 9.99965463e-01 -8.22419967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84420382200005 meters 0.02895262968561168 Centerline is valid? [True, True] Translation: X:289.38, Y:-40.97, Z:-8.23 [[ 9.80621587e-01 1.95728264e-01 8.47051518e-03 2.89380953e+02] [-1.95722536e-01 9.80658154e-01 -1.50811659e-03 -4.09665435e+01] [-8.60186082e-03 -1.78979029e-04 9.99962987e-01 -8.22557331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874203822 meters 0.031508473550747734 Centerline is valid? [True, True] Translation: X:289.41, Y:-40.98, Z:-8.23 [[ 9.81346596e-01 1.92049012e-01 8.71983945e-03 2.89410166e+02] [-1.92042805e-01 9.81385324e-01 -1.55157825e-03 -4.09790282e+01] [-8.85550154e-03 -1.51946386e-04 9.99960778e-01 -8.22680226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90420382200006 meters 0.017894094636615652 Centerline is valid? [True, True] Translation: X:289.44, Y:-40.99, Z:-8.22 [[ 9.82751868e-01 1.84703875e-01 9.12390453e-03 2.89439730e+02] [-1.84696764e-01 9.82794216e-01 -1.62313427e-03 -4.09946316e+01] [-9.26671979e-03 -9.00174163e-05 9.99957059e-01 -8.22307509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93420382200003 meters 0.017894094636615652 Centerline is valid? [True, True] Translation: X:289.47, Y:-41.00, Z:-8.22 [[ 9.82720476e-01 1.84870802e-01 9.12429631e-03 2.89470875e+02] [-1.84863719e-01 9.82762829e-01 -1.62093499e-03 -4.10003237e+01] [-9.26668281e-03 -9.38253452e-05 9.99957059e-01 -8.22397659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96420382200006 meters 0.01694863159757282 Centerline is valid? [True, True] Translation: X:289.50, Y:-41.01, Z:-8.23 [[ 9.83244583e-01 1.82035117e-01 9.65953850e-03 2.89501095e+02] [-1.82027021e-01 9.83292027e-01 -1.71824828e-03 -4.10074605e+01] [-9.81092873e-03 -6.88387074e-05 9.99951869e-01 -8.22681651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99420382200003 meters 0.015303675532364376 Centerline is valid? [True, True] Translation: X:289.53, Y:-41.02, Z:-8.23 [[ 9.83963381e-01 1.78101095e-01 9.80129527e-03 2.89531471e+02] [-1.78092549e-01 9.84012195e-01 -1.74503247e-03 -4.10185792e+01] [-9.95538626e-03 -2.84896035e-05 9.99950444e-01 -8.22789991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02420382200006 meters 0.030089173996956754 Centerline is valid? [True, True] Translation: X:289.56, Y:-41.03, Z:-8.23 [[ 9.84142808e-01 1.77128414e-01 9.40523069e-03 2.89563858e+02] [-1.77120491e-01 9.84187749e-01 -1.67540981e-03 -4.10271156e+01] [-9.55327550e-03 -1.70165647e-05 9.99954366e-01 -8.23190488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05420382200003 meters 0.014660543811196913 Centerline is valid? [True, True] Translation: X:289.60, Y:-41.03, Z:-8.23 [[ 9.84201030e-01 1.76831303e-01 8.88950430e-03 2.89596054e+02] [-1.76824197e-01 9.84241175e-01 -1.58527187e-03 -4.10331576e+01] [-9.02974184e-03 -1.16532534e-05 9.99959231e-01 -8.22819413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08420382200006 meters 0.020764444657420444 Centerline is valid? [True, True] Translation: X:289.63, Y:-41.04, Z:-8.23 [[ 9.84190226e-01 1.76885434e-01 9.00793566e-03 2.89628104e+02] [-1.76878127e-01 9.84231448e-01 -1.60782248e-03 -4.10360754e+01] [-9.15029394e-03 -1.09036249e-05 9.99958135e-01 -8.23162524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11420382200004 meters 0.014706664214825603 Centerline is valid? [True, True] Translation: X:289.66, Y:-41.04, Z:-8.23 [[ 9.84028831e-01 1.77759607e-01 9.42245314e-03 2.89659654e+02] [-1.77751630e-01 9.84073941e-01 -1.68407304e-03 -4.10406706e+01] [-9.57175076e-03 -1.76799854e-05 9.99954190e-01 -8.23037698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14420382200007 meters 0.021295119351726847 Centerline is valid? [True, True] Translation: X:289.69, Y:-41.04, Z:-8.23 [[ 9.83638864e-01 1.79884489e-01 9.80594553e-03 2.89691156e+02] [-1.79875934e-01 9.83687740e-01 -1.75476627e-03 -4.10412760e+01] [-9.96164363e-03 -3.77973125e-05 9.99950381e-01 -8.23332515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17420382200004 meters 0.015017829725114099 Centerline is valid? [True, True] Translation: X:289.72, Y:-41.04, Z:-8.23 [[ 9.83358648e-01 1.81392545e-01 1.01249152e-02 2.89723280e+02] [-1.81383489e-01 9.83410770e-01 -1.81336952e-03 -4.10433689e+01] [-1.02858824e-02 -5.32998429e-05 9.99947097e-01 -8.22939939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20420382200007 meters 0.016454653989352787 Centerline is valid? [True, True] Translation: X:289.75, Y:-41.04, Z:-8.23 [[ 9.82928792e-01 1.83688633e-01 1.04631178e-02 2.89754394e+02] [-1.83679039e-01 9.82984476e-01 -1.87884499e-03 -4.10429583e+01] [-1.06302049e-02 -7.50845965e-05 9.99943495e-01 -8.23133973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23420382200004 meters 0.016407057945155533 Centerline is valid? [True, True] Translation: X:289.79, Y:-41.05, Z:-8.23 [[ 9.82762584e-01 1.84570245e-01 1.05607277e-02 2.89785434e+02] [-1.84560523e-01 9.82819321e-01 -1.89629031e-03 -4.10468382e+01] [-1.07292860e-02 -8.54902653e-05 9.99942436e-01 -8.23025725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26420382200007 meters 0.017304182844380685 Centerline is valid? [True, True] Translation: X:289.82, Y:-41.04, Z:-8.23 [[ 9.82430510e-01 1.86301683e-01 1.10442629e-02 2.89816948e+02] [-1.86291151e-01 9.82492581e-01 -1.98384974e-03 -4.10435078e+01] [-1.12205009e-02 -1.08453950e-04 9.99937042e-01 -8.22977757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29420382200004 meters 0.02583538684664122 Centerline is valid? [True, True] Translation: X:289.85, Y:-41.04, Z:-8.23 [[ 9.82327111e-01 1.86836038e-01 1.12134636e-02 2.89846461e+02] [-1.86825214e-01 9.82391104e-01 -2.01445236e-03 -4.10437422e+01] [-1.13923792e-02 -1.16106564e-04 9.99935098e-01 -8.23494063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3242038220001 meters 0.019003580397207925 Centerline is valid? [True, True] Translation: X:289.88, Y:-41.04, Z:-8.23 [[ 9.82190074e-01 1.87612442e-01 1.02093615e-02 2.89877025e+02] [-1.87603510e-01 9.82243126e-01 -1.83418944e-03 -4.10434974e+01] [-1.03721920e-02 -1.13789403e-04 9.99946201e-01 -8.23430020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35420382200004 meters 0.020043121252048705 Centerline is valid? [True, True] Translation: X:289.91, Y:-41.04, Z:-8.24 [[ 9.82171985e-01 1.87729825e-01 9.78284580e-03 2.89906360e+02] [-1.87721630e-01 9.82220699e-01 -1.75757012e-03 -4.10438918e+01] [-9.93886196e-03 -1.10215621e-04 9.99950602e-01 -8.23699274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384203822 meters 0.019377997950768003 Centerline is valid? [True, True] Translation: X:289.94, Y:-41.05, Z:-8.24 [[ 9.82157769e-01 1.87770103e-01 1.04165777e-02 2.89935063e+02] [-1.87760816e-01 9.82212999e-01 -1.87119268e-03 -4.10452894e+01] [-1.05826521e-02 -1.18018710e-04 9.99943995e-01 -8.23557112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41420382200005 meters 0.01852037539301095 Centerline is valid? [True, True] Translation: X:289.96, Y:-41.04, Z:-8.23 [[ 9.82117670e-01 1.87929862e-01 1.12805056e-02 2.89964629e+02] [-1.87918989e-01 9.82182442e-01 -2.02574382e-03 -4.10425928e+01] [-1.14602123e-02 -1.30302397e-04 9.99934321e-01 -8.23307499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444203822 meters 0.018524540055071467 Centerline is valid? [True, True] Translation: X:289.99, Y:-41.04, Z:-8.23 [[ 9.82115429e-01 1.87980558e-01 1.06110633e-02 2.89993904e+02] [-1.87970945e-01 9.82172742e-01 -1.90508350e-03 -4.10439548e+01] [-1.07800158e-02 -1.23559710e-04 9.99941886e-01 -8.23463369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47420382200005 meters 0.01915658193534752 Centerline is valid? [True, True] Translation: X:290.02, Y:-41.04, Z:-8.24 [[ 9.82219640e-01 1.87419368e-01 1.08885086e-02 2.90022593e+02] [-1.87409215e-01 9.82279983e-01 -1.95451333e-03 -4.10404444e+01] [-1.10618777e-02 -1.20845487e-04 9.99938808e-01 -8.23795316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504203822 meters 0.017973712676238086 Centerline is valid? [True, True] Translation: X:290.05, Y:-41.04, Z:-8.24 [[ 9.82403000e-01 1.86459059e-01 1.08335344e-02 2.90051057e+02] [-1.86448960e-01 9.82462726e-01 -1.94374538e-03 -4.10434360e+01] [-1.10059727e-02 -1.10359940e-04 9.99939426e-01 -8.23796470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53420382200005 meters 0.017716365170871266 Centerline is valid? [True, True] Translation: X:290.08, Y:-41.04, Z:-8.24 [[ 9.82801169e-01 1.84345826e-01 1.08848105e-02 2.90079428e+02] [-1.84335506e-01 9.82861439e-01 -1.95260664e-03 -4.10425395e+01] [-1.10582154e-02 -8.74329473e-05 9.99938852e-01 -8.24173284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564203822 meters 0.01600378350344524 Centerline is valid? [True, True] Translation: X:290.11, Y:-41.05, Z:-8.24 [[ 9.83156678e-01 1.82465391e-01 1.04560062e-02 2.90107523e+02] [-1.82455772e-01 9.83212275e-01 -1.87466248e-03 -4.10477730e+01] [-1.06225347e-02 -6.46717563e-05 9.99943577e-01 -8.24158181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59420382200005 meters 0.014289364555069 Centerline is valid? [True, True] Translation: X:290.14, Y:-41.05, Z:-8.24 [[ 9.84089660e-01 1.77366699e-01 1.04208553e-02 2.90136091e+02] [-1.77356860e-01 9.84144834e-01 -1.86820717e-03 -4.10533873e+01] [-1.05869886e-02 -9.72681087e-06 9.99943956e-01 -8.24251568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624203822 meters 0.015065086596895413 Centerline is valid? [True, True] Translation: X:290.16, Y:-41.06, Z:-8.25 [[ 9.84626066e-01 1.74370848e-01 1.03110678e-02 2.90163676e+02] [-1.74361054e-01 9.84680053e-01 -1.84823392e-03 -4.10589481e+01] [-1.04753809e-02 2.19706587e-05 9.99945131e-01 -8.24626423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65420382200006 meters 0.02635438180797824 Centerline is valid? [True, True] Translation: X:290.19, Y:-41.07, Z:-8.25 [[ 9.85609432e-01 1.68802907e-01 8.92336028e-03 2.90192790e+02] [-1.68795353e-01 9.85649823e-01 -1.59846762e-03 -4.10655706e+01] [-9.06513447e-03 6.92430195e-05 9.99958908e-01 -8.24754564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68420382200003 meters 0.02069783145824166 Centerline is valid? [True, True] Translation: X:290.22, Y:-41.07, Z:-8.25 [[ 9.85984854e-01 1.66628027e-01 8.30468636e-03 2.90221162e+02] [-1.66621404e-01 9.86019824e-01 -1.48798774e-03 -4.10707362e+01] [-8.43652585e-03 8.33948737e-05 9.99964408e-01 -8.24769667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71420382200006 meters 0.020484409765448117 Centerline is valid? [True, True] Translation: X:290.25, Y:-41.08, Z:-8.25 [[ 9.86543575e-01 1.63309815e-01 7.85356669e-03 2.90248828e+02] [-1.63303791e-01 9.86574829e-01 -1.40657528e-03 -4.10775042e+01] [-7.97783876e-03 1.05130587e-04 9.99968171e-01 -8.24903142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74420382200003 meters 0.032515947430013264 Centerline is valid? [True, True] Translation: X:290.28, Y:-41.08, Z:-8.25 [[ 9.86752928e-01 1.62027405e-01 8.11040642e-03 2.90276922e+02] [-1.62020941e-01 9.86786251e-01 -1.45221750e-03 -4.10845392e+01] [-8.23853658e-03 1.18924195e-04 9.99966056e-01 -8.25450210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77420382200006 meters 0.03164268704560136 Centerline is valid? [True, True] Translation: X:290.31, Y:-41.08, Z:-8.25 [[ 9.86830290e-01 1.61555063e-01 8.12038178e-03 2.90306038e+02] [-1.61548567e-01 9.86863692e-01 -1.45396066e-03 -4.10843089e+01] [-8.24860465e-03 1.22976386e-04 9.99965972e-01 -8.25089966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80420382200003 meters 0.02043019919933342 Centerline is valid? [True, True] Translation: X:290.33, Y:-41.08, Z:-8.25 [[ 9.86573198e-01 1.63087726e-01 8.70166658e-03 2.90334941e+02] [-1.63080331e-01 9.86611565e-01 -1.55748672e-03 -4.10836449e+01] [-8.83917185e-03 1.17503985e-04 9.99960927e-01 -8.24930035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83420382200006 meters 0.01976700334583837 Centerline is valid? [True, True] Translation: X:290.36, Y:-41.09, Z:-8.25 [[ 9.86400867e-01 1.64100823e-01 9.17873654e-03 2.90362901e+02] [-1.64092642e-01 9.86443565e-01 -1.64255923e-03 -4.10857603e+01] [-9.32385092e-03 1.14058718e-04 9.99956525e-01 -8.24989510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86420382200004 meters 0.019254561667336634 Centerline is valid? [True, True] Translation: X:290.39, Y:-41.09, Z:-8.25 [[ 9.86223337e-01 1.65156201e-01 9.32513599e-03 2.90390407e+02] [-1.65147809e-01 9.86267417e-01 -1.66819196e-03 -4.10878596e+01] [-9.47259003e-03 1.05184059e-04 9.99955128e-01 -8.25069218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89420382200007 meters 0.02209603012754755 Centerline is valid? [True, True] Translation: X:290.42, Y:-41.09, Z:-8.25 [[ 9.85893023e-01 1.67036964e-01 1.06583255e-02 2.90420436e+02] [-1.67026124e-01 9.85950629e-01 -1.90549583e-03 -4.10859556e+01] [-1.08268709e-02 9.83962601e-05 9.99941383e-01 -8.24880713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92420382200004 meters 0.01566038747415498 Centerline is valid? [True, True] Translation: X:290.45, Y:-41.09, Z:-8.25 [[ 9.85665002e-01 1.68302644e-01 1.17781279e-02 2.90449850e+02] [-1.68289505e-01 9.85735366e-01 -2.10495534e-03 -4.10880272e+01] [-1.19643867e-02 9.26454894e-05 9.99928420e-01 -8.24615131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95420382200007 meters 0.022719943988496777 Centerline is valid? [True, True] Translation: X:290.48, Y:-41.09, Z:-8.25 [[ 9.85327082e-01 1.70247552e-01 1.20959395e-02 2.90478366e+02] [-1.70233847e-01 9.85401322e-01 -2.16130219e-03 -4.10874052e+01] [-1.22873112e-02 7.04512657e-05 9.99924506e-01 -8.25105470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98420382200004 meters 0.013940204765249344 Centerline is valid? [True, True] Translation: X:290.51, Y:-41.09, Z:-8.25 [[ 9.85214996e-01 1.70906704e-01 1.19293512e-02 2.90507441e+02] [-1.70893433e-01 9.85287214e-01 -2.13062863e-03 -4.10888165e+01] [-1.21179759e-02 6.04794937e-05 9.99926573e-01 -8.24704515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01420382200007 meters 0.013973390008375337 Centerline is valid? [True, True] Translation: X:290.54, Y:-41.09, Z:-8.25 [[ 9.85023525e-01 1.71994125e-01 1.21110153e-02 2.90535345e+02] [-1.71980535e-01 9.85097974e-01 -2.16261571e-03 -4.10911750e+01] [-1.23024938e-02 4.73684651e-05 9.99924320e-01 -8.25008899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04420382200004 meters 0.013896176831290363 Centerline is valid? [True, True] Translation: X:290.56, Y:-41.10, Z:-8.25 [[ 9.85017609e-01 1.72041308e-01 1.19205290e-02 2.90564037e+02] [-1.72028157e-01 9.85089735e-01 -2.12762360e-03 -4.10952803e+01] [-1.21088299e-02 4.50800834e-05 9.99926684e-01 -8.25046430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0742038220001 meters 0.014314477064279598 Centerline is valid? [True, True] Translation: X:290.59, Y:-41.10, Z:-8.25 [[ 9.84973699e-01 1.72261314e-01 1.23633483e-02 2.90591616e+02] [-1.72247190e-01 9.85051287e-01 -2.20627805e-03 -4.10983959e+01] [-1.25585885e-02 4.35738430e-05 9.99921137e-01 -8.25280560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10420382200004 meters 0.02585786867948764 Centerline is valid? [True, True] Translation: X:290.62, Y:-41.10, Z:-8.25 [[ 9.84961498e-01 1.72364602e-01 1.18866427e-02 2.90620255e+02] [-1.72351567e-01 9.85033219e-01 -2.12014098e-03 -4.11021569e+01] [-1.20741751e-02 3.95757513e-05 9.99927104e-01 -8.25402216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134203822 meters 0.013537179196012987 Centerline is valid? [True, True] Translation: X:290.65, Y:-41.11, Z:-8.25 [[ 9.84842084e-01 1.73073632e-01 1.14711677e-02 2.90648524e+02] [-1.73061546e-01 9.84908888e-01 -2.04552275e-03 -4.11060813e+01] [-1.16520811e-02 2.92988654e-05 9.99932112e-01 -8.25189868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16420382200005 meters 0.013491496409988854 Centerline is valid? [True, True] Translation: X:290.68, Y:-41.11, Z:-8.25 [[ 9.84493456e-01 1.75017862e-01 1.18904705e-02 2.90676962e+02] [-1.75005021e-01 9.84565258e-01 -2.12006311e-03 -4.11073336e+01] [-1.20779931e-02 6.29621278e-06 9.99927058e-01 -8.25357650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194203822 meters 0.013187608856922585 Centerline is valid? [True, True] Translation: X:290.71, Y:-41.11, Z:-8.25 [[ 9.84270114e-01 1.76249736e-01 1.21808277e-02 2.90705817e+02] [-1.76236372e-01 9.84345483e-01 -2.17038741e-03 -4.11098893e+01] [-1.23726729e-02 -1.04574125e-05 9.99923456e-01 -8.25292724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22420382200005 meters 0.014071095677359124 Centerline is valid? [True, True] Translation: X:290.73, Y:-41.11, Z:-8.25 [[ 9.83776705e-01 1.78991110e-01 1.20655162e-02 2.90734663e+02] [-1.78978205e-01 9.83850690e-01 -2.14982322e-03 -4.11085326e+01] [-1.22554656e-02 -4.45184122e-05 9.99924898e-01 -8.25451807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254203822 meters 0.0148442273596109 Centerline is valid? [True, True] Translation: X:290.76, Y:-41.11, Z:-8.26 [[ 9.83483372e-01 1.80585567e-01 1.22192486e-02 2.90763472e+02] [-1.80572475e-01 9.83559276e-01 -2.17550295e-03 -4.11098326e+01] [-1.24112197e-02 -6.68889805e-05 9.99922976e-01 -8.25524587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28420382200005 meters 0.01695048380556398 Centerline is valid? [True, True] Translation: X:290.79, Y:-41.11, Z:-8.26 [[ 9.82769094e-01 1.84427867e-01 1.22991871e-02 2.90792797e+02] [-1.84414909e-01 9.82846045e-01 -2.18931578e-03 -4.11065804e+01] [-1.24919782e-02 -1.16561578e-04 9.99921965e-01 -8.25518532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314203822 meters 0.018642384580883013 Centerline is valid? [True, True] Translation: X:290.82, Y:-41.11, Z:-8.26 [[ 9.82350415e-01 1.86652845e-01 1.21810282e-02 2.90822248e+02] [-1.86640317e-01 9.82425923e-01 -2.16733600e-03 -4.11055089e+01] [-1.23714973e-02 -1.44387556e-04 9.99923460e-01 -8.25568492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34420382200005 meters 0.023042635378847678 Centerline is valid? [True, True] Translation: X:290.85, Y:-41.10, Z:-8.26 [[ 9.81444693e-01 1.91367003e-01 1.20409216e-02 2.90852688e+02] [-1.91355126e-01 9.81518532e-01 -2.14161184e-03 -4.10970998e+01] [-1.22282216e-02 -2.02218499e-04 9.99925212e-01 -8.25694464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374203822 meters 0.025066655592937463 Centerline is valid? [True, True] Translation: X:290.88, Y:-41.10, Z:-8.26 [[ 9.81014449e-01 1.93586654e-01 1.16128337e-02 2.90882158e+02] [-1.93575765e-01 9.81083156e-01 -2.06527473e-03 -4.10968242e+01] [-1.17929652e-02 -2.21898813e-04 9.99930436e-01 -8.25875573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40420382200006 meters 0.028732764308588177 Centerline is valid? [True, True] Translation: X:290.91, Y:-41.09, Z:-8.26 [[ 9.80708396e-01 1.95162123e-01 1.10809739e-02 2.90910449e+02] [-1.95152312e-01 9.80770969e-01 -1.97040091e-03 -4.10945911e+01] [-1.12524452e-02 -2.30088965e-04 9.99936663e-01 -8.26221628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43420382200003 meters 0.027243999792796837 Centerline is valid? [True, True] Translation: X:290.94, Y:-41.10, Z:-8.26 [[ 9.80608041e-01 1.95660056e-01 1.11808997e-02 2.90939366e+02] [-1.95650086e-01 9.80671753e-01 -1.98937463e-03 -4.10963075e+01] [-1.13540337e-02 -2.36747230e-04 9.99935513e-01 -8.26147005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46420382200006 meters 0.026013296672210792 Centerline is valid? [True, True] Translation: X:290.97, Y:-41.10, Z:-8.26 [[ 9.81364346e-01 1.91858425e-01 1.06941643e-02 2.90968034e+02] [-1.91849097e-01 9.81422595e-01 -1.90096562e-03 -4.11016970e+01] [-1.08602108e-02 -1.86125890e-04 9.99941009e-01 -8.26400026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49420382200003 meters 0.023324560362999135 Centerline is valid? [True, True] Translation: X:291.00, Y:-41.10, Z:-8.27 [[ 9.81901604e-01 1.89123507e-01 1.00766538e-02 2.90996137e+02] [-1.89115115e-01 9.81953297e-01 -1.78791357e-03 -4.11040929e+01] [-1.02329399e-02 -1.50092346e-04 9.99947631e-01 -8.26788782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52420382200006 meters 0.019250091085349946 Centerline is valid? [True, True] Translation: X:291.02, Y:-41.11, Z:-8.27 [[ 9.82541675e-01 1.85797941e-01 9.53842660e-03 2.91024067e+02] [-1.85790273e-01 9.82587967e-01 -1.69163701e-03 -4.11131377e+01] [-9.68664587e-03 -1.10043018e-04 9.99953077e-01 -8.26719020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55420382200003 meters 0.014783024578520551 Centerline is valid? [True, True] Translation: X:291.05, Y:-41.13, Z:-8.27 [[ 9.83824442e-01 1.78824531e-01 1.05477057e-02 2.91051602e+02] [-1.78814762e-01 9.83880981e-01 -1.86972456e-03 -4.11262733e+01] [-1.07120397e-02 -4.66047724e-05 9.99942623e-01 -8.26642546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58420382200006 meters 0.02288170782040001 Centerline is valid? [True, True] Translation: X:291.08, Y:-41.13, Z:-8.27 [[ 9.84364134e-01 1.75796533e-01 1.10829376e-02 2.91079237e+02] [-1.75785559e-01 9.84426523e-01 -1.96433994e-03 -4.11339339e+01] [-1.12556618e-02 -1.45945921e-05 9.99936653e-01 -8.26819917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61420382200004 meters 0.014486836721334731 Centerline is valid? [True, True] Translation: X:291.11, Y:-41.14, Z:-8.27 [[ 9.85165752e-01 1.71246293e-01 1.10972320e-02 2.91106188e+02] [-1.71235006e-01 9.85228251e-01 -1.96651898e-03 -4.11419810e+01] [-1.12700656e-02 3.71125554e-05 9.99936490e-01 -8.26754274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64420382200007 meters 0.022021242317221423 Centerline is valid? [True, True] Translation: X:291.13, Y:-41.15, Z:-8.27 [[ 9.85443560e-01 1.69615968e-01 1.14635410e-02 2.91134222e+02] [-1.69603819e-01 9.85510233e-01 -2.03087809e-03 -4.11465577e+01] [-1.16419063e-02 5.70554007e-05 9.99932229e-01 -8.26867321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67420382200004 meters 0.015201328627256781 Centerline is valid? [True, True] Translation: X:291.16, Y:-41.15, Z:-8.27 [[ 9.85671140e-01 1.68387164e-01 9.90788165e-03 2.91162695e+02] [-1.68378035e-01 9.85720934e-01 -1.75436397e-03 -4.11491695e+01] [-1.00618187e-02 6.09562898e-05 9.99949377e-01 -8.26934371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70420382200007 meters 0.028090011102831127 Centerline is valid? [True, True] Translation: X:291.19, Y:-41.15, Z:-8.28 [[ 9.85764571e-01 1.67853280e-01 9.66887037e-03 2.91190409e+02] [-1.67844563e-01 9.85811986e-01 -1.71181086e-03 -4.11518640e+01] [-9.81902137e-03 6.45751712e-05 9.99951790e-01 -8.27515372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73420382200004 meters 0.0163980125439516 Centerline is valid? [True, True] Translation: X:291.22, Y:-41.15, Z:-8.27 [[ 9.85808641e-01 1.67648186e-01 8.68380650e-03 2.91217844e+02] [-1.67641150e-01 9.85846886e-01 -1.53702490e-03 -4.11549839e+01] [-8.81858303e-03 5.94491158e-05 9.99961114e-01 -8.27452142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76420382200007 meters 0.016435040353250233 Centerline is valid? [True, True] Translation: X:291.25, Y:-41.16, Z:-8.27 [[ 9.85980941e-01 1.66656274e-01 8.20187502e-03 2.91246801e+02] [-1.66649969e-01 9.86015052e-01 -1.45109162e-03 -4.11581931e+01] [-8.32900575e-03 6.39064671e-05 9.99965311e-01 -8.27453905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79420382200004 meters 0.01799308737444787 Centerline is valid? [True, True] Translation: X:291.27, Y:-41.16, Z:-8.28 [[ 9.86073838e-01 1.66128714e-01 7.72251608e-03 2.91273401e+02] [-1.66123109e-01 9.86104075e-01 -1.36622608e-03 -4.11647054e+01] [-7.84217396e-03 6.43114153e-05 9.99969248e-01 -8.27934077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8242038220001 meters 0.01848645021807484 Centerline is valid? [True, True] Translation: X:291.30, Y:-41.17, Z:-8.28 [[ 9.86208063e-01 1.65319639e-01 7.94193378e-03 2.91300740e+02] [-1.65313687e-01 9.86240038e-01 -1.40467409e-03 -4.11690001e+01] [-8.06487328e-03 7.23905562e-05 9.99967476e-01 -8.27937939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85420382200004 meters 0.01848645021807484 Centerline is valid? [True, True] Translation: X:291.33, Y:-41.17, Z:-8.28 [[ 9.86219645e-01 1.65250523e-01 7.94203184e-03 2.91327830e+02] [-1.65244574e-01 9.86251621e-01 -1.40411913e-03 -4.11736471e+01] [-8.06487320e-03 7.23922012e-05 9.99967476e-01 -8.28016204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884203822 meters 0.02289242620066905 Centerline is valid? [True, True] Translation: X:291.36, Y:-41.17, Z:-8.28 [[ 9.86038733e-01 1.66261175e-01 9.21083497e-03 2.91357593e+02] [-1.66253230e-01 9.86081749e-01 -1.62706464e-03 -4.11707198e+01] [-9.35315394e-03 7.30176986e-05 9.99956256e-01 -8.27697762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91420382200005 meters 0.015953646211243757 Centerline is valid? [True, True] Translation: X:291.39, Y:-41.17, Z:-8.28 [[ 9.85819886e-01 1.67564623e-01 9.01384649e-03 2.91385596e+02] [-1.67557064e-01 9.85861092e-01 -1.59264938e-03 -4.11728099e+01] [-9.15327224e-03 5.97317742e-05 9.99958106e-01 -8.27719430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944203822 meters 0.014829020733407918 Centerline is valid? [True, True] Translation: X:291.41, Y:-41.17, Z:-8.28 [[ 9.85495474e-01 1.69448369e-01 9.26941126e-03 2.91414297e+02] [-1.69440476e-01 9.85539065e-01 -1.63602322e-03 -4.11743608e+01] [-9.41258837e-03 4.16800263e-05 9.99955700e-01 -8.27718096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97420382200005 meters 0.01443928253312397 Centerline is valid? [True, True] Translation: X:291.44, Y:-41.17, Z:-8.28 [[ 9.84615895e-01 1.74479276e-01 9.40855154e-03 2.91443097e+02] [-1.74471371e-01 9.84660846e-01 -1.66090159e-03 -4.11718888e+01] [-9.55402523e-03 -6.17277936e-06 9.99954359e-01 -8.27890572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004203822 meters 0.015035528824643572 Centerline is valid? [True, True] Translation: X:291.47, Y:-41.17, Z:-8.28 [[ 9.84135567e-01 1.77187390e-01 9.04516138e-03 2.91472007e+02] [-1.77180213e-01 9.84177132e-01 -1.59516415e-03 -4.11712525e+01] [-9.18468396e-03 -3.27658400e-05 9.99957819e-01 -8.27985359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03420382200005 meters 0.017982839927303318 Centerline is valid? [True, True] Translation: X:291.50, Y:-41.16, Z:-8.28 [[ 9.83177292e-01 1.82409866e-01 9.43682179e-03 2.91501024e+02] [-1.82402288e-01 9.83222576e-01 -1.66481404e-03 -4.11639208e+01] [-9.58217473e-03 -8.44905228e-05 9.99954086e-01 -8.28153472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064203822 meters 0.018882144790152038 Centerline is valid? [True, True] Translation: X:291.53, Y:-41.16, Z:-8.28 [[ 9.82841245e-01 1.84164965e-01 1.03127422e-02 2.91529462e+02] [-1.84156010e-01 9.82895342e-01 -1.81949303e-03 -4.11645789e+01] [-1.04714331e-02 -1.10880654e-04 9.99945167e-01 -8.28026440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09420382200005 meters 0.020963339220856067 Centerline is valid? [True, True] Translation: X:291.56, Y:-41.16, Z:-8.28 [[ 9.82358443e-01 1.86618534e-01 1.20587020e-02 2.91557862e+02] [-1.86606538e-01 9.82432438e-01 -2.12235134e-03 -4.11614862e+01] [-1.22429301e-02 -1.65322883e-04 9.99925039e-01 -8.27819913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124203822 meters 0.022476776175798362 Centerline is valid? [True, True] Translation: X:291.59, Y:-41.16, Z:-8.28 [[ 9.82226272e-01 1.87282930e-01 1.25161715e-02 2.91585802e+02] [-1.87270081e-01 9.82305997e-01 -2.20128602e-03 -4.11619922e+01] [-1.27069736e-02 -1.81743492e-04 9.99919247e-01 -8.27976475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15420382200006 meters 0.021024855333426663 Centerline is valid? [True, True] Translation: X:291.61, Y:-41.17, Z:-8.28 [[ 9.82319269e-01 1.86780381e-01 1.27256653e-02 2.91614381e+02] [-1.86767044e-01 9.82401679e-01 -2.23903850e-03 -4.11677164e+01] [-1.29199234e-02 -1.77284230e-04 9.99916519e-01 -8.27910538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18420382200003 meters 0.01867005876507903 Centerline is valid? [True, True] Translation: X:291.64, Y:-41.18, Z:-8.28 [[ 9.82840780e-01 1.83949316e-01 1.36619891e-02 2.91640904e+02] [-1.83933731e-01 9.82935718e-01 -2.39943413e-03 -4.11762281e+01] [-1.38702313e-02 -1.54638918e-04 9.99903792e-01 -8.27917355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21420382200006 meters 0.015198068602797625 Centerline is valid? [True, True] Translation: X:291.67, Y:-41.19, Z:-8.28 [[ 9.83837388e-01 1.78665655e-01 1.19405956e-02 2.91668618e+02] [-1.78653370e-01 9.83909843e-01 -2.09640294e-03 -4.11870870e+01] [-1.21230248e-02 -7.07080528e-05 9.99926511e-01 -8.28165588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24420382200003 meters 0.014302639461685107 Centerline is valid? [True, True] Translation: X:291.70, Y:-41.20, Z:-8.28 [[ 9.84363735e-01 1.75771179e-01 1.15121917e-02 2.91695978e+02] [-1.75759568e-01 9.84431050e-01 -2.02065926e-03 -4.11951444e+01] [-1.16881327e-02 -3.43141508e-05 9.99931691e-01 -8.28350054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27420382200006 meters 0.014064141588565948 Centerline is valid? [True, True] Translation: X:291.72, Y:-41.21, Z:-8.29 [[ 9.85314159e-01 1.70401678e-01 1.09213541e-02 2.91722945e+02] [-1.70390903e-01 9.85374684e-01 -1.91648541e-03 -4.12097527e+01] [-1.10881982e-02 2.74408228e-05 9.99938524e-01 -8.28525679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30420382200003 meters 0.015585425260820034 Centerline is valid? [True, True] Translation: X:291.75, Y:-41.22, Z:-8.29 [[ 9.85746085e-01 1.67920355e-01 1.03638848e-02 2.91749440e+02] [-1.67910517e-01 9.85800564e-01 -1.81842531e-03 -4.12202217e+01] [-1.05220741e-02 5.23003710e-05 9.99944640e-01 -8.28971596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33420382200006 meters 0.02277154817712735 Centerline is valid? [True, True] Translation: X:291.78, Y:-41.23, Z:-8.29 [[ 9.86140685e-01 1.65574784e-01 1.05612265e-02 2.91777167e+02] [-1.65564443e-01 9.86197234e-01 -1.85213945e-03 -4.12275966e+01] [-1.07221199e-02 7.79064972e-05 9.99942513e-01 -8.28981943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36420382200004 meters 0.017470509879398546 Centerline is valid? [True, True] Translation: X:291.80, Y:-41.24, Z:-8.29 [[ 9.86653033e-01 1.62523486e-01 1.00949576e-02 2.91804814e+02] [-1.62513882e-01 9.86704670e-01 -1.76991451e-03 -4.12371965e+01] [-1.02483945e-02 1.05720765e-04 9.99947478e-01 -8.28831622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39420382200007 meters 0.02529307325317702 Centerline is valid? [True, True] Translation: X:291.83, Y:-41.25, Z:-8.29 [[ 9.86859021e-01 1.61297193e-01 9.61713348e-03 2.91831539e+02] [-1.61288421e-01 9.86905873e-01 -1.68594570e-03 -4.12469288e+01] [-9.76314383e-03 1.12658450e-04 9.99952333e-01 -8.29462514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42420382200004 meters 0.020206470239065653 Centerline is valid? [True, True] Translation: X:291.86, Y:-41.25, Z:-8.29 [[ 9.86820171e-01 1.61574121e-01 8.93049198e-03 2.91860058e+02] [-1.61566575e-01 9.86860574e-01 -1.56489793e-03 -4.12512966e+01] [-9.06599746e-03 1.01403848e-04 9.99958898e-01 -8.29319799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45420382200007 meters 0.01826321751874323 Centerline is valid? [True, True] Translation: X:291.89, Y:-41.26, Z:-8.29 [[ 9.86676153e-01 1.62493333e-01 8.12928962e-03 2.91887155e+02] [-1.62487111e-01 9.86709638e-01 -1.42446192e-03 -4.12559975e+01] [-8.25271398e-03 8.45778225e-05 9.99965942e-01 -8.29404552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48420382200004 meters 0.016829775501411053 Centerline is valid? [True, True] Translation: X:291.91, Y:-41.26, Z:-8.29 [[ 9.86281701e-01 1.64832340e-01 8.87161759e-03 2.91914792e+02] [-1.64825026e-01 9.86321598e-01 -1.55436446e-03 -4.12595436e+01] [-9.00647757e-03 7.07766274e-05 9.99959438e-01 -8.29469707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51420382200007 meters 0.01589236691379229 Centerline is valid? [True, True] Translation: X:291.94, Y:-41.26, Z:-8.29 [[ 9.86015214e-01 1.66373306e-01 9.69131986e-03 2.91942270e+02] [-1.66364669e-01 9.86062837e-01 -1.69631514e-03 -4.12633493e+01] [-9.83847191e-03 6.02993117e-05 9.99951599e-01 -8.29474349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54420382200004 meters 0.014452990382440608 Centerline is valid? [True, True] Translation: X:291.97, Y:-41.26, Z:-8.29 [[ 9.85324351e-01 1.70414778e-01 9.73279538e-03 2.91971760e+02] [-1.70406272e-01 9.85372418e-01 -1.70274986e-03 -4.12637193e+01] [-9.88060187e-03 1.92315186e-05 9.99951185e-01 -8.29435786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5742038220001 meters 0.014715089134372401 Centerline is valid? [True, True] Translation: X:292.00, Y:-41.27, Z:-8.30 [[ 9.84999110e-01 1.72254462e-01 1.02544292e-02 2.91999518e+02] [-1.72245124e-01 9.85052486e-01 -1.79363839e-03 -4.12663957e+01] [-1.04101132e-02 4.56792868e-07 9.99945813e-01 -8.29659698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60420382200004 meters 0.014486829470695906 Centerline is valid? [True, True] Translation: X:292.03, Y:-41.27, Z:-8.30 [[ 9.84545970e-01 1.74767679e-01 1.12022919e-02 2.92028157e+02] [-1.74756709e-01 9.84609698e-01 -1.95833377e-03 -4.12693191e+01] [-1.13721387e-02 -2.96060479e-05 9.99935335e-01 -8.29512135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634203822 meters 0.014529282545675625 Centerline is valid? [True, True] Translation: X:292.06, Y:-41.27, Z:-8.30 [[ 9.84428168e-01 1.75438250e-01 1.10726147e-02 2.92056536e+02] [-1.75427581e-01 9.84490436e-01 -1.93515090e-03 -4.12746583e+01] [-1.12403828e-02 -3.74249585e-05 9.99936824e-01 -8.29552824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66420382200005 meters 0.01481860429009442 Centerline is valid? [True, True] Translation: X:292.09, Y:-41.28, Z:-8.30 [[ 9.84263364e-01 1.76384954e-01 1.06760970e-02 2.92085231e+02] [-1.76375096e-01 9.84321262e-01 -1.86538350e-03 -4.12794734e+01] [-1.08377348e-02 -4.69689854e-05 9.99941269e-01 -8.29622978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694203822 meters 0.016121988296800404 Centerline is valid? [True, True] Translation: X:292.11, Y:-41.28, Z:-8.30 [[ 9.83756626e-01 1.79159586e-01 1.11689007e-02 2.92113807e+02] [-1.79148981e-01 9.83820022e-01 -1.95106784e-03 -4.12788720e+01] [-1.13377407e-02 -8.15212625e-05 9.99935722e-01 -8.29617341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72420382200005 meters 0.017915826361349863 Centerline is valid? [True, True] Translation: X:292.14, Y:-41.28, Z:-8.30 [[ 9.83242424e-01 1.81993433e-01 1.06172825e-02 2.92142611e+02] [-1.81983999e-01 9.83299740e-01 -1.85611502e-03 -4.12818100e+01] [-1.07777719e-02 -1.07164501e-04 9.99941912e-01 -8.29846044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754203822 meters 0.0184550180996783 Centerline is valid? [True, True] Translation: X:292.17, Y:-41.29, Z:-8.30 [[ 9.83165369e-01 1.82491935e-01 9.08574689e-03 2.92170276e+02] [-1.82485056e-01 9.83207345e-01 -1.58754173e-03 -4.12887736e+01] [-9.22288664e-03 -9.71969740e-05 9.99957464e-01 -8.30147893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78420382200005 meters 0.020408630257803023 Centerline is valid? [True, True] Translation: X:292.20, Y:-41.29, Z:-8.31 [[ 9.83210534e-01 1.82296349e-01 8.06770348e-03 2.92197222e+02] [-1.82290940e-01 9.83243629e-01 -1.40708184e-03 -4.12933514e+01] [-8.18902393e-03 -8.72115584e-05 9.99966466e-01 -8.30798634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814203822 meters 0.019565572525280194 Centerline is valid? [True, True] Translation: X:292.23, Y:-41.30, Z:-8.31 [[ 9.83456043e-01 1.81028740e-01 6.54272023e-03 2.92225489e+02] [-1.81025144e-01 9.83477804e-01 -1.14266246e-03 -4.12994389e+01] [-6.64147487e-03 -6.06385736e-05 9.99977943e-01 -8.31059717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84420382200005 meters 0.0189147174948776 Centerline is valid? [True, True] Translation: X:292.25, Y:-41.30, Z:-8.31 [[ 9.83643914e-01 1.80026040e-01 5.93935881e-03 2.92254187e+02] [-1.80023062e-01 9.83661844e-01 -1.03675060e-03 -4.13049129e+01] [-6.02896274e-03 -4.94281442e-05 9.99981824e-01 -8.31154055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874203822 meters 0.026416719925842515 Centerline is valid? [True, True] Translation: X:292.28, Y:-41.31, Z:-8.31 [[ 9.84095647e-01 1.77527936e-01 6.29193028e-03 2.92281555e+02] [-1.77524569e-01 9.84115761e-01 -1.09417212e-03 -4.13134438e+01] [-6.38623387e-03 -4.02021939e-05 9.99979607e-01 -8.31255261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90420382200006 meters 0.0172314913688233 Centerline is valid? [True, True] Translation: X:292.31, Y:-41.32, Z:-8.31 [[ 9.84310839e-01 1.76350969e-01 5.70156744e-03 2.92308017e+02] [-1.76348182e-01 9.84327352e-01 -9.91908162e-04 -4.13208990e+01] [-5.78713274e-03 -2.91150950e-05 9.99983254e-01 -8.31254812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93420382200003 meters 0.017077587717497796 Centerline is valid? [True, True] Translation: X:292.33, Y:-41.33, Z:-8.31 [[ 9.84497277e-01 1.75302210e-01 5.85201680e-03 2.92334920e+02] [-1.75299260e-01 9.84514670e-01 -1.01728811e-03 -4.13277211e+01] [-5.93972924e-03 -2.43368424e-05 9.99982359e-01 -8.31415294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96420382200006 meters 0.016694024093690373 Centerline is valid? [True, True] Translation: X:292.36, Y:-41.33, Z:-8.31 [[ 9.84586857e-01 1.74751841e-01 7.10737637e-03 2.92361725e+02] [-1.74747481e-01 9.84612509e-01 -1.23467293e-03 -4.13343476e+01] [-7.21377306e-03 -2.63533752e-05 9.99973980e-01 -8.31345844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99420382200003 meters 0.026600865428256192 Centerline is valid? [True, True] Translation: X:292.39, Y:-41.34, Z:-8.31 [[ 9.84495396e-01 1.75176070e-01 9.06421677e-03 2.92391155e+02] [-1.75168989e-01 9.84537121e-01 -1.57552130e-03 -4.13367533e+01] [-9.20005152e-03 -3.66762206e-05 9.99957678e-01 -8.31157424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02420382200006 meters 0.016056312896766584 Centerline is valid? [True, True] Translation: X:292.42, Y:-41.34, Z:-8.31 [[ 9.84373329e-01 1.75876026e-01 8.76204466e-03 2.92418444e+02] [-1.75869466e-01 9.84412323e-01 -1.51976839e-03 -4.13398890e+01] [-8.89275556e-03 -4.49566477e-05 9.99960458e-01 -8.31039845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05420382200003 meters 0.016945977782635648 Centerline is valid? [True, True] Translation: X:292.45, Y:-41.34, Z:-8.31 [[ 9.84241682e-01 1.76617659e-01 8.63211214e-03 2.92446504e+02] [-1.76611320e-01 9.84279533e-01 -1.49729979e-03 -4.13425685e+01] [-8.76086089e-03 -5.08238512e-05 9.99961622e-01 -8.31282626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08420382200006 meters 0.01728383253149935 Centerline is valid? [True, True] Translation: X:292.48, Y:-41.34, Z:-8.31 [[ 9.84016278e-01 1.77889485e-01 8.20343088e-03 2.92475151e+02] [-1.77883795e-01 9.84050470e-01 -1.42394771e-03 -4.13437772e+01] [-8.32589534e-03 -5.80696895e-05 9.99965337e-01 -8.31291534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11420382200004 meters 0.024141371950652652 Centerline is valid? [True, True] Translation: X:292.50, Y:-41.35, Z:-8.32 [[ 9.83946846e-01 1.78216721e-01 9.34908972e-03 2.92503437e+02] [-1.78209368e-01 9.83991258e-01 -1.62047373e-03 -4.13459917e+01] [-9.48821807e-03 -7.16353545e-05 9.99954983e-01 -8.31540922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14420382200007 meters 0.016304966161687633 Centerline is valid? [True, True] Translation: X:292.53, Y:-41.35, Z:-8.31 [[ 9.83970670e-01 1.78059371e-01 9.82760197e-03 2.92532286e+02] [-1.78051280e-01 9.84019743e-01 -1.69920837e-03 -4.13501976e+01] [-9.97311433e-03 -7.78459167e-05 9.99950264e-01 -8.30965476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17420382200004 meters 0.017257377799210282 Centerline is valid? [True, True] Translation: X:292.56, Y:-41.35, Z:-8.31 [[ 9.84028777e-01 1.77708396e-01 1.03485616e-02 2.92560252e+02] [-1.77699410e-01 9.84083187e-01 -1.78889516e-03 -4.13530060e+01] [-1.05017471e-02 -7.86089590e-05 9.99944852e-01 -8.31305960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20420382200007 meters 0.016920525548357525 Centerline is valid? [True, True] Translation: X:292.59, Y:-41.36, Z:-8.31 [[ 9.84169248e-01 1.76957714e-01 9.84171667e-03 2.92588927e+02] [-1.76949557e-01 9.84218453e-01 -1.70044985e-03 -4.13567575e+01] [-9.98730687e-03 -6.79569563e-05 9.99950123e-01 -8.31407634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23420382200004 meters 0.01643877117827825 Centerline is valid? [True, True] Translation: X:292.62, Y:-41.36, Z:-8.31 [[ 9.84272108e-01 1.76424088e-01 9.10815894e-03 2.92617437e+02] [-1.76417082e-01 9.84314247e-01 -1.57338847e-03 -4.13616869e+01] [-9.24287424e-03 -5.81924320e-05 9.99957282e-01 -8.31422065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26420382200007 meters 0.016150503834974975 Centerline is valid? [True, True] Translation: X:292.65, Y:-41.37, Z:-8.32 [[ 9.84401168e-01 1.75729055e-01 8.58132656e-03 2.92645317e+02] [-1.75722810e-01 9.84438569e-01 -1.48228843e-03 -4.13666060e+01] [-8.70826999e-03 -4.87683596e-05 9.99962081e-01 -8.31515078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29420382200004 meters 0.018487284750411954 Centerline is valid? [True, True] Translation: X:292.67, Y:-41.37, Z:-8.32 [[ 9.84707693e-01 1.74008113e-01 8.48157133e-03 2.92673297e+02] [-1.74001955e-01 9.84744218e-01 -1.46429273e-03 -4.13715991e+01] [-8.60697714e-03 -3.39096747e-05 9.99962959e-01 -8.31782408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3242038220001 meters 0.01503237920068741 Centerline is valid? [True, True] Translation: X:292.70, Y:-41.38, Z:-8.32 [[ 9.85049452e-01 1.72062001e-01 8.49974344e-03 2.92700667e+02] [-1.72055746e-01 9.85086122e-01 -1.46723522e-03 -4.13769881e+01] [-8.62543473e-03 -1.71304494e-05 9.99962800e-01 -8.31701366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35420382200004 meters 0.014866357915381347 Centerline is valid? [True, True] Translation: X:292.73, Y:-41.38, Z:-8.32 [[ 9.85286786e-01 1.70689949e-01 8.65399632e-03 2.92728575e+02] [-1.70683419e-01 9.85324790e-01 -1.49302975e-03 -4.13827383e+01] [-8.78184228e-03 -6.03120011e-06 9.99961439e-01 -8.31753491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384203822 meters 0.025925453488732417 Centerline is valid? [True, True] Translation: X:292.76, Y:-41.39, Z:-8.32 [[ 9.85560152e-01 1.69039711e-01 9.83679738e-03 2.92755900e+02] [-1.69031196e-01 9.85609241e-01 -1.69663536e-03 -4.13889640e+01] [-9.98203715e-03 9.41057531e-06 9.99950178e-01 -8.31972877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41420382200005 meters 0.014913600491174631 Centerline is valid? [True, True] Translation: X:292.78, Y:-41.40, Z:-8.31 [[ 9.86260344e-01 1.64793506e-01 1.15599892e-02 2.92782880e+02] [-1.64781470e-01 9.86328088e-01 -1.99262695e-03 -4.14013087e+01] [-1.17303140e-02 6.03769333e-05 9.99931196e-01 -8.31461719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444203822 meters 0.015458941696141964 Centerline is valid? [True, True] Translation: X:292.81, Y:-41.41, Z:-8.31 [[ 9.86662177e-01 1.62333694e-01 1.20631640e-02 2.92810446e+02] [-1.62320411e-01 9.86735914e-01 -2.07872724e-03 -4.14099948e+01] [-1.22406046e-02 9.29038143e-05 9.99925077e-01 -8.31342621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47420382200005 meters 0.020002242035617096 Centerline is valid? [True, True] Translation: X:292.84, Y:-41.43, Z:-8.31 [[ 9.87593156e-01 1.56531386e-01 1.25572283e-02 2.92836223e+02] [-1.56516530e-01 9.87672970e-01 -2.16336085e-03 -4.14263063e+01] [-1.27410688e-02 1.71106579e-04 9.99918815e-01 -8.31460950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504203822 meters 0.021281441978115778 Centerline is valid? [True, True] Translation: X:292.86, Y:-41.44, Z:-8.31 [[ 9.88060500e-01 1.53516497e-01 1.30051174e-02 2.92863901e+02] [-1.53500314e-01 9.88146061e-01 -2.23945232e-03 -4.14357943e+01] [-1.31947484e-02 2.16424766e-04 9.99912922e-01 -8.31304693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53420382200005 meters 0.027393166172557503 Centerline is valid? [True, True] Translation: X:292.89, Y:-41.45, Z:-8.32 [[ 9.88850555e-01 1.48400092e-01 1.23284978e-02 2.92890219e+02] [-1.48385161e-01 9.88927369e-01 -2.12219070e-03 -4.14526178e+01] [-1.25069222e-02 2.69163313e-04 9.99921749e-01 -8.31648615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564203822 meters 0.03348031746971545 Centerline is valid? [True, True] Translation: X:292.92, Y:-41.46, Z:-8.32 [[ 9.89158064e-01 1.46429945e-01 1.11621987e-02 2.92918784e+02] [-1.46417586e-01 9.89221007e-01 -1.92090058e-03 -4.14599888e+01] [-1.13231588e-02 2.65732105e-04 9.99935856e-01 -8.32018891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59420382200005 meters 0.034039526850407995 Centerline is valid? [True, True] Translation: X:292.94, Y:-41.48, Z:-8.32 [[ 9.89397687e-01 1.44856686e-01 1.04287227e-02 2.92943686e+02] [-1.44845804e-01 9.89452611e-01 -1.79533835e-03 -4.14753845e+01] [-1.05787937e-02 2.65746884e-04 9.99944008e-01 -8.32489596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624203822 meters 0.03306710734821655 Centerline is valid? [True, True] Translation: X:292.97, Y:-41.49, Z:-8.32 [[ 9.89478241e-01 1.44320515e-01 1.02175851e-02 2.92970892e+02] [-1.44310053e-01 9.89530959e-01 -1.75777227e-03 -4.14858133e+01] [-1.03642994e-02 2.64777168e-04 9.99946254e-01 -8.32326300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65420382200006 meters 0.028988456800499086 Centerline is valid? [True, True] Translation: X:293.00, Y:-41.49, Z:-8.32 [[ 9.89243255e-01 1.46000936e-01 9.02828949e-03 2.92999692e+02] [-1.45992840e-01 9.89284428e-01 -1.55294454e-03 -4.14890897e+01] [-9.15827756e-03 2.18174290e-04 9.99958038e-01 -8.32318689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68420382200003 meters 0.03281688233957997 Centerline is valid? [True, True] Translation: X:293.03, Y:-41.49, Z:-8.33 [[ 9.89009110e-01 1.47556492e-01 9.38408306e-03 2.93027680e+02] [-1.47547820e-01 9.89053607e-01 -1.61363392e-03 -4.14947184e+01] [-9.51946336e-03 2.11297645e-04 9.99954667e-01 -8.32603714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71420382200006 meters 0.033206304250068576 Centerline is valid? [True, True] Translation: X:293.06, Y:-41.50, Z:-8.33 [[ 9.88729511e-01 1.49358337e-01 1.02975982e-02 2.93056096e+02] [-1.49348001e-01 9.88783112e-01 -1.76985378e-03 -4.15017595e+01] [-1.04464336e-02 2.11980954e-04 9.99945412e-01 -8.32555280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74420382200003 meters 0.033206304250068576 Centerline is valid? [True, True] Translation: X:293.08, Y:-41.51, Z:-8.33 [[ 9.88736770e-01 1.49310276e-01 1.02976253e-02 2.93084029e+02] [-1.49299939e-01 9.88790370e-01 -1.76969597e-03 -4.15064701e+01] [-1.04464265e-02 2.12328646e-04 9.99945412e-01 -8.32635930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77420382200006 meters 0.02032454175609167 Centerline is valid? [True, True] Translation: X:293.11, Y:-41.51, Z:-8.32 [[ 9.87982983e-01 1.54209036e-01 1.04498222e-02 2.93113255e+02] [-1.54198676e-01 9.88038231e-01 -1.79488203e-03 -4.15121568e+01] [-1.06016109e-02 1.61964154e-04 9.99943788e-01 -8.32185354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80420382200003 meters 0.020134515477908007 Centerline is valid? [True, True] Translation: X:293.14, Y:-41.52, Z:-8.33 [[ 9.87576989e-01 1.56797185e-01 1.03118371e-02 2.93140440e+02] [-1.56787232e-01 9.87630814e-01 -1.77161115e-03 -4.15180941e+01] [-1.04620717e-02 1.32838007e-04 9.99945262e-01 -8.32533103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83420382200006 meters 0.016608785744993835 Centerline is valid? [True, True] Translation: X:293.17, Y:-41.52, Z:-8.33 [[ 9.86711639e-01 1.62118805e-01 1.08459540e-02 2.93168229e+02] [-1.62108128e-01 9.86771243e-01 -1.86230571e-03 -4.15226647e+01] [-1.10043903e-02 7.93414202e-05 9.99939447e-01 -8.32556857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86420382200004 meters 0.014604826055068318 Centerline is valid? [True, True] Translation: X:293.20, Y:-41.53, Z:-8.32 [[ 9.86302368e-01 1.64569448e-01 1.11595368e-02 2.93196443e+02] [-1.64558300e-01 9.86365497e-01 -1.91621583e-03 -4.15274382e+01] [-1.13227327e-02 5.35737997e-05 9.99935894e-01 -8.32348807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89420382200007 meters 0.014394787634275643 Centerline is valid? [True, True] Translation: X:293.22, Y:-41.53, Z:-8.33 [[ 9.85398332e-01 1.69980689e-01 9.83328373e-03 2.93224518e+02] [-1.69972308e-01 9.85447393e-01 -1.68793377e-03 -4.15300768e+01] [-9.97709997e-03 -8.09881666e-06 9.99950227e-01 -8.32622741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92420382200004 meters 0.02825554902615222 Centerline is valid? [True, True] Translation: X:293.25, Y:-41.53, Z:-8.33 [[ 9.84907999e-01 1.72848819e-01 8.91739542e-03 2.93251948e+02] [-1.72842050e-01 9.84948366e-01 -1.53014980e-03 -4.15329347e+01] [-9.04765864e-03 -3.42441221e-05 9.99959069e-01 -8.33445974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95420382200007 meters 0.01741379752769278 Centerline is valid? [True, True] Translation: X:293.28, Y:-41.54, Z:-8.33 [[ 9.84435553e-01 1.75549303e-01 8.31168843e-03 2.93280474e+02] [-1.75543529e-01 9.84470639e-01 -1.42490258e-03 -4.15375992e+01] [-8.43275387e-03 -5.63383589e-05 9.99964442e-01 -8.33268181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98420382200004 meters 0.020262131637953807 Centerline is valid? [True, True] Translation: X:293.31, Y:-41.54, Z:-8.33 [[ 9.83416939e-01 1.81146197e-01 8.78519072e-03 2.93309268e+02] [-1.81139974e-01 9.83456172e-01 -1.50559777e-03 -4.15406774e+01] [-8.91258335e-03 -1.10718872e-04 9.99960276e-01 -8.33136795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01420382200007 meters 0.02250436321833279 Centerline is valid? [True, True] Translation: X:293.34, Y:-41.54, Z:-8.33 [[ 9.82883642e-01 1.84015879e-01 8.82629086e-03 2.93338491e+02] [-1.84009717e-01 9.82923261e-01 -1.51219458e-03 -4.15428533e+01] [-8.95383442e-03 -1.37811967e-04 9.99959904e-01 -8.33181740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04420382200004 meters 0.02814286119130333 Centerline is valid? [True, True] Translation: X:293.37, Y:-41.54, Z:-8.33 [[ 9.81787315e-01 1.89788286e-01 8.60670892e-03 2.93367756e+02] [-1.89782660e-01 9.81825021e-01 -1.47328409e-03 -4.15425828e+01] [-8.72989423e-03 -1.86952475e-04 9.99961876e-01 -8.33359341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0742038220001 meters 0.030177971875480245 Centerline is valid? [True, True] Translation: X:293.40, Y:-41.55, Z:-8.33 [[ 9.81315627e-01 1.92207980e-01 8.70248381e-03 2.93396307e+02] [-1.92202316e-01 9.81354191e-01 -1.49051311e-03 -4.15469098e+01] [-8.82670747e-03 -2.09973732e-04 9.99961022e-01 -8.33444639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10420382200004 meters 0.033743332719517655 Centerline is valid? [True, True] Translation: X:293.42, Y:-41.55, Z:-8.34 [[ 9.80979493e-01 1.93921869e-01 8.57571637e-03 2.93423884e+02] [-1.93916427e-01 9.81016952e-01 -1.46955459e-03 -4.15479666e+01] [-8.69790191e-03 -2.21369359e-04 9.99962148e-01 -8.33650381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134203822 meters 0.0364970915567098 Centerline is valid? [True, True] Translation: X:293.45, Y:-41.55, Z:-8.34 [[ 9.80530897e-01 1.96140185e-01 9.39088474e-03 2.93451882e+02] [-1.96133782e-01 9.80575829e-01 -1.60699603e-03 -4.15484694e+01] [-9.52367110e-03 -2.66160479e-04 9.99954613e-01 -8.33695195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16420382200005 meters 0.03425592518432992 Centerline is valid? [True, True] Translation: X:293.48, Y:-41.56, Z:-8.34 [[ 9.80428465e-01 1.96678554e-01 8.80751330e-03 2.93479365e+02] [-1.96672949e-01 9.80467991e-01 -1.50655378e-03 -4.15578232e+01] [-8.93179169e-03 -2.55131407e-04 9.99960078e-01 -8.33658800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194203822 meters 0.03839225184230104 Centerline is valid? [True, True] Translation: X:293.51, Y:-41.56, Z:-8.34 [[ 9.80491560e-01 1.96384626e-01 8.32939212e-03 2.93507654e+02] [-1.96379606e-01 9.80526910e-01 -1.42443580e-03 -4.15640411e+01] [-8.44693042e-03 -2.39075457e-04 9.99964295e-01 -8.33926751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22420382200005 meters 0.036299112237745935 Centerline is valid? [True, True] Translation: X:293.54, Y:-41.57, Z:-8.34 [[ 9.80565118e-01 1.96027545e-01 8.07777886e-03 2.93535043e+02] [-1.96022800e-01 9.80598363e-01 -1.38279191e-03 -4.15650955e+01] [-8.19212204e-03 -2.27511322e-04 9.99966418e-01 -8.34103540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254203822 meters 0.037253377449089624 Centerline is valid? [True, True] Translation: X:293.56, Y:-41.57, Z:-8.34 [[ 9.80628438e-01 1.95725395e-01 7.70955988e-03 2.93561412e+02] [-1.95721079e-01 9.80658719e-01 -1.31776522e-03 -4.15683209e+01] [-7.81836723e-03 -2.16685331e-04 9.99969413e-01 -8.34408050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28420382200005 meters 0.033409888816281576 Centerline is valid? [True, True] Translation: X:293.59, Y:-41.58, Z:-8.34 [[ 9.80870658e-01 1.94489848e-01 8.15177548e-03 2.93589143e+02] [-1.94484993e-01 9.80904506e-01 -1.39182106e-03 -4.15787906e+01] [-8.26680837e-03 -2.20201554e-04 9.99965805e-01 -8.34146902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314203822 meters 0.03464553260240104 Centerline is valid? [True, True] Translation: X:293.62, Y:-41.58, Z:-8.34 [[ 9.81233637e-01 1.92601937e-01 9.22194586e-03 2.93617803e+02] [-1.92595645e-01 9.81276944e-01 -1.57390846e-03 -4.15839612e+01] [-9.35242067e-03 -2.31734695e-04 9.99956238e-01 -8.34087890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34420382200005 meters 0.028632515086243256 Centerline is valid? [True, True] Translation: X:293.65, Y:-41.59, Z:-8.34 [[ 9.81530973e-01 1.91071688e-01 9.41058398e-03 2.93646002e+02] [-1.91065070e-01 9.81576060e-01 -1.60562675e-03 -4.15906280e+01] [-9.54399376e-03 -2.22061507e-04 9.99954430e-01 -8.33826947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374203822 meters 0.028539634468174268 Centerline is valid? [True, True] Translation: X:293.67, Y:-41.59, Z:-8.34 [[ 9.81873445e-01 1.89294598e-01 9.59650642e-03 2.93674027e+02] [-1.89287637e-01 9.81920318e-01 -1.63682520e-03 -4.15943331e+01] [-9.73284681e-03 -2.09344826e-04 9.99952613e-01 -8.34100566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40420382200006 meters 0.030813699011742423 Centerline is valid? [True, True] Translation: X:293.70, Y:-41.60, Z:-8.34 [[ 9.82205126e-01 1.87579283e-01 9.33293401e-03 2.93701965e+02] [-1.87572625e-01 9.82249448e-01 -1.59145041e-03 -4.16021033e+01] [-9.46579240e-03 -1.87472185e-04 9.99955181e-01 -8.34235163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43420382200003 meters 0.02767971452811353 Centerline is valid? [True, True] Translation: X:293.73, Y:-41.61, Z:-8.34 [[ 9.83001654e-01 1.83330699e-01 9.87938548e-03 2.93729785e+02] [-1.83323033e-01 9.83051286e-01 -1.68380628e-03 -4.16090583e+01] [-1.00206360e-02 -1.55934546e-04 9.99949780e-01 -8.34494848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46420382200006 meters 0.019517636633574108 Centerline is valid? [True, True] Translation: X:293.76, Y:-41.62, Z:-8.34 [[ 9.83596687e-01 1.80113614e-01 9.83077510e-03 2.93757462e+02] [-1.80105863e-01 9.83645806e-01 -1.67538340e-03 -4.16165851e+01] [-9.97176005e-03 -1.22678671e-04 9.99950273e-01 -8.34156703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49420382200003 meters 0.019035133693390535 Centerline is valid? [True, True] Translation: X:293.79, Y:-41.62, Z:-8.34 [[ 9.83832503e-01 1.78849121e-01 9.30579537e-03 2.93785226e+02] [-1.78842121e-01 9.83876507e-01 -1.58574663e-03 -4.16205652e+01] [-9.43936283e-03 -1.04159108e-04 9.99955443e-01 -8.34366313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52420382200006 meters 0.0182803853808645 Centerline is valid? [True, True] Translation: X:293.81, Y:-41.62, Z:-8.34 [[ 9.83988954e-01 1.77985654e-01 9.31903693e-03 2.93813418e+02] [-1.77978604e-01 9.84033077e-01 -1.58717789e-03 -4.16246680e+01] [-9.45273549e-03 -9.68236685e-05 9.99955317e-01 -8.34411459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55420382200003 meters 0.01975009121435324 Centerline is valid? [True, True] Translation: X:293.84, Y:-41.63, Z:-8.35 [[ 9.84246024e-01 1.76556016e-01 9.36688708e-03 2.93840976e+02] [-1.76548830e-01 9.84290590e-01 -1.59507550e-03 -4.16255055e+01] [-9.50135899e-03 -8.37662380e-05 9.99954858e-01 -8.34687831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58420382200006 meters 0.01727663590791339 Centerline is valid? [True, True] Translation: X:293.87, Y:-41.63, Z:-8.35 [[ 9.84399402e-01 1.75681238e-01 9.69119986e-03 2.93869301e+02] [-1.75673513e-01 9.84447102e-01 -1.64937038e-03 -4.16278437e+01] [-9.83023705e-03 -7.88479017e-05 9.99951679e-01 -8.34688029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61420382200004 meters 0.016971746583074935 Centerline is valid? [True, True] Translation: X:293.90, Y:-41.63, Z:-8.35 [[ 9.84662214e-01 1.74206674e-01 9.61035622e-03 2.93897423e+02] [-1.74199005e-01 9.84709110e-01 -1.63587145e-03 -4.16275389e+01] [-9.74838504e-03 -6.33336846e-05 9.99952481e-01 -8.34890545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64420382200007 meters 0.01645218582169933 Centerline is valid? [True, True] Translation: X:293.93, Y:-41.63, Z:-8.35 [[ 9.84893695e-01 1.72921458e-01 9.08734679e-03 2.93925584e+02] [-1.72914559e-01 9.84935616e-01 -1.54539727e-03 -4.16315745e+01] [-9.21768385e-03 -4.92825388e-05 9.99957515e-01 -8.35079061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67420382200004 meters 0.02858588465732975 Centerline is valid? [True, True] Translation: X:293.95, Y:-41.64, Z:-8.35 [[ 9.85455709e-01 1.69752315e-01 7.82286153e-03 2.93954032e+02] [-1.69747104e-01 9.85486758e-01 -1.33021010e-03 -4.16357298e+01] [-7.93513270e-03 -1.70449549e-05 9.99968516e-01 -8.35405030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70420382200007 meters 0.01508611917978276 Centerline is valid? [True, True] Translation: X:293.98, Y:-41.64, Z:-8.35 [[ 9.85833955e-01 1.67547384e-01 7.69979971e-03 2.93981932e+02] [-1.67542267e-01 9.85864024e-01 -1.30942484e-03 -4.16402750e+01] [-7.81034623e-03 8.33571860e-07 9.99969499e-01 -8.35276885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73420382200004 meters 0.014593787003600187 Centerline is valid? [True, True] Translation: X:294.01, Y:-41.64, Z:-8.35 [[ 9.86213886e-01 1.65314154e-01 7.30765386e-03 2.94011011e+02] [-1.65309490e-01 9.86240960e-01 -1.24181523e-03 -4.16439768e+01] [-7.41239719e-03 1.66708929e-05 9.99972528e-01 -8.35144572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76420382200007 meters 0.022297170228997694 Centerline is valid? [True, True] Translation: X:294.04, Y:-41.65, Z:-8.36 [[ 9.86995196e-01 1.60556622e-01 7.87751154e-03 2.94038622e+02] [-1.60551053e-01 9.87026630e-01 -1.33838255e-03 -4.16475327e+01] [-7.99019984e-03 5.62343707e-05 9.99968076e-01 -8.35567110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79420382200004 meters 0.01952687338261515 Centerline is valid? [True, True] Translation: X:294.07, Y:-41.66, Z:-8.35 [[ 9.87949620e-01 1.54521927e-01 8.86130939e-03 2.94066011e+02] [-1.54514645e-01 9.87989352e-01 -1.50469904e-03 -4.16559923e+01] [-8.98738832e-03 1.17364762e-04 9.99959606e-01 -8.35259015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8242038220001 meters 0.022801485116158066 Centerline is valid? [True, True] Translation: X:294.09, Y:-41.67, Z:-8.35 [[ 9.88474018e-01 1.51125221e-01 8.96003870e-03 2.94092005e+02] [-1.51117642e-01 9.88514616e-01 -1.52091738e-03 -4.16653383e+01] [-9.08697819e-03 1.49367399e-04 9.99958701e-01 -8.35449466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85420382200004 meters 0.025847730088195332 Centerline is valid? [True, True] Translation: X:294.12, Y:-41.68, Z:-8.36 [[ 9.89041544e-01 1.47411646e-01 8.16279326e-03 2.94120430e+02] [-1.47405238e-01 9.89075214e-01 -1.38440890e-03 -4.16750570e+01] [-8.27769449e-03 1.65999434e-04 9.99965726e-01 -8.35606504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884203822 meters 0.03217163076979841 Centerline is valid? [True, True] Translation: X:294.15, Y:-41.69, Z:-8.36 [[ 9.90132234e-01 1.39935082e-01 7.50551702e-03 2.94148928e+02] [-1.39929455e-01 9.90160658e-01 -1.27232743e-03 -4.16893053e+01] [-7.60971092e-03 2.09529492e-04 9.99971024e-01 -8.35754131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91420382200005 meters 0.03900203609739646 Centerline is valid? [True, True] Translation: X:294.18, Y:-41.70, Z:-8.36 [[ 9.90561177e-01 1.36862548e-01 7.56293386e-03 2.94175935e+02] [-1.36856739e-01 9.90590020e-01 -1.28277959e-03 -4.16999644e+01] [-7.66733129e-03 2.35633198e-04 9.99970578e-01 -8.36182558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944203822 meters 0.03936663190576535 Centerline is valid? [True, True] Translation: X:294.21, Y:-41.71, Z:-8.36 [[ 9.91214041e-01 1.32047214e-01 7.63271398e-03 2.94205585e+02] [-1.32041161e-01 9.91243390e-01 -1.29381276e-03 -4.17078187e+01] [-7.73672165e-03 2.74612956e-04 9.99970033e-01 -8.35768141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97420382200005 meters 0.0396079106514081 Centerline is valid? [True, True] Translation: X:294.23, Y:-41.71, Z:-8.36 [[ 9.91377389e-01 1.30791213e-01 8.03306986e-03 2.94234613e+02] [-1.30784466e-01 9.91409889e-01 -1.36181553e-03 -4.17133669e+01] [-8.14217841e-03 2.99472376e-04 9.99966807e-01 -8.35692537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004203822 meters 0.04331958568610391 Centerline is valid? [True, True] Translation: X:294.26, Y:-41.72, Z:-8.36 [[ 9.91410039e-01 1.30472373e-01 9.11559556e-03 2.94260743e+02] [-1.30463668e-01 9.91451886e-01 -1.54571919e-03 -4.17229851e+01] [-9.23934806e-03 3.43187489e-04 9.99957257e-01 -8.35788374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03420382200005 meters 0.039664964761238534 Centerline is valid? [True, True] Translation: X:294.29, Y:-41.72, Z:-8.36 [[ 9.91104444e-01 1.32750961e-01 9.44264490e-03 2.94290923e+02] [-1.32741736e-01 9.91149369e-01 -1.59981842e-03 -4.17234885e+01] [-9.57144897e-03 3.32154070e-04 9.99954137e-01 -8.35738658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064203822 meters 0.03203999955845519 Centerline is valid? [True, True] Translation: X:294.32, Y:-41.72, Z:-8.36 [[ 9.90357909e-01 1.38188912e-01 9.74865483e-03 2.94322380e+02] [-1.38179350e-01 9.90405847e-01 -1.65099204e-03 -4.17219807e+01] [-9.88327354e-03 2.88010245e-04 9.99951118e-01 -8.35526845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09420382200005 meters 0.03136079070448184 Centerline is valid? [True, True] Translation: X:294.35, Y:-41.72, Z:-8.36 [[ 9.89776465e-01 1.42250152e-01 1.03655281e-02 2.94351123e+02] [-1.42239557e-01 9.89830705e-01 -1.75605477e-03 -4.17241590e+01] [-1.05099171e-02 2.63713554e-04 9.99944735e-01 -8.35756652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124203822 meters 0.024957016990549613 Centerline is valid? [True, True] Translation: X:294.38, Y:-41.72, Z:-8.36 [[ 9.89090047e-01 1.46964346e-01 1.01173115e-02 2.94382795e+02] [-1.46954507e-01 9.89141768e-01 -1.71319209e-03 -4.17179936e+01] [-1.02592336e-02 2.07716719e-04 9.99947351e-01 -8.35633407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15420382200006 meters 0.023112775617148033 Centerline is valid? [True, True] Translation: X:294.41, Y:-41.71, Z:-8.36 [[ 9.87594942e-01 1.56765857e-01 8.98308472e-03 2.94413654e+02] [-1.56758505e-01 9.87635792e-01 -1.52105585e-03 -4.17081408e+01] [-9.11046561e-03 9.40121344e-05 9.99958494e-01 -8.36149769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18420382200003 meters 0.015995152948501075 Centerline is valid? [True, True] Translation: X:294.44, Y:-41.71, Z:-8.36 [[ 9.86886507e-01 1.61119960e-01 9.76628478e-03 2.94441891e+02] [-1.61111476e-01 9.86934828e-01 -1.65442809e-03 -4.17092733e+01] [-9.90524798e-03 5.92721994e-05 9.99950940e-01 -8.36217944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21420382200006 meters 0.014155970532242877 Centerline is valid? [True, True] Translation: X:294.47, Y:-41.71, Z:-8.36 [[ 9.85790906e-01 1.67668177e-01 1.01819539e-02 2.94471998e+02] [-1.67659306e-01 9.85843488e-01 -1.72471270e-03 -4.17061996e+01] [-1.03269924e-02 -6.89323424e-06 9.99946675e-01 -8.36097991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24420382200003 meters 0.01430430535023603 Centerline is valid? [True, True] Translation: X:294.50, Y:-41.71, Z:-8.36 [[ 9.85426478e-01 1.69799960e-01 1.01306222e-02 2.94500735e+02] [-1.69791309e-01 9.85478550e-01 -1.71430035e-03 -4.17076957e+01] [-1.02745990e-02 -3.07746414e-05 9.99947214e-01 -8.36091880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27420382200006 meters 0.01595752944370081 Centerline is valid? [True, True] Translation: X:294.53, Y:-41.71, Z:-8.36 [[ 9.85065286e-01 1.71899702e-01 9.84252593e-03 2.94528648e+02] [-1.71891643e-01 9.85114455e-01 -1.66531048e-03 -4.17071485e+01] [-9.98228095e-03 -5.14084118e-05 9.99950174e-01 -8.36470722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30420382200003 meters 0.015544037077962442 Centerline is valid? [True, True] Translation: X:294.56, Y:-41.71, Z:-8.36 [[ 9.85016304e-01 1.72196598e-01 9.55054910e-03 2.94557573e+02] [-1.72189032e-01 9.85062601e-01 -1.61511712e-03 -4.17118591e+01] [-9.68600642e-03 -5.35831077e-05 9.99953088e-01 -8.36449605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33420382200006 meters 0.0152296277432071 Centerline is valid? [True, True] Translation: X:294.59, Y:-41.72, Z:-8.37 [[ 9.85072121e-01 1.71905862e-01 9.01615779e-03 2.94586007e+02] [-1.71899110e-01 9.85113380e-01 -1.52438716e-03 -4.17182993e+01] [-9.14398877e-03 -4.82382101e-05 9.99958192e-01 -8.36528970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36420382200004 meters 0.014837258739376667 Centerline is valid? [True, True] Translation: X:294.61, Y:-41.73, Z:-8.37 [[ 9.85530706e-01 1.69260451e-01 8.95134362e-03 2.94612322e+02] [-1.69253688e-01 9.85571357e-01 -1.51321422e-03 -4.17302742e+01] [-9.07831520e-03 -2.37288449e-05 9.99958791e-01 -8.36772980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39420382200007 meters 0.027460563749455467 Centerline is valid? [True, True] Translation: X:294.64, Y:-41.74, Z:-8.37 [[ 9.85781364e-01 1.67802736e-01 8.79451520e-03 2.94639583e+02] [-1.67796153e-01 9.85820593e-01 -1.48641639e-03 -4.17385513e+01] [-8.91923892e-03 -1.04042417e-05 9.99960223e-01 -8.36962157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42420382200004 meters 0.014775710955260922 Centerline is valid? [True, True] Translation: X:294.67, Y:-41.75, Z:-8.37 [[ 9.86114362e-01 1.65802971e-01 9.37224959e-03 2.94666312e+02] [-1.65795415e-01 9.86158899e-01 -1.58295699e-03 -4.17486065e+01] [-9.50498631e-03 7.10061788e-06 9.99954827e-01 -8.36926106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45420382200007 meters 0.014440651228579056 Centerline is valid? [True, True] Translation: X:294.69, Y:-41.76, Z:-8.37 [[ 9.86146137e-01 1.65586552e-01 9.84331735e-03 2.94694657e+02] [-1.65578216e-01 9.86195261e-01 -1.66153382e-03 -4.17553456e+01] [-9.98256059e-03 8.67622386e-06 9.99950173e-01 -8.36849713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48420382200004 meters 0.013833052087432554 Centerline is valid? [True, True] Translation: X:294.72, Y:-41.76, Z:-8.37 [[ 9.86057681e-01 1.66067725e-01 1.05716705e-02 2.94723051e+02] [-1.66058144e-01 9.86114350e-01 -1.78387093e-03 -4.17610698e+01] [-1.07211194e-02 3.48764626e-06 9.99942527e-01 -8.36648983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51420382200007 meters 0.013685440895132264 Centerline is valid? [True, True] Translation: X:294.75, Y:-41.76, Z:-8.36 [[ 9.85552965e-01 1.68914467e-01 1.23796873e-02 2.94752435e+02] [-1.68901566e-01 9.85630713e-01 -2.08790261e-03 -4.17634309e+01] [-1.25544770e-02 -3.32099716e-05 9.99921189e-01 -8.36470815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54420382200004 meters 0.014426595068348569 Centerline is valid? [True, True] Translation: X:294.78, Y:-41.76, Z:-8.37 [[ 9.85135670e-01 1.71328541e-01 1.24194098e-02 2.94780962e+02] [-1.71315750e-01 9.85213950e-01 -2.09453113e-03 -4.17644595e+01] [-1.25946287e-02 -6.42431715e-05 9.99920682e-01 -8.36521981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5742038220001 meters 0.018931564341263585 Centerline is valid? [True, True] Translation: X:294.81, Y:-41.76, Z:-8.37 [[ 9.84215513e-01 1.76553041e-01 1.22002823e-02 2.94809584e+02] [-1.76541107e-01 9.84291119e-01 -2.05683810e-03 -4.17604393e+01] [-1.23717705e-02 -1.29479370e-04 9.99923458e-01 -8.36968191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60420382200004 meters 0.030355391955085985 Centerline is valid? [True, True] Translation: X:294.84, Y:-41.76, Z:-8.37 [[ 9.83775416e-01 1.79044777e-01 1.13533542e-02 2.94837878e+02] [-1.79034609e-01 9.83840915e-01 -1.91403863e-03 -4.17630826e+01] [-1.15125930e-02 -1.49659179e-04 9.99933717e-01 -8.37065176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6342038220001 meters 0.030259313030990526 Centerline is valid? [True, True] Translation: X:294.87, Y:-41.76, Z:-8.37 [[ 9.82975834e-01 1.83428655e-01 1.06036753e-02 2.94867020e+02] [-1.83420058e-01 9.83033007e-01 -1.78602063e-03 -4.17589525e+01] [-1.07513702e-02 -1.89311614e-04 9.99942184e-01 -8.37317442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66420382200005 meters 0.030259313030990526 Centerline is valid? [True, True] Translation: X:294.89, Y:-41.76, Z:-8.37 [[ 9.82989484e-01 1.83355491e-01 1.06036911e-02 2.94894147e+02] [-1.83346890e-01 9.83046656e-01 -1.78592718e-03 -4.17633822e+01] [-1.07513826e-02 -1.88606144e-04 9.99942184e-01 -8.37395706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694203822 meters 0.02434676112340009 Centerline is valid? [True, True] Translation: X:294.92, Y:-41.77, Z:-8.37 [[ 9.82687300e-01 1.84966119e-01 1.06397747e-02 2.94923343e+02] [-1.84957568e-01 9.82744876e-01 -1.79075275e-03 -4.17657936e+01] [-1.07874127e-02 -2.08156872e-04 9.99941793e-01 -8.37221864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72420382200005 meters 0.029969435073037388 Centerline is valid? [True, True] Translation: X:294.95, Y:-41.76, Z:-8.38 [[ 9.82249440e-01 1.87332145e-01 9.62834815e-03 2.94952744e+02] [-1.87325261e-01 9.82296606e-01 -1.61991658e-03 -4.17615394e+01] [-9.76135616e-03 -2.12470681e-04 9.99952334e-01 -8.37806151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754203822 meters 0.03024274464537832 Centerline is valid? [True, True] Translation: X:294.98, Y:-41.76, Z:-8.38 [[ 9.82185910e-01 1.87690956e-01 9.10731019e-03 2.94981438e+02] [-1.87684792e-01 9.82228112e-01 -1.53448426e-03 -4.17637921e+01] [-9.23346491e-03 -2.02154799e-04 9.99957350e-01 -8.37902669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78420382200005 meters 0.028558601075275872 Centerline is valid? [True, True] Translation: X:295.01, Y:-41.77, Z:-8.38 [[ 9.82203215e-01 1.87605485e-01 9.00148990e-03 2.95008735e+02] [-1.87599468e-01 9.82244441e-01 -1.51577967e-03 -4.17677578e+01] [-9.12603200e-03 -1.99871058e-04 9.99958337e-01 -8.37811468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814203822 meters 0.028069373844901147 Centerline is valid? [True, True] Translation: X:295.04, Y:-41.77, Z:-8.38 [[ 9.82395846e-01 1.86634852e-01 8.11383867e-03 2.95036800e+02] [-1.86629939e-01 9.82429337e-01 -1.36521010e-03 -4.17692801e+01] [-8.22606893e-03 -1.73108486e-04 9.99966150e-01 -8.38090102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84420382200005 meters 0.02798877452340388 Centerline is valid? [True, True] Translation: X:295.06, Y:-41.77, Z:-8.38 [[ 9.82549570e-01 1.85858987e-01 7.26496742e-03 2.95064132e+02] [-1.85855034e-01 9.82576417e-01 -1.22147446e-03 -4.17731085e+01] [-7.36540766e-03 -1.50071565e-04 9.99972864e-01 -8.38362146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874203822 meters 0.025578353623245367 Centerline is valid? [True, True] Translation: X:295.09, Y:-41.78, Z:-8.39 [[ 9.83052886e-01 1.83189488e-01 6.97391179e-03 2.95092251e+02] [-1.83185790e-01 9.83077614e-01 -1.17083600e-03 -4.17794037e+01] [-7.07038141e-03 -1.26527832e-04 9.99974997e-01 -8.38562037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90420382200006 meters 0.02451899144525794 Centerline is valid? [True, True] Translation: X:295.12, Y:-41.78, Z:-8.39 [[ 9.83359081e-01 1.81546574e-01 6.76453003e-03 2.95119559e+02] [-1.81543076e-01 9.83382341e-01 -1.13283542e-03 -4.17846027e+01] [-6.85778177e-03 -1.14069588e-04 9.99976479e-01 -8.38737295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93420382200003 meters 0.024786133345232053 Centerline is valid? [True, True] Translation: X:295.15, Y:-41.79, Z:-8.39 [[ 9.83696244e-01 1.79734248e-01 6.10737852e-03 2.95147452e+02] [-1.79731368e-01 9.83715198e-01 -1.02178616e-03 -4.17883304e+01] [-6.19157104e-03 -9.25602891e-05 9.99980828e-01 -8.39174573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96420382200006 meters 0.019906854804181164 Centerline is valid? [True, True] Translation: X:295.18, Y:-41.80, Z:-8.39 [[ 9.84487957e-01 1.75335968e-01 6.38440869e-03 2.95175098e+02] [-1.75332732e-01 9.84508656e-01 -1.06738641e-03 -4.17981890e+01] [-6.47265685e-03 -6.85667509e-05 9.99979050e-01 -8.39000063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99420382200003 meters 0.017758884228400943 Centerline is valid? [True, True] Translation: X:295.20, Y:-41.81, Z:-8.39 [[ 9.84903653e-01 1.72956499e-01 7.13044521e-03 2.95203392e+02] [-1.72952404e-01 9.84929462e-01 -1.19160202e-03 -4.18057205e+01] [-7.22908088e-03 -5.96144541e-05 9.99973868e-01 -8.38900926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02420382200006 meters 0.02329474318506347 Centerline is valid? [True, True] Translation: X:295.23, Y:-41.81, Z:-8.39 [[ 9.85615409e-01 1.68862520e-01 6.90763202e-03 2.95231137e+02] [-1.68858579e-01 9.85639614e-01 -1.15405572e-03 -4.18134493e+01] [-7.00331252e-03 -2.89578300e-05 9.99975476e-01 -8.39106706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05420382200003 meters 0.014534620961453875 Centerline is valid? [True, True] Translation: X:295.26, Y:-41.82, Z:-8.39 [[ 9.86008010e-01 1.66475012e-01 8.61827957e-03 2.95258888e+02] [-1.66468792e-01 9.86045674e-01 -1.43908224e-03 -4.18217117e+01] [-8.73758852e-03 -1.57279711e-05 9.99961826e-01 -8.38738760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08420382200006 meters 0.014846216803377207 Centerline is valid? [True, True] Translation: X:295.28, Y:-41.83, Z:-8.39 [[ 9.86749980e-01 1.61915976e-01 1.03775195e-02 2.95284597e+02] [-1.61906707e-01 9.86804548e-01 -1.73269650e-03 -4.18347549e+01] [-1.05211347e-02 2.95482191e-05 9.99944651e-01 -8.38840650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11420382200004 meters 0.014506245240191437 Centerline is valid? [True, True] Translation: X:295.31, Y:-41.84, Z:-8.39 [[ 9.87018343e-01 1.60286772e-01 1.01459868e-02 2.95313050e+02] [-1.60277842e-01 9.87070488e-01 -1.69250189e-03 -4.18415208e+01] [-1.02860898e-02 4.43535429e-05 9.99947096e-01 -8.38609179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14420382200007 meters 0.014958118422206698 Centerline is valid? [True, True] Translation: X:295.34, Y:-41.85, Z:-8.39 [[ 9.87224237e-01 1.59021701e-01 1.00202113e-02 2.95341385e+02] [-1.59012930e-01 9.87275086e-01 -1.67103982e-03 -4.18482518e+01] [-1.01584366e-02 5.63478456e-05 9.99948400e-01 -8.38707353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17420382200004 meters 0.01573550630059576 Centerline is valid? [True, True] Translation: X:295.37, Y:-41.86, Z:-8.39 [[ 9.87490378e-01 1.57376918e-01 9.76009902e-03 2.95369218e+02] [-1.57368521e-01 9.87538607e-01 -1.62720926e-03 -4.18568162e+01] [-9.89455977e-03 7.09211332e-05 9.99951045e-01 -8.38852700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20420382200007 meters 0.016226422407139358 Centerline is valid? [True, True] Translation: X:295.40, Y:-41.86, Z:-8.39 [[ 9.87555853e-01 1.57025036e-01 8.75074213e-03 2.95396958e+02] [-1.57018276e-01 9.87594620e-01 -1.45863150e-03 -4.18636312e+01] [-8.87122751e-03 6.64536308e-05 9.99960648e-01 -8.39111529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23420382200004 meters 0.016294866101789204 Centerline is valid? [True, True] Translation: X:295.42, Y:-41.87, Z:-8.39 [[ 9.87603245e-01 1.56745021e-01 8.41603237e-03 2.95424608e+02] [-1.56738760e-01 9.87639101e-01 -1.40248230e-03 -4.18701710e+01] [-8.53183476e-03 6.59775878e-05 9.99963601e-01 -8.39231321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26420382200007 meters 0.01644855072368633 Centerline is valid? [True, True] Translation: X:295.45, Y:-41.88, Z:-8.39 [[ 9.87681447e-01 1.56254723e-01 8.35589769e-03 2.95452568e+02] [-1.56248538e-01 9.87716790e-01 -1.39204866e-03 -4.18768696e+01] [-8.47077462e-03 6.93038378e-05 9.99964120e-01 -8.39290559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29420382200004 meters 0.01674463035518176 Centerline is valid? [True, True] Translation: X:295.48, Y:-41.88, Z:-8.39 [[ 9.87769466e-01 1.55649493e-01 9.20422071e-03 2.95479322e+02] [-1.55641964e-01 9.87812345e-01 -1.53299924e-03 -4.18840703e+01] [-9.33065340e-03 8.16868506e-05 9.99956465e-01 -8.39250573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3242038220001 meters 0.017267948962454358 Centerline is valid? [True, True] Translation: X:295.51, Y:-41.89, Z:-8.39 [[ 9.87753804e-01 1.55747828e-01 9.22158572e-03 2.95505886e+02] [-1.55740277e-01 9.87796845e-01 -1.53576119e-03 -4.18901059e+01] [-9.34824475e-03 8.07816365e-05 9.99956301e-01 -8.39474748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35420382200004 meters 0.025272456963357663 Centerline is valid? [True, True] Translation: X:295.54, Y:-41.89, Z:-8.40 [[ 9.87307495e-01 1.58584269e-01 8.65674000e-03 2.95535210e+02] [-1.58577737e-01 9.87345445e-01 -1.44012300e-03 -4.18923108e+01] [-8.77557366e-03 4.90779919e-05 9.99961493e-01 -8.39718420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3842038220001 meters 0.014771876867193985 Centerline is valid? [True, True] Translation: X:295.56, Y:-41.89, Z:-8.40 [[ 9.86873691e-01 1.61275492e-01 8.39847938e-03 2.95563976e+02] [-1.61269442e-01 9.86909426e-01 -1.39712200e-03 -4.18930461e+01] [-8.51386000e-03 2.43648565e-05 9.99963756e-01 -8.39641228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41420382200005 meters 0.020805803866470532 Centerline is valid? [True, True] Translation: X:295.59, Y:-41.89, Z:-8.40 [[ 9.86312971e-01 1.64725665e-01 7.22346985e-03 2.95592829e+02] [-1.64721281e-01 9.86339422e-01 -1.20175656e-03 -4.18917501e+01] [-7.32275322e-03 -4.55112634e-06 9.99973188e-01 -8.40049952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444203822 meters 0.024195529611404483 Centerline is valid? [True, True] Translation: X:295.62, Y:-41.89, Z:-8.40 [[ 9.85132673e-01 1.71649877e-01 7.06653955e-03 2.95623163e+02] [-1.71645864e-01 9.85158016e-01 -1.17498769e-03 -4.18855629e+01] [-7.16334458e-03 -5.54235219e-05 9.99974341e-01 -8.40227591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47420382200005 meters 0.020435559387835384 Centerline is valid? [True, True] Translation: X:295.65, Y:-41.88, Z:-8.40 [[ 9.84240206e-01 1.76614240e-01 8.86721561e-03 2.95652064e+02] [-1.76608128e-01 9.84280141e-01 -1.47382791e-03 -4.18809499e+01] [-8.98812323e-03 -1.15421662e-04 9.99959599e-01 -8.39875435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504203822 meters 0.02115008002575608 Centerline is valid? [True, True] Translation: X:295.68, Y:-41.88, Z:-8.40 [[ 9.83997090e-01 1.77964106e-01 8.86029015e-03 2.95681197e+02] [-1.77958065e-01 9.84036971e-01 -1.47189084e-03 -4.18840215e+01] [-8.98079682e-03 -1.28423788e-04 9.99959664e-01 -8.39890554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53420382200005 meters 0.022253835576159203 Centerline is valid? [True, True] Translation: X:295.71, Y:-41.89, Z:-8.40 [[ 9.83890832e-01 1.78549312e-01 8.88675347e-03 2.95708858e+02] [-1.78543261e-01 9.83930955e-01 -1.47607238e-03 -4.18859872e+01] [-9.00750354e-03 -1.34375865e-04 9.99959423e-01 -8.40048882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564203822 meters 0.02847506295933882 Centerline is valid? [True, True] Translation: X:295.74, Y:-41.89, Z:-8.40 [[ 9.83957046e-01 1.78128044e-01 9.94643131e-03 2.95736743e+02] [-1.78120451e-01 9.84007306e-01 -1.65120251e-03 -4.18856462e+01] [-1.00814866e-02 -1.46950490e-04 9.99949170e-01 -8.40252055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59420382200005 meters 0.0186189879109039 Centerline is valid? [True, True] Translation: X:295.76, Y:-41.90, Z:-8.40 [[ 9.84502828e-01 1.75057469e-01 1.04434334e-02 2.95764165e+02] [-1.75048935e-01 9.84558209e-01 -1.73277745e-03 -4.18972310e+01] [-1.05855037e-02 -1.22187596e-04 9.99943965e-01 -8.39969987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624203822 meters 0.017694100695817217 Centerline is valid? [True, True] Translation: X:295.79, Y:-41.90, Z:-8.40 [[ 9.84860743e-01 1.73008505e-01 1.08339665e-02 2.95791432e+02] [-1.72999202e-01 9.84920325e-01 -1.79717820e-03 -4.19044223e+01] [-1.09815209e-02 -1.04297304e-04 9.99939696e-01 -8.40127307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65420382200006 meters 0.01670498654075098 Centerline is valid? [True, True] Translation: X:295.82, Y:-41.91, Z:-8.40 [[ 9.85233153e-01 1.70854795e-01 1.11477553e-02 2.95818479e+02] [-1.70844816e-01 9.85296215e-01 -1.84844929e-03 -4.19112362e+01] [-1.12996575e-02 -8.33826748e-05 9.99936153e-01 -8.40279222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68420382200003 meters 0.014811975040575059 Centerline is valid? [True, True] Translation: X:295.85, Y:-41.92, Z:-8.40 [[ 9.86025404e-01 1.66265990e-01 1.04653500e-02 2.95846309e+02] [-1.66256945e-01 9.86080940e-01 -1.73452004e-03 -4.19212001e+01] [-1.06080739e-02 -2.96562950e-05 9.99943732e-01 -8.40448017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71420382200006 meters 0.014249937641925963 Centerline is valid? [True, True] Translation: X:295.87, Y:-41.93, Z:-8.40 [[ 9.86363653e-01 1.64245518e-01 1.04954252e-02 2.95874729e+02] [-1.64236311e-01 9.86419490e-01 -1.73900368e-03 -4.19289225e+01] [-1.06385156e-02 -8.43990830e-06 9.99943409e-01 -8.40499266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74420382200003 meters 0.018640206822257033 Centerline is valid? [True, True] Translation: X:295.90, Y:-41.94, Z:-8.41 [[ 9.86639727e-01 1.62606677e-01 1.00557066e-02 2.95902975e+02] [-1.62598146e-01 9.86690969e-01 -1.66572602e-03 -4.19355895e+01] [-1.01927331e-02 8.43222356e-06 9.99948053e-01 -8.40741196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77420382200006 meters 0.021106660247741372 Centerline is valid? [True, True] Translation: X:295.93, Y:-41.94, Z:-8.41 [[ 9.86936616e-01 1.60913574e-01 7.93333038e-03 2.95929557e+02] [-1.60908208e-01 9.86968501e-01 -1.31429755e-03 -4.19422283e+01] [-8.04143551e-03 2.05904025e-05 9.99967667e-01 -8.41356406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80420382200003 meters 0.015755258411565633 Centerline is valid? [True, True] Translation: X:295.96, Y:-41.95, Z:-8.41 [[ 9.87064581e-01 1.60177757e-01 6.82633760e-03 2.95957462e+02] [-1.60173769e-01 9.87088185e-01 -1.13047988e-03 -4.19482366e+01] [-6.91927492e-03 2.24564275e-05 9.99976061e-01 -8.41300034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83420382200006 meters 0.015792982474423435 Centerline is valid? [True, True] Translation: X:295.98, Y:-41.95, Z:-8.41 [[ 9.87091916e-01 1.60003882e-01 6.95029080e-03 2.95983502e+02] [-1.59999741e-01 9.87116385e-01 -1.15141766e-03 -4.19535206e+01] [-7.04497723e-03 2.45103384e-05 9.99975184e-01 -8.41466711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86420382200004 meters 0.02426771401840013 Centerline is valid? [True, True] Translation: X:296.01, Y:-41.96, Z:-8.42 [[ 9.87130489e-01 1.59770042e-01 6.85060748e-03 2.96011548e+02] [-1.59766022e-01 9.87154260e-01 -1.13355917e-03 -4.19587595e+01] [-6.94371515e-03 2.44765176e-05 9.99975892e-01 -8.41656417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89420382200007 meters 0.016211608816454642 Centerline is valid? [True, True] Translation: X:296.04, Y:-41.97, Z:-8.41 [[ 9.87354441e-01 1.58318086e-01 8.16036582e-03 2.96038498e+02] [-1.58312332e-01 9.87388162e-01 -1.35037816e-03 -4.19663514e+01] [-8.27123790e-03 4.14153271e-05 9.99965792e-01 -8.41442919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92420382200004 meters 0.015594263607979143 Centerline is valid? [True, True] Translation: X:296.07, Y:-41.97, Z:-8.41 [[ 9.87488600e-01 1.57392962e-01 9.68094864e-03 2.96066382e+02] [-1.57384839e-01 9.87536051e-01 -1.59998585e-03 -4.19729566e+01] [-9.81211230e-03 5.63332440e-05 9.99951858e-01 -8.41150760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95420382200007 meters 0.015733360761207814 Centerline is valid? [True, True] Translation: X:296.09, Y:-41.98, Z:-8.41 [[ 9.87763359e-01 1.55481347e-01 1.22105070e-02 2.96093801e+02] [-1.55468291e-01 9.87838824e-01 -2.01708243e-03 -4.19838438e+01] [-1.23756315e-02 9.40534595e-05 9.99923415e-01 -8.40821546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98420382200004 meters 0.02766672581918602 Centerline is valid? [True, True] Translation: X:296.12, Y:-41.99, Z:-8.41 [[ 9.87885944e-01 1.54747323e-01 1.16029247e-02 2.96121585e+02] [-1.54735489e-01 9.87954076e-01 -1.91621175e-03 -4.19901983e+01] [-1.17596854e-02 9.76144192e-05 9.99930848e-01 -8.41171381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01420382200007 meters 0.01681764531437722 Centerline is valid? [True, True] Translation: X:296.15, Y:-42.00, Z:-8.41 [[ 9.87951223e-01 1.54374388e-01 1.09967889e-02 2.96149192e+02] [-1.54363741e-01 9.88012418e-01 -1.81564196e-03 -4.19975838e+01] [-1.11452526e-02 9.62602244e-05 9.99937885e-01 -8.41211893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04420382200004 meters 0.016342772929063235 Centerline is valid? [True, True] Translation: X:296.18, Y:-42.00, Z:-8.41 [[ 9.87892889e-01 1.54755691e-01 1.08773167e-02 2.96177050e+02] [-1.54745298e-01 9.87952766e-01 -1.79583175e-03 -4.20032675e+01] [-1.10241903e-02 9.08758015e-05 9.99939228e-01 -8.41248714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0742038220001 meters 0.01836256127791616 Centerline is valid? [True, True] Translation: X:296.20, Y:-42.01, Z:-8.42 [[ 9.87714081e-01 1.55921006e-01 1.04658818e-02 2.96203698e+02] [-1.55911455e-01 9.87769525e-01 -1.72741897e-03 -4.20081661e+01] [-1.06072200e-02 7.44451843e-05 9.99943739e-01 -8.41638090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10420382200004 meters 0.014870895660025992 Centerline is valid? [True, True] Translation: X:296.23, Y:-42.01, Z:-8.42 [[ 9.87043281e-01 1.60189552e-01 9.21243072e-03 2.96232791e+02] [-1.60182349e-01 9.87086271e-01 -1.51933240e-03 -4.20086021e+01] [-9.33684506e-03 2.39780435e-05 9.99956410e-01 -8.41735268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1342038220001 meters 0.014925963345906497 Centerline is valid? [True, True] Translation: X:296.26, Y:-42.01, Z:-8.42 [[ 9.86571348e-01 1.63078057e-01 9.08415676e-03 2.96260359e+02] [-1.63071166e-01 9.86613170e-01 -1.49919625e-03 -4.20085586e+01] [-9.20703471e-03 -2.29996993e-06 9.99957614e-01 -8.41875474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16420382200005 meters 0.017590833201186123 Centerline is valid? [True, True] Translation: X:296.29, Y:-42.00, Z:-8.42 [[ 9.85374633e-01 1.70171724e-01 8.85530828e-03 2.96290858e+02] [-1.70165484e-01 9.85414420e-01 -1.45894220e-03 -4.20021632e+01] [-8.97441918e-03 -6.92631800e-05 9.99959727e-01 -8.41915529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194203822 meters 0.019801772738276904 Centerline is valid? [True, True] Translation: X:296.32, Y:-42.00, Z:-8.42 [[ 9.84824874e-01 1.73325972e-01 8.83597576e-03 2.96319615e+02] [-1.73319888e-01 9.84864507e-01 -1.45557747e-03 -4.20022077e+01] [-8.95452830e-03 -9.79614260e-05 9.99959903e-01 -8.42005776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22420382200005 meters 0.024364876454795775 Centerline is valid? [True, True] Translation: X:296.35, Y:-42.00, Z:-8.42 [[ 9.83943977e-01 1.78191509e-01 1.01012710e-02 2.96348615e+02] [-1.78183823e-01 9.83995813e-01 -1.66314686e-03 -4.19998975e+01] [-1.02359670e-02 -1.63439734e-04 9.99947598e-01 -8.41915102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254203822 meters 0.025187527165561684 Centerline is valid? [True, True] Translation: X:296.38, Y:-42.00, Z:-8.42 [[ 9.83652215e-01 1.79795243e-01 1.00989936e-02 2.96377606e+02] [-1.79787653e-01 9.83704040e-01 -1.66194278e-03 -4.20023205e+01] [-1.02332302e-02 -1.80900657e-04 9.99947623e-01 -8.41916577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28420382200005 meters 0.02709168257053921 Centerline is valid? [True, True] Translation: X:296.41, Y:-42.00, Z:-8.42 [[ 9.83442644e-01 1.80961499e-01 9.66965861e-03 2.96405672e+02] [-1.80954594e-01 9.83490164e-01 -1.59165426e-03 -4.20038420e+01] [-9.79804227e-03 -1.84468467e-04 9.99951981e-01 -8.42153761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314203822 meters 0.02642987270860524 Centerline is valid? [True, True] Translation: X:296.43, Y:-42.01, Z:-8.42 [[ 9.83340110e-01 1.81526096e-01 9.51336789e-03 2.96434037e+02] [-1.81519454e-01 9.83386110e-01 -1.56432305e-03 -4.20083830e+01] [-9.63927930e-03 -1.88599737e-04 9.99953523e-01 -8.42156555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34420382200005 meters 0.025721911173370575 Centerline is valid? [True, True] Translation: X:296.46, Y:-42.01, Z:-8.42 [[ 9.83478567e-01 1.80751772e-01 9.93503719e-03 2.96462184e+02] [-1.80744494e-01 9.83528729e-01 -1.63309617e-03 -4.20129943e+01] [-1.00665795e-02 -1.89588182e-04 9.99949313e-01 -8.42211697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374203822 meters 0.0238467872429077 Centerline is valid? [True, True] Translation: X:296.49, Y:-42.02, Z:-8.43 [[ 9.84094889e-01 1.77417261e-01 8.96463869e-03 2.96489070e+02] [-1.77411197e-01 9.84135710e-01 -1.47350345e-03 -4.20209372e+01] [-9.08384601e-03 -1.40360065e-04 9.99958731e-01 -8.42619492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40420382200006 meters 0.020569666975515623 Centerline is valid? [True, True] Translation: X:296.52, Y:-42.03, Z:-8.43 [[ 9.84519713e-01 1.75060503e-01 8.64612074e-03 2.96517194e+02] [-1.75054758e-01 9.84557671e-01 -1.42268650e-03 -4.20310029e+01] [-8.76166071e-03 -1.12881668e-04 9.99961610e-01 -8.42521626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43420382200003 meters 0.029434843364903318 Centerline is valid? [True, True] Translation: X:296.54, Y:-42.04, Z:-8.43 [[ 9.84974889e-01 1.72476761e-01 8.73128883e-03 2.96544590e+02] [-1.72470834e-01 9.85013583e-01 -1.43303259e-03 -4.20399061e+01] [-8.84760291e-03 -9.43915419e-05 9.99960855e-01 -8.42533197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46420382200006 meters 0.015827797898186686 Centerline is valid? [True, True] Translation: X:296.57, Y:-42.05, Z:-8.42 [[ 9.85744033e-01 1.67972043e-01 9.70022718e-03 2.96571204e+02] [-1.67964508e-01 9.85791758e-01 -1.59209864e-03 -4.20494770e+01] [-9.82983206e-03 -5.98921582e-05 9.99951684e-01 -8.42484153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49420382200003 meters 0.01504904792539879 Centerline is valid? [True, True] Translation: X:296.60, Y:-42.06, Z:-8.43 [[ 9.86089214e-01 1.65972554e-01 9.00967888e-03 2.96599547e+02] [-1.65965983e-01 9.86130372e-01 -1.47734101e-03 -4.20566216e+01] [-9.12991604e-03 -3.85101833e-05 9.99958321e-01 -8.42660210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52420382200006 meters 0.015240774734268967 Centerline is valid? [True, True] Translation: X:296.63, Y:-42.06, Z:-8.43 [[ 9.86481725e-01 1.63615646e-01 9.15017954e-03 2.96626377e+02] [-1.63608770e-01 9.86524161e-01 -1.50012700e-03 -4.20640585e+01] [-9.27231745e-03 -1.72017436e-05 9.99957011e-01 -8.43049446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55420382200003 meters 0.015240774734268967 Centerline is valid? [True, True] Translation: X:296.65, Y:-42.07, Z:-8.43 [[ 9.86493151e-01 1.63546740e-01 9.15024405e-03 2.96653522e+02] [-1.63539864e-01 9.86535587e-01 -1.49973336e-03 -4.20683640e+01] [-9.27231788e-03 -1.69529855e-05 9.99957011e-01 -8.43127704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58420382200006 meters 0.019856515808687875 Centerline is valid? [True, True] Translation: X:296.68, Y:-42.07, Z:-8.43 [[ 9.86608951e-01 1.62865845e-01 8.80303878e-03 2.96681893e+02] [-1.62859463e-01 9.86648223e-01 -1.44188238e-03 -4.20741436e+01] [-8.92033596e-03 -1.10841040e-05 9.99960213e-01 -8.42957799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61420382200004 meters 0.014677160927178017 Centerline is valid? [True, True] Translation: X:296.71, Y:-42.08, Z:-8.43 [[ 9.86636744e-01 1.62679886e-01 9.12088749e-03 2.96708864e+02] [-1.62673029e-01 9.86678902e-01 -1.49365544e-03 -4.20790733e+01] [-9.24237494e-03 -1.00270485e-05 9.99957288e-01 -8.43152433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64420382200007 meters 0.014923469404612567 Centerline is valid? [True, True] Translation: X:296.74, Y:-42.08, Z:-8.43 [[ 9.86626870e-01 1.62764931e-01 8.66000784e-03 2.96737078e+02] [-1.62758760e-01 9.86664876e-01 -1.41742107e-03 -4.20825580e+01] [-8.77523200e-03 -1.10264234e-05 9.99961497e-01 -8.43278957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67420382200004 meters 0.02875451609219567 Centerline is valid? [True, True] Translation: X:296.77, Y:-42.09, Z:-8.43 [[ 9.86684079e-01 1.62386379e-01 9.22991827e-03 2.96765211e+02] [-1.62379357e-01 9.86727249e-01 -1.51019147e-03 -4.20867996e+01] [-9.35264638e-03 -8.66631599e-06 9.99956263e-01 -8.43290284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70420382200007 meters 0.014170664579558564 Centerline is valid? [True, True] Translation: X:296.79, Y:-42.09, Z:-8.43 [[ 9.86657215e-01 1.62513507e-01 9.84378805e-03 2.96792545e+02] [-1.62505529e-01 9.86706319e-01 -1.61026729e-03 -4.20901262e+01] [-9.97461806e-03 -1.08881491e-05 9.99950252e-01 -8.43113627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73420382200004 meters 0.014278835829124266 Centerline is valid? [True, True] Translation: X:296.82, Y:-42.09, Z:-8.43 [[ 9.86644722e-01 1.62624773e-01 9.23991026e-03 2.96821318e+02] [-1.62617756e-01 9.86687987e-01 -1.51078016e-03 -4.20929872e+01] [-9.36259873e-03 -1.19701993e-05 9.99956170e-01 -8.43184782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76420382200007 meters 0.014785531824411403 Centerline is valid? [True, True] Translation: X:296.85, Y:-42.10, Z:-8.43 [[ 9.86664052e-01 1.62559264e-01 8.27853512e-03 2.96850151e+02] [-1.62553631e-01 9.86698782e-01 -1.35332219e-03 -4.20967487e+01] [-8.38841557e-03 -1.04315854e-05 9.99964817e-01 -8.43473510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79420382200004 meters 0.014675666229571433 Centerline is valid? [True, True] Translation: X:296.88, Y:-42.10, Z:-8.44 [[ 9.86626834e-01 1.62779938e-01 8.37754895e-03 2.96877846e+02] [-1.62774177e-01 9.86662400e-01 -1.36956197e-03 -4.21004523e+01] [-8.48874977e-03 -1.24020415e-05 9.99963970e-01 -8.43573774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8242038220001 meters 0.024833764889408208 Centerline is valid? [True, True] Translation: X:296.91, Y:-42.10, Z:-8.44 [[ 9.86574671e-01 1.63098286e-01 8.32867667e-03 2.96906224e+02] [-1.63092608e-01 9.86609826e-01 -1.36098665e-03 -4.21024970e+01] [-8.43912883e-03 -1.56306478e-05 9.99964390e-01 -8.43714074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85420382200004 meters 0.014659760871802825 Centerline is valid? [True, True] Translation: X:296.93, Y:-42.10, Z:-8.44 [[ 9.86525958e-01 1.63332788e-01 9.43052735e-03 2.96934742e+02] [-1.63325532e-01 9.86571031e-01 -1.53979955e-03 -4.21017697e+01] [-9.55538484e-03 -2.11936681e-05 9.99954346e-01 -8.43641589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8842038220001 meters 0.01743272089677817 Centerline is valid? [True, True] Translation: X:296.96, Y:-42.10, Z:-8.44 [[ 9.86607751e-01 1.62869495e-01 8.86977316e-03 2.96962541e+02] [-1.62863061e-01 9.86647621e-01 -1.44774833e-03 -4.21040580e+01] [-8.98713463e-03 -1.61986782e-05 9.99959615e-01 -8.43986422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91420382200005 meters 0.014682478895205952 Centerline is valid? [True, True] Translation: X:296.99, Y:-42.11, Z:-8.44 [[ 9.86937583e-01 1.60830827e-01 9.36233577e-03 2.96990521e+02] [-1.60823575e-01 9.86981988e-01 -1.52724559e-03 -4.21098632e+01] [-9.48608494e-03 1.61176087e-06 9.99955006e-01 -8.43883953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944203822 meters 0.014360700811895824 Centerline is valid? [True, True] Translation: X:297.02, Y:-42.12, Z:-8.44 [[ 9.87154217e-01 1.59425865e-01 1.04854618e-02 2.97018515e+02] [-1.59416697e-01 9.87209903e-01 -1.70978985e-03 -4.21166369e+01] [-1.06239365e-02 1.62685597e-05 9.99943564e-01 -8.43837650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97420382200005 meters 0.01407766125886188 Centerline is valid? [True, True] Translation: X:297.05, Y:-42.12, Z:-8.44 [[ 9.87567441e-01 1.56893548e-01 9.74496679e-03 2.97046085e+02] [-1.56885502e-01 9.87615519e-01 -1.58943817e-03 -4.21237554e+01] [-9.87365302e-03 4.08333772e-05 9.99951253e-01 -8.43655462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004203822 meters 0.022587935508180463 Centerline is valid? [True, True] Translation: X:297.07, Y:-42.13, Z:-8.44 [[ 9.87693081e-01 1.56119030e-01 9.44591747e-03 2.97073488e+02] [-1.56111447e-01 9.87738248e-01 -1.53941099e-03 -4.21273923e+01] [-9.57042532e-03 4.58497393e-05 9.99954201e-01 -8.44062458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03420382200005 meters 0.015365073326815472 Centerline is valid? [True, True] Translation: X:297.10, Y:-42.13, Z:-8.44 [[ 9.87817050e-01 1.55297743e-01 1.00043916e-02 2.97100952e+02] [-1.55289202e-01 9.87867708e-01 -1.62965971e-03 -4.21295630e+01] [-1.01360979e-02 5.62316596e-05 9.99948627e-01 -8.44009920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064203822 meters 0.015931774196202866 Centerline is valid? [True, True] Translation: X:297.13, Y:-42.13, Z:-8.44 [[ 9.87927558e-01 1.54576872e-01 1.02532933e-02 2.97127845e+02] [-1.54567866e-01 9.87980762e-01 -1.66991689e-03 -4.21336008e+01] [-1.03881871e-02 6.49272487e-05 9.99946039e-01 -8.44162068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09420382200005 meters 0.01595784200141438 Centerline is valid? [True, True] Translation: X:297.16, Y:-42.14, Z:-8.44 [[ 9.88050260e-01 1.53769949e-01 1.05587507e-02 2.97155430e+02] [-1.53760364e-01 9.88106673e-01 -1.71849253e-03 -4.21377482e+01] [-1.06974245e-02 7.44396319e-05 9.99942778e-01 -8.44131947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124203822 meters 0.024892401116822897 Centerline is valid? [True, True] Translation: X:297.18, Y:-42.14, Z:-8.44 [[ 9.88108657e-01 1.53392919e-01 1.05779889e-02 2.97183063e+02] [-1.53383285e-01 9.88165273e-01 -1.72090602e-03 -4.21413068e+01] [-1.07167761e-02 7.79554460e-05 9.99942571e-01 -8.44199778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15420382200006 meters 0.015319822103761468 Centerline is valid? [True, True] Translation: X:297.21, Y:-42.15, Z:-8.44 [[ 9.88112083e-01 1.53340453e-01 1.10098780e-02 2.97211224e+02] [-1.53330028e-01 9.88173415e-01 -1.78984022e-03 -4.21458632e+01] [-1.11541237e-02 8.04178407e-05 9.99937788e-01 -8.44037589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18420382200003 meters 0.017584778966839333 Centerline is valid? [True, True] Translation: X:297.24, Y:-42.15, Z:-8.45 [[ 9.88189523e-01 1.52866493e-01 1.06443437e-02 2.97238205e+02] [-1.52856724e-01 9.88246846e-01 -1.73014590e-03 -4.21507273e+01] [-1.07837204e-02 8.26525508e-05 9.99941851e-01 -8.44621563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21420382200006 meters 0.018710673232571744 Centerline is valid? [True, True] Translation: X:297.27, Y:-42.16, Z:-8.45 [[ 9.88398857e-01 1.51521923e-01 1.04310570e-02 2.97266036e+02] [-1.51512475e-01 9.88453893e-01 -1.69476946e-03 -4.21552393e+01] [-1.05674136e-02 9.46729390e-05 9.99944159e-01 -8.44710968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24420382200003 meters 0.01815939748714675 Centerline is valid? [True, True] Translation: X:297.29, Y:-42.16, Z:-8.45 [[ 9.88613113e-01 1.50142813e-01 1.00622017e-02 2.97294657e+02] [-1.50133956e-01 9.88664313e-01 -1.63417885e-03 -4.21602003e+01] [-1.01934999e-02 1.04892488e-04 9.99948039e-01 -8.44529838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27420382200006 meters 0.019411538581736425 Centerline is valid? [True, True] Translation: X:297.32, Y:-42.17, Z:-8.45 [[ 9.88894421e-01 1.48319179e-01 9.44694896e-03 2.97322534e+02] [-1.48311292e-01 9.88939537e-01 -1.53389245e-03 -4.21681125e+01] [-9.56996700e-03 1.15768477e-04 9.99954200e-01 -8.44669354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30420382200003 meters 0.02321735474661187 Centerline is valid? [True, True] Translation: X:297.35, Y:-42.18, Z:-8.45 [[ 9.89530934e-01 1.43976185e-01 9.96944021e-03 2.97348234e+02] [-1.43967185e-01 9.89581139e-01 -1.61838193e-03 -4.21829942e+01] [-1.00985785e-02 1.66166742e-04 9.99948994e-01 -8.44747047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33420382200006 meters 0.026186454768877588 Centerline is valid? [True, True] Translation: X:297.38, Y:-42.20, Z:-8.45 [[ 9.90101186e-01 1.39965479e-01 1.04549772e-02 2.97376286e+02] [-1.39955372e-01 9.90156360e-01 -1.69584321e-03 -4.21959541e+01] [-1.05894217e-02 2.15826154e-04 9.99943907e-01 -8.44628469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36420382200004 meters 0.03271770462029377 Centerline is valid? [True, True] Translation: X:297.40, Y:-42.21, Z:-8.45 [[ 9.90302731e-01 1.38526400e-01 1.05326414e-02 2.97402246e+02] [-1.38516057e-01 9.90358714e-01 -1.70881756e-03 -4.22104361e+01] [-1.06678096e-02 2.33306735e-04 9.99943070e-01 -8.45166692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39420382200007 meters 0.029039735855422317 Centerline is valid? [True, True] Translation: X:297.43, Y:-42.21, Z:-8.45 [[ 9.90429871e-01 1.37586789e-01 1.08879052e-02 2.97431200e+02] [-1.37575690e-01 9.90489683e-01 -1.76551322e-03 -4.22138839e+01] [-1.10272691e-02 2.50705966e-04 9.99939166e-01 -8.44748659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42420382200004 meters 0.026471824471410152 Centerline is valid? [True, True] Translation: X:297.46, Y:-42.22, Z:-8.45 [[ 9.90355447e-01 1.38110213e-01 1.10298820e-02 2.97458947e+02] [-1.38098860e-01 9.90416835e-01 -1.78802822e-03 -4.22226060e+01] [-1.11711258e-02 2.47569358e-04 9.99937570e-01 -8.44556033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45420382200007 meters 0.025906872924261012 Centerline is valid? [True, True] Translation: X:297.49, Y:-42.23, Z:-8.45 [[ 9.90177113e-01 1.39427473e-01 1.04529350e-02 2.97486041e+02] [-1.39417353e-01 9.90232261e-01 -1.69426821e-03 -4.22287849e+01] [-1.05870610e-02 2.20305080e-04 9.99943931e-01 -8.44727239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48420382200004 meters 0.02813703778524018 Centerline is valid? [True, True] Translation: X:297.51, Y:-42.23, Z:-8.45 [[ 9.89489968e-01 1.44201124e-01 1.07535954e-02 2.97513805e+02] [-1.44190707e-01 9.89548385e-01 -1.74184115e-03 -4.22345554e+01] [-1.08923784e-02 1.72965819e-04 9.99940661e-01 -8.45014316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51420382200007 meters 0.02025817053212878 Centerline is valid? [True, True] Translation: X:297.54, Y:-42.24, Z:-8.45 [[ 9.89054052e-01 1.47147940e-01 1.09346149e-02 2.97540735e+02] [-1.47137350e-01 9.89114484e-01 -1.77110379e-03 -4.22400483e+01] [-1.10762003e-02 1.42827106e-04 9.99938647e-01 -8.45041276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54420382200004 meters 0.016594986415654166 Centerline is valid? [True, True] Translation: X:297.57, Y:-42.24, Z:-8.45 [[ 9.88532541e-01 1.50664799e-01 1.01751929e-02 2.97569884e+02] [-1.50655822e-01 9.88584902e-01 -1.64748745e-03 -4.22415992e+01] [-1.03072605e-02 9.56429021e-05 9.99946874e-01 -8.44982660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5742038220001 meters 0.01389083059051679 Centerline is valid? [True, True] Translation: X:297.60, Y:-42.24, Z:-8.45 [[ 9.87240502e-01 1.58987377e-01 8.89975611e-03 2.97599922e+02] [-1.58980843e-01 9.87280616e-01 -1.44144971e-03 -4.22389536e+01] [-9.01572900e-03 8.16680693e-06 9.99959357e-01 -8.45182658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60420382200004 meters 0.015140299561531576 Centerline is valid? [True, True] Translation: X:297.63, Y:-42.24, Z:-8.45 [[ 9.86436931e-01 1.63908720e-01 8.72427129e-03 2.97627963e+02] [-1.63902640e-01 9.86475509e-01 -1.41230428e-03 -4.22375911e+01] [-8.83776895e-03 -3.67819907e-05 9.99960945e-01 -8.45434756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6342038220001 meters 0.029802460790267528 Centerline is valid? [True, True] Translation: X:297.66, Y:-42.23, Z:-8.46 [[ 9.84750733e-01 1.73805530e-01 7.59160460e-03 2.97658228e+02] [-1.73801232e-01 9.84779988e-01 -1.22727607e-03 -4.22312963e+01] [-7.68936765e-03 -1.10869228e-04 9.99970430e-01 -8.45993480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66420382200005 meters 0.0276733651776421 Centerline is valid? [True, True] Translation: X:297.69, Y:-42.23, Z:-8.46 [[ 9.83981856e-01 1.78115193e-01 7.39491616e-03 2.97686966e+02] [-1.78111234e-01 9.84009633e-01 -1.19582132e-03 -4.22298423e+01] [-7.48966268e-03 -1.40451162e-04 9.99971942e-01 -8.46097411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694203822 meters 0.031587609468537246 Centerline is valid? [True, True] Translation: X:297.72, Y:-42.23, Z:-8.46 [[ 9.83226316e-01 1.82240679e-01 7.37193468e-03 2.97717031e+02] [-1.82236867e-01 9.83253937e-01 -1.19122487e-03 -4.22301302e+01] [-7.46557343e-03 -1.72194642e-04 9.99972117e-01 -8.46157506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72420382200005 meters 0.03838558919494705 Centerline is valid? [True, True] Translation: X:297.75, Y:-42.23, Z:-8.46 [[ 9.82105453e-01 1.88190758e-01 7.28815844e-03 2.97747077e+02] [-1.88187199e-01 9.82132472e-01 -1.17727589e-03 -4.22334394e+01] [-7.37948951e-03 -2.15329047e-04 9.99972748e-01 -8.46105961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754203822 meters 0.039862819937171744 Centerline is valid? [True, True] Translation: X:297.78, Y:-42.23, Z:-8.46 [[ 9.81755567e-01 1.89961390e-01 8.40701775e-03 2.97775577e+02] [-1.89956712e-01 9.81791526e-01 -1.35883009e-03 -4.22321352e+01] [-8.51206404e-03 -2.62930437e-04 9.99963737e-01 -8.46189362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78420382200005 meters 0.0389306796792275 Centerline is valid? [True, True] Translation: X:297.80, Y:-42.24, Z:-8.46 [[ 9.81370745e-01 1.91902527e-01 9.21303016e-03 2.97803829e+02] [-1.91896982e-01 9.81413943e-01 -1.49045108e-03 -4.22380703e+01] [-9.32781758e-03 -3.05267600e-04 9.99956448e-01 -8.45834640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814203822 meters 0.036884324999460635 Centerline is valid? [True, True] Translation: X:297.83, Y:-42.25, Z:-8.46 [[ 9.81306009e-01 1.92262535e-01 8.58100654e-03 2.97831609e+02] [-1.92257769e-01 9.81343484e-01 -1.38466964e-03 -4.22455525e+01] [-8.68713495e-03 -2.90980537e-04 9.99962224e-01 -8.45805980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84420382200005 meters 0.04282026490764033 Centerline is valid? [True, True] Translation: X:297.86, Y:-42.24, Z:-8.46 [[ 9.81068078e-01 1.93429489e-01 9.51102632e-03 2.97860720e+02] [-1.93423692e-01 9.81114122e-01 -1.53432665e-03 -4.22415486e+01] [-9.62818627e-03 -3.34378927e-04 9.99953592e-01 -8.46110870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874203822 meters 0.04039565064631596 Centerline is valid? [True, True] Translation: X:297.89, Y:-42.25, Z:-8.46 [[ 9.80996126e-01 1.93792386e-01 9.54526962e-03 2.97888637e+02] [-1.93786551e-01 9.81042505e-01 -1.54130218e-03 -4.22481304e+01] [-9.66300785e-03 -3.37733408e-04 9.99953255e-01 -8.45949379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90420382200006 meters 0.040585285324870726 Centerline is valid? [True, True] Translation: X:297.92, Y:-42.25, Z:-8.46 [[ 9.80856241e-01 1.94506426e-01 9.39600319e-03 2.97916979e+02] [-1.94500819e-01 9.80901185e-01 -1.51565148e-03 -4.22517104e+01] [-9.51135461e-03 -3.40894104e-04 9.99954708e-01 -8.45989154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93420382200003 meters 0.04750297985715086 Centerline is valid? [True, True] Translation: X:297.95, Y:-42.24, Z:-8.46 [[ 9.80472843e-01 1.96441489e-01 9.15128945e-03 2.97947308e+02] [-1.96436293e-01 9.80515485e-01 -1.47206516e-03 -4.22439122e+01] [-9.26215568e-03 -3.54325459e-04 9.99957043e-01 -8.46420514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96420382200006 meters 0.04910959867157325 Centerline is valid? [True, True] Translation: X:297.98, Y:-42.24, Z:-8.47 [[ 9.80303897e-01 1.97276670e-01 9.28363767e-03 2.97975028e+02] [-1.97271359e-01 9.80347786e-01 -1.49339853e-03 -4.22446467e+01] [-9.39580633e-03 -3.67411420e-04 9.99955791e-01 -8.46567110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99420382200003 meters 0.05303333833975998 Centerline is valid? [True, True] Translation: X:298.00, Y:-42.24, Z:-8.47 [[ 9.80234555e-01 1.97642386e-01 8.81506197e-03 2.98003667e+02] [-1.97637599e-01 9.80274127e-01 -1.41959746e-03 -4.22387964e+01] [-8.92174981e-03 -3.50649200e-04 9.99960139e-01 -8.46865719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02420382200006 meters 0.04812040940022572 Centerline is valid? [True, True] Translation: X:298.03, Y:-42.24, Z:-8.47 [[ 9.80295832e-01 1.97327067e-01 9.06149449e-03 2.98031833e+02] [-1.97322009e-01 9.80337646e-01 -1.45776516e-03 -4.22440672e+01] [-9.17098070e-03 -3.58991183e-04 9.99957881e-01 -8.46579723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05420382200003 meters 0.04474522959794029 Centerline is valid? [True, True] Translation: X:298.06, Y:-42.25, Z:-8.46 [[ 9.80480705e-01 1.96407499e-01 9.03783007e-03 2.98060459e+02] [-1.96402441e-01 9.80522295e-01 -1.45254039e-03 -4.22478931e+01] [-9.14708371e-03 -3.50864062e-04 9.99958103e-01 -8.46473311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08420382200006 meters 0.04334209119030885 Centerline is valid? [True, True] Translation: X:298.09, Y:-42.25, Z:-8.47 [[ 9.81300247e-01 1.92251962e-01 9.43436761e-03 2.98090309e+02] [-1.92246304e-01 9.81345542e-01 -1.51153686e-03 -4.22482437e+01] [-9.54897053e-03 -3.30450814e-04 9.99954353e-01 -8.46824024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11420382200004 meters 0.035177906017479416 Centerline is valid? [True, True] Translation: X:298.12, Y:-42.26, Z:-8.47 [[ 9.82597462e-01 1.85525999e-01 9.07367985e-03 2.98119160e+02] [-1.85520483e-01 9.82639323e-01 -1.45332898e-03 -4.22598153e+01] [-9.18578493e-03 -2.55316101e-04 9.99957777e-01 -8.46878386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14420382200007 meters 0.03140718910112459 Centerline is valid? [True, True] Translation: X:298.15, Y:-42.27, Z:-8.47 [[ 9.83354774e-01 1.81457707e-01 9.29999588e-03 2.98148416e+02] [-1.81451731e-01 9.83398724e-01 -1.48942848e-03 -4.22663489e+01] [-9.41587236e-03 -2.22863743e-04 9.99955645e-01 -8.46955032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17420382200004 meters 0.0260883403811544 Centerline is valid? [True, True] Translation: X:298.18, Y:-42.28, Z:-8.47 [[ 9.84210646e-01 1.76740960e-01 9.59358033e-03 2.98177091e+02] [-1.76734372e-01 9.84257385e-01 -1.53690398e-03 -4.22750677e+01] [-9.71418617e-03 -1.82878137e-04 9.99952799e-01 -8.46965788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20420382200007 meters 0.020659682560547992 Centerline is valid? [True, True] Translation: X:298.20, Y:-42.29, Z:-8.47 [[ 9.86257416e-01 1.64945075e-01 9.45687831e-03 2.98203868e+02] [-1.64938133e-01 9.86302752e-01 -1.51477106e-03 -4.22922780e+01] [-9.57719913e-03 -6.58456574e-05 9.99954135e-01 -8.47386224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23420382200004 meters 0.014409786553865878 Centerline is valid? [True, True] Translation: X:298.23, Y:-42.31, Z:-8.47 [[ 9.87290379e-01 1.58662421e-01 9.16211495e-03 2.98231326e+02] [-1.58655632e-01 9.87332890e-01 -1.46783159e-03 -4.23057339e+01] [-9.27894715e-03 -4.44513296e-06 9.99956950e-01 -8.47231892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26420382200007 meters 0.02817861106686721 Centerline is valid? [True, True] Translation: X:298.26, Y:-42.32, Z:-8.47 [[ 9.89184243e-01 1.46366534e-01 9.55882019e-03 2.98258364e+02] [-1.46358578e-01 9.89230420e-01 -1.53041166e-03 -4.23234844e+01] [-9.67987676e-03 1.14843777e-04 9.99953142e-01 -8.47311357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29420382200004 meters 0.02286773701379274 Centerline is valid? [True, True] Translation: X:298.29, Y:-42.34, Z:-8.47 [[ 9.90004661e-01 1.40659811e-01 1.02756382e-02 2.98285950e+02] [-1.40650308e-01 9.90057970e-01 -1.64525963e-03 -4.23350389e+01] [-1.04048994e-02 1.83543031e-04 9.99945851e-01 -8.47046523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3242038220001 meters 0.0322549344210969 Centerline is valid? [True, True] Translation: X:298.31, Y:-42.35, Z:-8.47 [[ 9.91231783e-01 1.31669873e-01 1.10723207e-02 2.98313361e+02] [-1.31658295e-01 9.91293577e-01 -1.77135115e-03 -4.23520856e+01] [-1.12091539e-02 2.98056698e-04 9.99937131e-01 -8.47144544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35420382200004 meters 0.032242387836389205 Centerline is valid? [True, True] Translation: X:298.34, Y:-42.36, Z:-8.47 [[ 9.91631849e-01 1.28630707e-01 1.09734379e-02 2.98341990e+02] [-1.28619144e-01 9.91692509e-01 -1.75601055e-03 -4.23599602e+01] [-1.11081530e-02 3.29921811e-04 9.99938248e-01 -8.46949873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3842038220001 meters 0.042547493200150915 Centerline is valid? [True, True] Translation: X:298.37, Y:-42.37, Z:-8.47 [[ 9.92021438e-01 1.25565600e-01 1.12581470e-02 2.98369094e+02] [-1.25553232e-01 9.92085249e-01 -1.80147373e-03 -4.23716431e+01] [-1.13952447e-02 3.73603820e-04 9.99935002e-01 -8.47316620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41420382200005 meters 0.03669937901391309 Centerline is valid? [True, True] Translation: X:298.40, Y:-42.38, Z:-8.47 [[ 9.92070615e-01 1.25182601e-01 1.11897996e-02 2.98397689e+02] [-1.25170361e-01 9.92133648e-01 -1.79031997e-03 -4.23768465e+01] [-1.13258936e-02 3.75492571e-04 9.99935790e-01 -8.47117443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444203822 meters 0.03384644755042371 Centerline is valid? [True, True] Translation: X:298.43, Y:-42.38, Z:-8.47 [[ 9.91921256e-01 1.26390330e-01 1.08492731e-02 2.98427368e+02] [-1.26378906e-01 9.91980525e-01 -1.73493164e-03 -4.23794624e+01] [-1.09815462e-02 3.49796311e-04 9.99939640e-01 -8.47018937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47420382200005 meters 0.03384644755042371 Centerline is valid? [True, True] Translation: X:298.46, Y:-42.38, Z:-8.47 [[ 9.91927480e-01 1.26341477e-01 1.08492479e-02 2.98455361e+02] [-1.26330048e-01 9.91986748e-01 -1.73508950e-03 -4.23838530e+01] [-1.09815239e-02 3.50496938e-04 9.99939640e-01 -8.47099610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504203822 meters 0.03733455614579803 Centerline is valid? [True, True] Translation: X:298.48, Y:-42.39, Z:-8.48 [[ 9.91743756e-01 1.27756269e-01 1.10750748e-02 2.98483054e+02] [-1.27744459e-01 9.91805535e-01 -1.77018376e-03 -4.23937609e+01] [-1.12104725e-02 3.40789257e-04 9.99937103e-01 -8.47505102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53420382200005 meters 0.0351543294045302 Centerline is valid? [True, True] Translation: X:298.51, Y:-42.39, Z:-8.48 [[ 9.91228612e-01 1.31782455e-01 9.96105345e-03 2.98513697e+02] [-1.31773109e-01 9.91278626e-01 -1.59171487e-03 -4.23913290e+01] [-1.00839395e-02 2.65154337e-04 9.99949121e-01 -8.47679299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564203822 meters 0.031051153907965708 Centerline is valid? [True, True] Translation: X:298.54, Y:-42.40, Z:-8.48 [[ 9.90909215e-01 1.34126370e-01 1.04424709e-02 2.98540903e+02] [-1.34116221e-01 9.90964203e-01 -1.66935931e-03 -4.23989051e+01] [-1.05720200e-02 2.53678781e-04 9.99944082e-01 -8.47795719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59420382200005 meters 0.02613509971657441 Centerline is valid? [True, True] Translation: X:298.57, Y:-42.40, Z:-8.48 [[ 9.90541768e-01 1.36786678e-01 1.07893533e-02 2.98570270e+02] [-1.36776011e-01 9.90600500e-01 -1.72388528e-03 -4.23984922e+01] [-1.09237433e-02 2.31855671e-04 9.99940307e-01 -8.47576259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624203822 meters 0.0202980899204518 Centerline is valid? [True, True] Translation: X:298.60, Y:-42.40, Z:-8.48 [[ 9.89631516e-01 1.43188618e-01 1.12464172e-02 2.98600508e+02] [-1.43177453e-01 9.89695403e-01 -1.79588695e-03 -4.23960990e+01] [-1.13876780e-02 1.67032944e-04 9.99935144e-01 -8.47530631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65420382200006 meters 0.015445473164110698 Centerline is valid? [True, True] Translation: X:298.63, Y:-42.40, Z:-8.48 [[ 9.88661299e-01 1.49709697e-01 1.16551316e-02 2.98630179e+02] [-1.49698150e-01 9.88729992e-01 -1.86185620e-03 -4.23951424e+01] [-1.18025161e-02 9.59935336e-05 9.99930343e-01 -8.47599448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68420382200003 meters 0.014014504181532012 Centerline is valid? [True, True] Translation: X:298.66, Y:-42.40, Z:-8.48 [[ 9.88172044e-01 1.52911930e-01 1.15738202e-02 2.98657880e+02] [-1.52900779e-01 9.88239818e-01 -1.84749581e-03 -4.23965940e+01] [-1.17202142e-02 5.59975869e-05 9.99931314e-01 -8.47702059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71420382200006 meters 0.013429430894134505 Centerline is valid? [True, True] Translation: X:298.69, Y:-42.40, Z:-8.48 [[ 9.87666745e-01 1.56208437e-01 1.06454591e-02 2.98686470e+02] [-1.56199202e-01 9.87724113e-01 -1.69853904e-03 -4.23970458e+01] [-1.07801028e-02 1.47783009e-05 9.99941893e-01 -8.47892110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74420382200003 meters 0.014497023191089788 Centerline is valid? [True, True] Translation: X:298.72, Y:-42.39, Z:-8.48 [[ 9.86615400e-01 1.62727184e-01 1.04841326e-02 2.98716054e+02] [-1.62718600e-01 9.86671101e-01 -1.67230658e-03 -4.23935468e+01] [-1.06165203e-02 -5.60399456e-05 9.99943642e-01 -8.48043611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77420382200006 meters 0.026906670583864974 Centerline is valid? [True, True] Translation: X:298.74, Y:-42.39, Z:-8.48 [[ 9.85796131e-01 1.67619559e-01 1.04724230e-02 2.98744736e+02] [-1.67611273e-01 9.85851749e-01 -1.67013134e-03 -4.23909790e+01] [-1.06042032e-02 -1.08887143e-04 9.99943768e-01 -8.48427444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80420382200003 meters 0.018920115045250978 Centerline is valid? [True, True] Translation: X:298.77, Y:-42.39, Z:-8.48 [[ 9.85582497e-01 1.68887332e-01 1.02083895e-02 2.98773551e+02] [-1.68879536e-01 9.85635356e-01 -1.62719025e-03 -4.23936957e+01] [-1.03365615e-02 -1.20257852e-04 9.99946569e-01 -8.48376047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83420382200006 meters 0.021736626484395408 Centerline is valid? [True, True] Translation: X:298.80, Y:-42.39, Z:-8.49 [[ 9.85399207e-01 1.69919632e-01 1.07573643e-02 2.98801374e+02] [-1.69911040e-01 9.85457914e-01 -1.71429313e-03 -4.23941394e+01] [-1.08922218e-02 -1.38531861e-04 9.99940668e-01 -8.48764057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86420382200004 meters 0.02098833796327342 Centerline is valid? [True, True] Translation: X:298.83, Y:-42.40, Z:-8.49 [[ 9.85336714e-01 1.70313594e-01 1.02391657e-02 2.98829839e+02] [-1.70305840e-01 9.85389903e-01 -1.63092001e-03 -4.24000192e+01] [-1.03673383e-02 -1.36784349e-04 9.99946248e-01 -8.48730755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89420382200007 meters 0.02021050695988905 Centerline is valid? [True, True] Translation: X:298.86, Y:-42.41, Z:-8.49 [[ 9.85490010e-01 1.69481501e-01 9.24447099e-03 2.98858086e+02] [-1.69475146e-01 9.85533362e-01 -1.47217633e-03 -4.24061880e+01] [-9.36024122e-03 -1.15893008e-04 9.99956185e-01 -8.48981553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92420382200004 meters 0.018095197896971213 Centerline is valid? [True, True] Translation: X:298.88, Y:-42.42, Z:-8.49 [[ 9.86149564e-01 1.65617570e-01 8.93628033e-03 2.98884465e+02] [-1.65611475e-01 9.86190050e-01 -1.42292771e-03 -4.24164811e+01] [-9.04853257e-03 -7.67310226e-05 9.99959058e-01 -8.49276495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95420382200007 meters 0.015995088017351805 Centerline is valid? [True, True] Translation: X:298.91, Y:-42.43, Z:-8.49 [[ 9.86639931e-01 1.62632460e-01 9.60879630e-03 2.98912381e+02] [-1.62625280e-01 9.86686718e-01 -1.52905212e-03 -4.24269226e+01] [-9.72954519e-03 -5.40093189e-05 9.99952665e-01 -8.49301168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98420382200004 meters 0.014639005632241507 Centerline is valid? [True, True] Translation: X:298.94, Y:-42.44, Z:-8.49 [[ 9.87199496e-01 1.59212338e-01 9.41200430e-03 2.98940323e+02] [-1.59205298e-01 9.87244362e-01 -1.49731041e-03 -4.24377052e+01] [-9.53033847e-03 -2.02968638e-05 9.99954585e-01 -8.49349834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01420382200007 meters 0.014404231293634039 Centerline is valid? [True, True] Translation: X:298.97, Y:-42.45, Z:-8.49 [[ 9.88175655e-01 1.53033380e-01 9.46881812e-03 2.98967310e+02] [-1.53025976e-01 9.88221019e-01 -1.50591344e-03 -4.24521632e+01] [-9.58774012e-03 3.91318691e-05 9.99954036e-01 -8.49191255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04420382200004 meters 0.01797871052103077 Centerline is valid? [True, True] Translation: X:299.00, Y:-42.46, Z:-8.49 [[ 9.88573026e-01 1.50421977e-01 9.82854223e-03 2.98995517e+02] [-1.50413875e-01 9.88621881e-01 -1.56259134e-03 -4.24602708e+01] [-9.95175999e-03 6.63865287e-05 9.99950478e-01 -8.49173915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0742038220001 meters 0.017517805445978796 Centerline is valid? [True, True] Translation: X:299.02, Y:-42.47, Z:-8.49 [[ 9.89176055e-01 1.46318545e-01 1.10279019e-02 2.99021623e+02] [-1.46308096e-01 9.89237519e-01 -1.75274085e-03 -4.24722989e+01] [-1.11656728e-02 1.20297938e-04 9.99937655e-01 -8.49080373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10420382200004 meters 0.019595929041954552 Centerline is valid? [True, True] Translation: X:299.05, Y:-42.48, Z:-8.49 [[ 9.89317566e-01 1.45400413e-01 1.04630061e-02 2.99048799e+02] [-1.45390962e-01 9.89372885e-01 -1.66236225e-03 -4.24797956e+01] [-1.05935227e-02 1.23377656e-04 9.99943879e-01 -8.49486939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1342038220001 meters 0.019955443581650887 Centerline is valid? [True, True] Translation: X:299.08, Y:-42.48, Z:-8.50 [[ 9.89352142e-01 1.45248306e-01 9.23408594e-03 2.99077546e+02] [-1.45240944e-01 9.89395228e-01 -1.46647813e-03 -4.24849243e+01] [-9.34916404e-03 1.09695923e-04 9.99956290e-01 -8.49786555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16420382200005 meters 0.01803938721519068 Centerline is valid? [True, True] Translation: X:299.11, Y:-42.49, Z:-8.50 [[ 9.89191686e-01 1.46355059e-01 8.94450627e-03 2.99106719e+02] [-1.46348200e-01 9.89232120e-01 -1.42014227e-03 -4.24867642e+01] [-9.05603791e-03 9.57805372e-05 9.99958989e-01 -8.49748037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194203822 meters 0.01644070806341286 Centerline is valid? [True, True] Translation: X:299.14, Y:-42.49, Z:-8.50 [[ 9.89024901e-01 1.47425161e-01 9.77585165e-03 2.99135771e+02] [-1.47417025e-01 9.89073209e-01 -1.55155156e-03 -4.24890558e+01] [-9.89777071e-03 9.33961539e-05 9.99951012e-01 -8.49539372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22420382200005 meters 0.015386992188481309 Centerline is valid? [True, True] Translation: X:299.16, Y:-42.49, Z:-8.49 [[ 9.88753967e-01 1.49115418e-01 1.14098396e-02 2.99163389e+02] [-1.49104456e-01 9.88819794e-01 -1.81027628e-03 -4.24932487e+01] [-1.15522153e-02 8.86599333e-05 9.99933267e-01 -8.49422807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254203822 meters 0.01512773337740351 Centerline is valid? [True, True] Translation: X:299.19, Y:-42.50, Z:-8.49 [[ 9.88700235e-01 1.49442750e-01 1.17774852e-02 2.99192302e+02] [-1.49431099e-01 9.88770376e-01 -1.86805014e-03 -4.24981989e+01] [-1.19243950e-02 8.70190543e-05 9.99928898e-01 -8.49429850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28420382200005 meters 0.01593124853425225 Centerline is valid? [True, True] Translation: X:299.22, Y:-42.50, Z:-8.50 [[ 9.88650520e-01 1.49854803e-01 1.06623913e-02 2.99219472e+02] [-1.49845291e-01 9.88708012e-01 -1.69005052e-03 -4.25041064e+01] [-1.07952539e-02 7.31601995e-05 9.99941727e-01 -8.49904386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314203822 meters 0.01625098949306148 Centerline is valid? [True, True] Translation: X:299.25, Y:-42.51, Z:-8.50 [[ 9.88642680e-01 1.49935530e-01 1.02464023e-02 2.99246626e+02] [-1.49926753e-01 9.88695773e-01 -1.62385520e-03 -4.25093374e+01] [-1.03740482e-02 6.92027405e-05 9.99946186e-01 -8.50155263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34420382200005 meters 0.015431755552741164 Centerline is valid? [True, True] Translation: X:299.28, Y:-42.51, Z:-8.50 [[ 9.88475397e-01 1.51031061e-01 1.02960172e-02 2.99275628e+02] [-1.51022266e-01 9.88529016e-01 -1.63087513e-03 -4.25131616e+01] [-1.04242246e-02 5.71520904e-05 9.99945665e-01 -8.50238856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374203822 meters 0.014338872792948291 Centerline is valid? [True, True] Translation: X:299.30, Y:-42.52, Z:-8.50 [[ 9.88296562e-01 1.52215239e-01 1.00213218e-02 2.99304546e+02] [-1.52206972e-01 9.88347368e-01 -1.58695565e-03 -4.25161941e+01] [-1.01461059e-02 4.30677580e-05 9.99948526e-01 -8.50162314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40420382200006 meters 0.01484683914574563 Centerline is valid? [True, True] Translation: X:299.33, Y:-42.52, Z:-8.51 [[ 9.87646225e-01 1.56492260e-01 8.06886515e-03 2.99332077e+02] [-1.56487044e-01 9.87679185e-01 -1.27763650e-03 -4.25173243e+01] [-8.16939038e-03 -8.19990607e-07 9.99966630e-01 -8.50646169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43420382200003 meters 0.015922614808641926 Centerline is valid? [True, True] Translation: X:299.36, Y:-42.52, Z:-8.51 [[ 9.87271848e-01 1.58872964e-01 7.32665694e-03 2.99360273e+02] [-1.58868729e-01 9.87299033e-01 -1.16011092e-03 -4.25191816e+01] [-7.41791157e-03 -1.86318237e-05 9.99972487e-01 -8.50960258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46420382200006 meters 0.01654774321026894 Centerline is valid? [True, True] Translation: X:299.39, Y:-42.52, Z:-8.51 [[ 9.86912358e-01 1.61099252e-01 7.14349422e-03 2.99389321e+02] [-1.61095290e-01 9.86938210e-01 -1.13045865e-03 -4.25213171e+01] [-7.23230344e-03 -3.51196555e-05 9.99973846e-01 -8.51012220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49420382200003 meters 0.018667298269403852 Centerline is valid? [True, True] Translation: X:299.42, Y:-42.52, Z:-8.51 [[ 9.86303294e-01 1.64777047e-01 7.37139356e-03 2.99417519e+02] [-1.64772931e-01 9.86330837e-01 -1.16637277e-03 -4.25204568e+01] [-7.46282425e-03 -6.42088145e-05 9.99972151e-01 -8.51163645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52420382200006 meters 0.018345489275965264 Centerline is valid? [True, True] Translation: X:299.45, Y:-42.52, Z:-8.51 [[ 9.86142352e-01 1.65731468e-01 7.50615171e-03 2.99446291e+02] [-1.65727234e-01 9.86170916e-01 -1.18699752e-03 -4.25239046e+01] [-7.59907135e-03 -7.34252294e-05 9.99971124e-01 -8.50965211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55420382200003 meters 0.020558882259084244 Centerline is valid? [True, True] Translation: X:299.48, Y:-42.53, Z:-8.51 [[ 9.85898463e-01 1.67085207e-01 9.31418186e-03 2.99475224e+02] [-1.67078755e-01 9.85942454e-01 -1.47211578e-03 -4.25266114e+01] [-9.42921609e-03 -1.04845225e-04 9.99955538e-01 -8.50840569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58420382200006 meters 0.01864384573827961 Centerline is valid? [True, True] Translation: X:299.50, Y:-42.53, Z:-8.51 [[ 9.85888755e-01 1.67099608e-01 1.00540512e-02 2.99503173e+02] [-1.67092094e-01 9.85940013e-01 -1.58865221e-03 -4.25310613e+01] [-1.01781546e-02 -1.13718127e-04 9.99948195e-01 -8.50792486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61420382200004 meters 0.02626022541662514 Centerline is valid? [True, True] Translation: X:299.53, Y:-42.54, Z:-8.51 [[ 9.85913148e-01 1.66974528e-01 9.73505474e-03 2.99531020e+02] [-1.66967486e-01 9.85961204e-01 -1.53746580e-03 -4.25373696e+01] [-9.85510392e-03 -1.09629864e-04 9.99951431e-01 -8.51037885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64420382200007 meters 0.01876383974104393 Centerline is valid? [True, True] Translation: X:299.56, Y:-42.54, Z:-8.51 [[ 9.86022867e-01 1.66312036e-01 9.96049542e-03 2.99558078e+02] [-1.66304629e-01 9.86073169e-01 -1.57317135e-03 -4.25425591e+01] [-1.00834146e-02 -1.05293566e-04 9.99949156e-01 -8.51133114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67420382200004 meters 0.01767094449035408 Centerline is valid? [True, True] Translation: X:299.59, Y:-42.55, Z:-8.51 [[ 9.86100846e-01 1.65863544e-01 9.71630645e-03 2.99585782e+02] [-1.65856483e-01 9.86148708e-01 -1.53364606e-03 -4.25481249e+01] [-9.83609903e-03 -9.91827436e-05 9.99951619e-01 -8.51111851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70420382200007 meters 0.019593870775434855 Centerline is valid? [True, True] Translation: X:299.61, Y:-42.55, Z:-8.52 [[ 9.86125543e-01 1.65722235e-01 9.62050347e-03 2.99612525e+02] [-1.65715306e-01 9.86172465e-01 -1.51850428e-03 -4.25482425e+01] [-9.73912554e-03 -9.68288230e-05 9.99952569e-01 -8.51622282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73420382200004 meters 0.017480484365412687 Centerline is valid? [True, True] Translation: X:299.64, Y:-42.56, Z:-8.51 [[ 9.86177277e-01 1.65402581e-01 9.81654227e-03 2.99640122e+02] [-1.65395374e-01 9.86226129e-01 -1.54712142e-03 -4.25571556e+01] [-9.93722835e-03 -9.78746927e-05 9.99950620e-01 -8.51314802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76420382200007 meters 0.017643335400953104 Centerline is valid? [True, True] Translation: X:299.67, Y:-42.56, Z:-8.51 [[ 9.86208818e-01 1.65194295e-01 1.01494915e-02 2.99667425e+02] [-1.65186583e-01 9.86261038e-01 -1.59925476e-03 -4.25622549e+01] [-1.02742358e-02 -9.93606741e-05 9.99947214e-01 -8.51364650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79420382200004 meters 0.01839974052386094 Centerline is valid? [True, True] Translation: X:299.69, Y:-42.57, Z:-8.52 [[ 9.86233003e-01 1.65035217e-01 1.03846863e-02 2.99694724e+02] [-1.65027143e-01 9.86287669e-01 -1.63560837e-03 -4.25650112e+01] [-1.05122210e-02 -1.00664159e-04 9.99944740e-01 -8.51504881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8242038220001 meters 0.017611386352895487 Centerline is valid? [True, True] Translation: X:299.72, Y:-42.57, Z:-8.52 [[ 9.86404053e-01 1.64023444e-01 1.01662891e-02 2.99723627e+02] [-1.64015660e-01 9.86456437e-01 -1.60037428e-03 -4.25695172e+01] [-1.02911002e-02 -8.88149430e-05 9.99947041e-01 -8.51592325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85420382200004 meters 0.0169949459942536 Centerline is valid? [True, True] Translation: X:299.75, Y:-42.57, Z:-8.52 [[ 9.86521127e-01 1.63302837e-01 1.04042624e-02 2.99751562e+02] [-1.63294650e-01 9.86575986e-01 -1.63730552e-03 -4.25745900e+01] [-1.05319720e-02 -8.37238908e-05 9.99944534e-01 -8.51589809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8842038220001 meters 0.014998812337085454 Centerline is valid? [True, True] Translation: X:299.78, Y:-42.58, Z:-8.52 [[ 9.86975170e-01 1.60518109e-01 1.06747580e-02 2.99779040e+02] [-1.60509333e-01 9.87032894e-01 -1.67934075e-03 -4.25840254e+01] [-1.08059018e-02 -5.59306565e-05 9.99941613e-01 -8.51526735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91420382200005 meters 0.01409301282014801 Centerline is valid? [True, True] Translation: X:299.81, Y:-42.59, Z:-8.52 [[ 9.87261053e-01 1.58728430e-01 1.09954141e-02 2.99806926e+02] [-1.58719015e-01 9.87322280e-01 -1.72920569e-03 -4.25922805e+01] [-1.11304915e-02 -3.80038696e-05 9.99938053e-01 -8.51549946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944203822 meters 0.013276242159751445 Centerline is valid? [True, True] Translation: X:299.83, Y:-42.60, Z:-8.51 [[ 9.87786329e-01 1.55361219e-01 1.18768889e-02 2.99833757e+02] [-1.55349997e-01 9.87857728e-01 -1.86732993e-03 -4.26018110e+01] [-1.20227872e-02 -5.51678549e-07 9.99927724e-01 -8.51452124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97420382200005 meters 0.013814877703185806 Centerline is valid? [True, True] Translation: X:299.86, Y:-42.61, Z:-8.52 [[ 9.87914354e-01 1.54541910e-01 1.19175268e-02 2.99861204e+02] [-1.54530560e-01 9.87986234e-01 -1.87297150e-03 -4.26063578e+01] [-1.20638050e-02 8.71333266e-06 9.99927230e-01 -8.51675124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004203822 meters 0.013362655573034312 Centerline is valid? [True, True] Translation: X:299.89, Y:-42.61, Z:-8.52 [[ 9.88042125e-01 1.53728710e-01 1.18424045e-02 2.99889636e+02] [-1.53717455e-01 9.88113092e-01 -1.86027043e-03 -4.26107477e+01] [-1.19876120e-02 1.76412626e-05 9.99928146e-01 -8.51594698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03420382200005 meters 0.013155791282190186 Centerline is valid? [True, True] Translation: X:299.92, Y:-42.62, Z:-8.52 [[ 9.88115874e-01 1.53195369e-01 1.25776823e-02 2.99917643e+02] [-1.53182638e-01 9.88195921e-01 -1.97508588e-03 -4.26156368e+01] [-1.27317884e-02 2.49311417e-05 9.99918947e-01 -8.51511429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064203822 meters 0.021519260518069253 Centerline is valid? [True, True] Translation: X:299.95, Y:-42.62, Z:-8.52 [[ 9.88135574e-01 1.53034051e-01 1.29871571e-02 2.99946166e+02] [-1.53020473e-01 9.88220916e-01 -2.03873936e-03 -4.26207931e+01] [-1.31461768e-02 2.72499686e-05 9.99913585e-01 -8.51522052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09420382200005 meters 0.012855547854693854 Centerline is valid? [True, True] Translation: X:299.97, Y:-42.63, Z:-8.52 [[ 9.88271705e-01 1.52136897e-01 1.31681978e-02 2.99974109e+02] [-1.52122867e-01 9.88359430e-01 -2.06647812e-03 -4.26279709e+01] [-1.33293000e-02 3.90578594e-05 9.99911160e-01 -8.51510848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124203822 meters 0.013498995019084036 Centerline is valid? [True, True] Translation: X:300.00, Y:-42.63, Z:-8.52 [[ 9.88410672e-01 1.51264416e-01 1.27835534e-02 3.00001508e+02] [-1.51251126e-01 9.88493335e-01 -2.00570858e-03 -4.26347875e+01] [-1.29398497e-02 4.89369190e-05 9.99916275e-01 -8.51705916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15420382200006 meters 0.01436866919572204 Centerline is valid? [True, True] Translation: X:300.03, Y:-42.64, Z:-8.52 [[ 9.88705137e-01 1.49442247e-01 1.13651370e-02 3.00029047e+02] [-1.49431628e-01 9.88770454e-01 -1.78265363e-03 -4.26412865e+01] [-1.15039155e-02 6.42078698e-05 9.99933826e-01 -8.52043077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18420382200003 meters 0.01617421216206988 Centerline is valid? [True, True] Translation: X:300.06, Y:-42.65, Z:-8.52 [[ 9.88954706e-01 1.47830916e-01 1.07055587e-02 3.00055396e+02] [-1.47821403e-01 9.89012646e-01 -1.67884082e-03 -4.26488217e+01] [-1.08361175e-02 7.77868281e-05 9.99941285e-01 -8.52486059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21420382200006 meters 0.017886992003003054 Centerline is valid? [True, True] Translation: X:300.08, Y:-42.66, Z:-8.52 [[ 9.89565112e-01 1.43739954e-01 9.98569250e-03 3.00083473e+02] [-1.43731485e-01 9.89615487e-01 -1.56447014e-03 -4.26605621e+01] [-1.01068728e-02 1.12886663e-04 9.99948918e-01 -8.52405302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24420382200003 meters 0.02021254552897628 Centerline is valid? [True, True] Translation: X:300.11, Y:-42.67, Z:-8.52 [[ 9.89829817e-01 1.41912611e-01 9.88651347e-03 3.00112496e+02] [-1.41904220e-01 9.89879181e-01 -1.54870189e-03 -4.26678511e+01] [-1.00062342e-02 1.30013326e-04 9.99949928e-01 -8.52450323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27420382200006 meters 0.021602050548919154 Centerline is valid? [True, True] Translation: X:300.14, Y:-42.68, Z:-8.52 [[ 9.90187002e-01 1.39320489e-01 1.09316882e-02 3.00139917e+02] [-1.39310082e-01 9.90247329e-01 -1.71149338e-03 -4.26817198e+01] [-1.10635212e-02 1.71804114e-04 9.99938783e-01 -8.52476500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30420382200003 meters 0.021504258972617988 Centerline is valid? [True, True] Translation: X:300.17, Y:-42.69, Z:-8.52 [[ 9.90274999e-01 1.38690092e-01 1.09765203e-02 3.00170155e+02] [-1.38679558e-01 9.90335815e-01 -1.71872198e-03 -4.26882850e+01] [-1.11088109e-02 1.79788425e-04 9.99938279e-01 -8.52417350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33420382200006 meters 0.020355580218482026 Centerline is valid? [True, True] Translation: X:300.20, Y:-42.69, Z:-8.52 [[ 9.90108448e-01 1.39849811e-01 1.12823377e-02 3.00200245e+02] [-1.39838757e-01 9.90172713e-01 -1.76660738e-03 -4.26916945e+01] [-1.14185226e-02 1.71424814e-04 9.99934792e-01 -8.52352962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36420382200004 meters 0.020355580218482026 Centerline is valid? [True, True] Translation: X:300.23, Y:-42.70, Z:-8.52 [[ 9.90108448e-01 1.39849811e-01 1.12823377e-02 3.00229880e+02] [-1.39838757e-01 9.90172713e-01 -1.76660738e-03 -4.26963347e+01] [-1.14185226e-02 1.71424814e-04 9.99934792e-01 -8.52438361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39420382200007 meters 0.019047757671785598 Centerline is valid? [True, True] Translation: X:300.26, Y:-42.70, Z:-8.52 [[ 9.89873869e-01 1.41448999e-01 1.19123905e-02 3.00259015e+02] [-1.41436787e-01 9.89945531e-01 -1.86566968e-03 -4.26993660e+01] [-1.20565149e-02 1.61927421e-04 9.99927304e-01 -8.52447295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42420382200004 meters 0.017190965531482492 Centerline is valid? [True, True] Translation: X:300.29, Y:-42.70, Z:-8.52 [[ 9.89537792e-01 1.43707319e-01 1.27736139e-02 3.00288215e+02] [-1.43693473e-01 9.89620223e-01 -1.99998540e-03 -4.27017110e+01] [-1.29284391e-02 1.43576196e-04 9.99916414e-01 -8.52368342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45420382200007 meters 0.013455063731685585 Centerline is valid? [True, True] Translation: X:300.32, Y:-42.70, Z:-8.52 [[ 9.88587233e-01 1.50116412e-01 1.26627610e-02 3.00317713e+02] [-1.50103328e-01 9.88668326e-01 -1.98285647e-03 -4.26988253e+01] [-1.28169300e-02 5.95040238e-05 9.99917858e-01 -8.52380013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48420382200004 meters 0.016386598461484693 Centerline is valid? [True, True] Translation: X:300.35, Y:-42.70, Z:-8.53 [[ 9.88045626e-01 1.53679359e-01 1.21858851e-02 3.00346223e+02] [-1.53667513e-01 9.88120769e-01 -1.90815961e-03 -4.26980857e+01] [-1.23343709e-02 1.27740943e-05 9.99923929e-01 -8.52705098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51420382200007 meters 0.014359994102248103 Centerline is valid? [True, True] Translation: X:300.38, Y:-42.69, Z:-8.53 [[ 9.87111181e-01 1.59532462e-01 1.26850450e-02 3.00375152e+02] [-1.59520122e-01 9.87192681e-01 -1.98526871e-03 -4.26931620e+01] [-1.28392984e-02 -6.38389799e-05 9.99917571e-01 -8.52791282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54420382200004 meters 0.02096817600435021 Centerline is valid? [True, True] Translation: X:300.40, Y:-42.69, Z:-8.53 [[ 9.86672471e-01 1.62251040e-01 1.23302478e-02 3.00404104e+02] [-1.62239600e-01 9.86749508e-01 -1.92918734e-03 -4.26931705e+01] [-1.24798786e-02 -9.69784268e-05 9.99922119e-01 -8.52890418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5742038220001 meters 0.018147581408349694 Centerline is valid? [True, True] Translation: X:300.43, Y:-42.69, Z:-8.53 [[ 9.86060236e-01 1.65913909e-01 1.25613197e-02 3.00432682e+02] [-1.65902338e-01 9.86140230e-01 -1.96486814e-03 -4.26893626e+01] [-1.27132217e-02 -1.46473977e-04 9.99919173e-01 -8.52858588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60420382200004 meters 0.01905675516311674 Centerline is valid? [True, True] Translation: X:300.46, Y:-42.69, Z:-8.53 [[ 9.85903157e-01 1.66825748e-01 1.28114919e-02 3.00461889e+02] [-1.66813803e-01 9.85986381e-01 -2.00295531e-03 -4.26905197e+01] [-1.29661011e-02 -1.62413717e-04 9.99915923e-01 -8.52952197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6342038220001 meters 0.027749089709245986 Centerline is valid? [True, True] Translation: X:300.49, Y:-42.69, Z:-8.53 [[ 9.85846030e-01 1.67175813e-01 1.26432540e-02 3.00490682e+02] [-1.67164216e-01 9.85927087e-01 -1.97604988e-03 -4.26928968e+01] [-1.27956743e-02 -1.65418702e-04 9.99918118e-01 -8.53300853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66420382200005 meters 0.01879610005201075 Centerline is valid? [True, True] Translation: X:300.52, Y:-42.70, Z:-8.53 [[ 9.86150184e-01 1.65421572e-01 1.19799210e-02 3.00518063e+02] [-1.65411034e-01 9.86222939e-01 -1.87205202e-03 -4.27001771e+01] [-1.21245507e-02 -1.35486668e-04 9.99926486e-01 -8.53461488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694203822 meters 0.016654031838955117 Centerline is valid? [True, True] Translation: X:300.55, Y:-42.71, Z:-8.53 [[ 9.86414465e-01 1.63850181e-01 1.18161451e-02 3.00546439e+02] [-1.63839827e-01 9.86485228e-01 -1.84557318e-03 -4.27068607e+01] [-1.19588501e-02 -1.15455088e-04 9.99928484e-01 -8.53375691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72420382200005 meters 0.014962671973129027 Centerline is valid? [True, True] Translation: X:300.57, Y:-42.71, Z:-8.54 [[ 9.86907262e-01 1.60909531e-01 1.10534150e-02 3.00574709e+02] [-1.60900292e-01 9.86969157e-01 -1.72597597e-03 -4.27130809e+01] [-1.11871056e-02 -7.51194677e-05 9.99937420e-01 -8.53526847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754203822 meters 0.014948661914481211 Centerline is valid? [True, True] Translation: X:300.60, Y:-42.72, Z:-8.54 [[ 9.87142371e-01 1.59459649e-01 1.10706954e-02 3.00601564e+02] [-1.59450293e-01 9.87204445e-01 -1.72831532e-03 -4.27190989e+01] [-1.12046362e-02 -5.91323390e-05 9.99937224e-01 -8.53844610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78420382200005 meters 0.01321105124109636 Centerline is valid? [True, True] Translation: X:300.63, Y:-42.73, Z:-8.54 [[ 9.87624350e-01 1.56383957e-01 1.19248445e-02 3.00629532e+02] [-1.56372891e-01 9.87696339e-01 -1.86055689e-03 -4.27279037e+01] [-1.20690865e-02 -2.71911139e-05 9.99927166e-01 -8.53664880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814203822 meters 0.012477358904305388 Centerline is valid? [True, True] Translation: X:300.66, Y:-42.73, Z:-8.54 [[ 9.87898821e-01 1.54569635e-01 1.28120150e-02 3.00657360e+02] [-1.54556718e-01 9.87981896e-01 -1.99825518e-03 -4.27340501e+01] [-1.29669085e-02 -6.10906161e-06 9.99915926e-01 -8.53524488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84420382200005 meters 0.012648175721624848 Centerline is valid? [True, True] Translation: X:300.68, Y:-42.74, Z:-8.54 [[ 9.88179754e-01 1.52732879e-01 1.31696907e-02 3.00684289e+02] [-1.52719075e-01 9.88267508e-01 -2.05352364e-03 -4.27411548e+01] [-1.33288180e-02 1.79875012e-05 9.99911167e-01 -8.53656562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874203822 meters 0.01362253671769886 Centerline is valid? [True, True] Translation: X:300.71, Y:-42.75, Z:-8.54 [[ 9.88685542e-01 1.49409358e-01 1.33319939e-02 3.00712252e+02] [-1.49394923e-01 9.88775424e-01 -2.07777101e-03 -4.27514705e+01] [-1.34927863e-02 6.25299673e-05 9.99908966e-01 -8.53681696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90420382200006 meters 0.014666180023334925 Centerline is valid? [True, True] Translation: X:300.74, Y:-42.76, Z:-8.54 [[ 9.89102189e-01 1.46639505e-01 1.31801009e-02 3.00741740e+02] [-1.46625164e-01 9.89189995e-01 -2.05312518e-03 -4.27579058e+01] [-1.33386932e-02 9.82161553e-05 9.99911031e-01 -8.53622117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93420382200003 meters 0.015582480249518764 Centerline is valid? [True, True] Translation: X:300.77, Y:-42.77, Z:-8.54 [[ 9.89294298e-01 1.45334763e-01 1.32135954e-02 3.00769603e+02] [-1.45320234e-01 9.89382531e-01 -2.05819428e-03 -4.27652455e+01] [-1.33724277e-02 1.15957082e-04 9.99910578e-01 -8.53789233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96420382200006 meters 0.024586797847922615 Centerline is valid? [True, True] Translation: X:300.80, Y:-42.77, Z:-8.54 [[ 9.89433603e-01 1.44421878e-01 1.27854036e-02 3.00798037e+02] [-1.44408208e-01 9.89516198e-01 -1.99085559e-03 -4.27722925e+01] [-1.29388870e-02 1.23502210e-04 9.99916281e-01 -8.54135797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99420382200003 meters 0.030063668235716753 Centerline is valid? [True, True] Translation: X:300.83, Y:-42.78, Z:-8.54 [[ 9.89455995e-01 1.44338141e-01 1.19722576e-02 3.00826853e+02] [-1.44326152e-01 9.89528417e-01 -1.86399521e-03 -4.27779823e+01] [-1.21159347e-02 1.16431371e-04 9.99926593e-01 -8.54167850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02420382200006 meters 0.015099333416395336 Centerline is valid? [True, True] Translation: X:300.86, Y:-42.78, Z:-8.54 [[ 9.89112127e-01 1.46769303e-01 1.07689980e-02 3.00855069e+02] [-1.46759741e-01 9.89170746e-01 -1.67719374e-03 -4.27789279e+01] [-1.08985384e-02 7.84773116e-05 9.99940606e-01 -8.54347391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05420382200003 meters 0.019999605445361685 Centerline is valid? [True, True] Translation: X:300.88, Y:-42.78, Z:-8.55 [[ 9.88749728e-01 1.49247019e-01 9.96503503e-03 3.00884469e+02] [-1.49238965e-01 9.88799942e-01 -1.55113306e-03 -4.27791827e+01] [-1.00849280e-02 4.65108766e-05 9.99949145e-01 -8.54730349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08420382200006 meters 0.014403050458701858 Centerline is valid? [True, True] Translation: X:300.91, Y:-42.78, Z:-8.55 [[ 9.88389351e-01 1.51642313e-01 9.54466287e-03 3.00912149e+02] [-1.51635038e-01 9.88435435e-01 -1.48550679e-03 -4.27811330e+01] [-9.65954868e-03 2.09537777e-05 9.99953345e-01 -8.55033865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11420382200004 meters 0.014890136866951285 Centerline is valid? [True, True] Translation: X:300.94, Y:-42.78, Z:-8.55 [[ 9.87749964e-01 1.55843647e-01 7.92248650e-03 3.00941134e+02] [-1.55838774e-01 9.87781736e-01 -1.23255398e-03 -4.27801642e+01] [-8.01777317e-03 -1.71754334e-05 9.99967857e-01 -8.55328888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14420382200007 meters 0.01617182380202256 Centerline is valid? [True, True] Translation: X:300.97, Y:-42.78, Z:-8.56 [[ 9.87505382e-01 1.57401482e-01 7.60877180e-03 3.00968712e+02] [-1.57397034e-01 9.87534694e-01 -1.18367698e-03 -4.27806116e+01] [-7.70023865e-03 -2.87107190e-05 9.99970352e-01 -8.55633679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17420382200004 meters 0.015575408092883049 Centerline is valid? [True, True] Translation: X:301.00, Y:-42.78, Z:-8.55 [[ 9.87279550e-01 1.58813316e-01 7.57761092e-03 3.00997956e+02] [-1.58808951e-01 9.87308629e-01 -1.17814985e-03 -4.27820054e+01] [-7.66854653e-03 -4.02291861e-05 9.99970595e-01 -8.55400688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20420382200007 meters 0.016478728996232386 Centerline is valid? [True, True] Translation: X:301.03, Y:-42.79, Z:-8.56 [[ 9.87305128e-01 1.58647118e-01 7.72497559e-03 3.01025687e+02] [-1.58642578e-01 9.87335348e-01 -1.20089423e-03 -4.27863884e+01] [-7.81765987e-03 -3.98610114e-05 9.99969441e-01 -8.55702980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23420382200004 meters 0.014747192144913665 Centerline is valid? [True, True] Translation: X:301.05, Y:-42.79, Z:-8.55 [[ 9.87587170e-01 1.56852449e-01 8.30010786e-03 3.01053701e+02] [-1.56847152e-01 9.87622047e-01 -1.28939675e-03 -4.27944359e+01] [-8.39961456e-03 -2.84565948e-05 9.99964722e-01 -8.55476680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26420382200007 meters 0.014186179280423277 Centerline is valid? [True, True] Translation: X:301.08, Y:-42.80, Z:-8.55 [[ 9.87744203e-01 1.55829291e-01 8.86687709e-03 3.01081569e+02] [-1.55823209e-01 9.87784000e-01 -1.37690844e-03 -4.28002015e+01] [-8.97312199e-03 -2.16319094e-05 9.99959741e-01 -8.55418455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29420382200004 meters 0.01410479368330919 Centerline is valid? [True, True] Translation: X:301.11, Y:-42.80, Z:-8.55 [[ 9.87839447e-01 1.55153701e-01 1.00277486e-02 3.01109512e+02] [-1.55145894e-01 9.87890343e-01 -1.55647837e-03 -4.28048897e+01] [-1.01478094e-02 -1.82132916e-05 9.99948509e-01 -8.55450038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3242038220001 meters 0.013766478625508265 Centerline is valid? [True, True] Translation: X:301.14, Y:-42.81, Z:-8.55 [[ 9.87734597e-01 1.55822092e-01 9.99211977e-03 3.01138629e+02] [-1.55814380e-01 9.87785136e-01 -1.55045388e-03 -4.28072210e+01] [-1.01116624e-02 -2.54790118e-05 9.99948876e-01 -8.55317693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35420382200004 meters 0.014983431768148224 Centerline is valid? [True, True] Translation: X:301.17, Y:-42.81, Z:-8.56 [[ 9.87518884e-01 1.57202290e-01 9.68985413e-03 3.01166851e+02] [-1.57195107e-01 9.87566422e-01 -1.50333590e-03 -4.28072873e+01] [-9.80570242e-03 -3.86250658e-05 9.99951922e-01 -8.55610873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3842038220001 meters 0.016563369456370044 Centerline is valid? [True, True] Translation: X:301.20, Y:-42.80, Z:-8.56 [[ 9.86946431e-01 1.60818196e-01 8.61689925e-03 3.01195915e+02] [-1.60812655e-01 9.86984044e-01 -1.33653084e-03 -4.28047393e+01] [-8.71968055e-03 -6.66221035e-05 9.99961981e-01 -8.55762696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41420382200005 meters 0.018637379430345987 Centerline is valid? [True, True] Translation: X:301.22, Y:-42.81, Z:-8.56 [[ 9.86720172e-01 1.62218655e-01 8.27101719e-03 3.01223448e+02] [-1.62213603e-01 9.86754834e-01 -1.28252159e-03 -4.28052366e+01] [-8.36951512e-03 -7.61815724e-05 9.99964972e-01 -8.56151675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444203822 meters 0.018943900538725623 Centerline is valid? [True, True] Translation: X:301.25, Y:-42.80, Z:-8.56 [[ 9.86379847e-01 1.64278091e-01 8.21623185e-03 3.01252470e+02] [-1.64273185e-01 9.86414061e-01 -1.27315675e-03 -4.28042495e+01] [-8.31375839e-03 -9.38904077e-05 9.99965436e-01 -8.55969049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47420382200005 meters 0.020362903976376478 Centerline is valid? [True, True] Translation: X:301.28, Y:-42.80, Z:-8.56 [[ 9.86317358e-01 1.64623874e-01 8.77782662e-03 3.01280322e+02] [-1.64618290e-01 9.86356411e-01 -1.35988016e-03 -4.28041228e+01] [-8.88193431e-03 -1.03717399e-04 9.99960549e-01 -8.56235438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504203822 meters 0.01943869439124046 Centerline is valid? [True, True] Translation: X:301.31, Y:-42.81, Z:-8.56 [[ 9.86427060e-01 1.63945973e-01 9.13090533e-03 3.01309014e+02] [-1.63939910e-01 9.86469314e-01 -1.41367344e-03 -4.28068777e+01] [-9.23912398e-03 -1.02434067e-04 9.99957313e-01 -8.56305088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53420382200005 meters 0.01774220276564731 Centerline is valid? [True, True] Translation: X:301.34, Y:-42.81, Z:-8.56 [[ 9.86614023e-01 1.62819408e-01 9.08896123e-03 3.01337259e+02] [-1.62813357e-01 9.86655883e-01 -1.40678023e-03 -4.28132549e+01] [-9.19672819e-03 -9.18551848e-05 9.99957705e-01 -8.56205628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564203822 meters 0.017627564416970422 Centerline is valid? [True, True] Translation: X:301.36, Y:-42.82, Z:-8.56 [[ 9.86861016e-01 1.61300662e-01 9.35052702e-03 3.01364818e+02] [-1.61294188e-01 9.86905310e-01 -1.44739611e-03 -4.28179489e+01] [-9.46155071e-03 -7.98068680e-05 9.99955235e-01 -8.56451098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59420382200005 meters 0.01471426714211908 Centerline is valid? [True, True] Translation: X:301.39, Y:-42.83, Z:-8.56 [[ 9.87387844e-01 1.58034144e-01 9.51075431e-03 3.01392465e+02] [-1.58027309e-01 9.87433647e-01 -1.47071139e-03 -4.28263124e+01] [-9.62366143e-03 -5.07963587e-05 9.99953690e-01 -8.56241995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624203822 meters 0.014173667962735264 Centerline is valid? [True, True] Translation: X:301.42, Y:-42.83, Z:-8.57 [[ 9.88015030e-01 1.54126753e-01 8.44060108e-03 3.01420019e+02] [-1.54121229e-01 9.88051084e-01 -1.30495464e-03 -4.28342073e+01] [-8.54087346e-03 -1.15610117e-05 9.99963526e-01 -8.56519083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65420382200006 meters 0.015016131373733683 Centerline is valid? [True, True] Translation: X:301.45, Y:-42.84, Z:-8.57 [[ 9.88290476e-01 1.52364089e-01 8.19263334e-03 3.01446884e+02] [-1.52358825e-01 9.88324433e-01 -1.26648937e-03 -4.28398991e+01] [-8.28994720e-03 3.43939187e-06 9.99965638e-01 -8.56935776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68420382200003 meters 0.014659721658375736 Centerline is valid? [True, True] Translation: X:301.47, Y:-42.85, Z:-8.57 [[ 9.88545558e-01 1.50727692e-01 7.67089259e-03 3.01474872e+02] [-1.50723033e-01 9.88575320e-01 -1.18520366e-03 -4.28455198e+01] [-7.76189811e-03 1.54476179e-05 9.99969876e-01 -8.56870753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71420382200006 meters 0.016085326100755894 Centerline is valid? [True, True] Translation: X:301.50, Y:-42.85, Z:-8.57 [[ 9.88826617e-01 1.48901706e-01 7.08546538e-03 3.01501933e+02] [-1.48897683e-01 9.88852002e-01 -1.09492424e-03 -4.28530035e+01] [-7.16951271e-03 2.76808515e-05 9.99974298e-01 -8.57223948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74420382200003 meters 0.015088146836914026 Centerline is valid? [True, True] Translation: X:301.53, Y:-42.86, Z:-8.57 [[ 9.88930075e-01 1.48176230e-01 7.81738532e-03 3.01530378e+02] [-1.48171319e-01 9.88960972e-01 -1.20688693e-03 -4.28575162e+01] [-7.90992094e-03 3.52144924e-05 9.99968715e-01 -8.56905476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77420382200006 meters 0.016430942692333417 Centerline is valid? [True, True] Translation: X:301.56, Y:-42.87, Z:-8.57 [[ 9.89130180e-01 1.46695896e-01 1.00897013e-02 3.01557504e+02] [-1.46687645e-01 9.89181637e-01 -1.55700138e-03 -4.28655048e+01] [-1.02089530e-02 6.00425265e-05 9.99947885e-01 -8.57153752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80420382200003 meters 0.014886625521079616 Centerline is valid? [True, True] Translation: X:301.59, Y:-42.87, Z:-8.57 [[ 9.89267234e-01 1.45762452e-01 1.01807540e-02 3.01586277e+02] [-1.45754011e-01 9.89319616e-01 -1.57018865e-03 -4.28697173e+01] [-1.03008942e-02 6.94504433e-05 9.99946942e-01 -8.56711177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83420382200006 meters 0.015713790808329818 Centerline is valid? [True, True] Translation: X:301.61, Y:-42.88, Z:-8.57 [[ 9.89406823e-01 1.44781559e-01 1.06037587e-02 3.01613872e+02] [-1.44772350e-01 9.89463639e-01 -1.63505064e-03 -4.28750954e+01] [-1.07287589e-02 8.25991882e-05 9.99942442e-01 -8.56810052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86420382200004 meters 0.018623659773178636 Centerline is valid? [True, True] Translation: X:301.64, Y:-42.88, Z:-8.57 [[ 9.89728867e-01 1.42563452e-01 1.06034145e-02 3.01642003e+02] [-1.42554126e-01 9.89785659e-01 -1.63410724e-03 -4.28821497e+01] [-1.07280715e-02 1.05762625e-04 9.99942447e-01 -8.56917871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89420382200007 meters 0.018088596089196666 Centerline is valid? [True, True] Translation: X:301.67, Y:-42.89, Z:-8.57 [[ 9.89990587e-01 1.40758466e-01 1.02806859e-02 3.01670490e+02] [-1.40749611e-01 9.90043958e-01 -1.58344678e-03 -4.28942370e+01] [-1.04012145e-02 1.20594860e-04 9.99945899e-01 -8.57063036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92420382200004 meters 0.018815482323216486 Centerline is valid? [True, True] Translation: X:301.70, Y:-42.90, Z:-8.57 [[ 9.90077254e-01 1.40152428e-01 1.02141581e-02 3.01697494e+02] [-1.40143650e-01 9.90129931e-01 -1.57361528e-03 -4.29012765e+01] [-1.03338897e-02 1.26551295e-04 9.99946596e-01 -8.57166495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95420382200007 meters 0.019630321511128385 Centerline is valid? [True, True] Translation: X:301.72, Y:-42.91, Z:-8.57 [[ 9.90115616e-01 1.39886157e-01 1.01454402e-02 3.01724682e+02] [-1.39877489e-01 9.90167585e-01 -1.56248756e-03 -4.29072211e+01] [-1.02642565e-02 1.27924631e-04 9.99947313e-01 -8.57326951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98420382200004 meters 0.019751277978414635 Centerline is valid? [True, True] Translation: X:301.75, Y:-42.91, Z:-8.58 [[ 9.90076918e-01 1.40222464e-01 9.23885087e-03 3.01752666e+02] [-1.40215298e-01 9.90120017e-01 -1.42206755e-03 -4.29127806e+01] [-9.34697699e-03 1.12528027e-04 9.99956310e-01 -8.57557797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01420382200007 meters 0.01783478890483545 Centerline is valid? [True, True] Translation: X:301.78, Y:-42.92, Z:-8.57 [[ 9.89844647e-01 1.41813678e-01 9.82118061e-03 3.01781464e+02] [-1.41805664e-01 9.89893363e-01 -1.51116025e-03 -4.29181071e+01] [-9.93622470e-03 1.03114842e-04 9.99950629e-01 -8.57432396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04420382200004 meters 0.01674178676650294 Centerline is valid? [True, True] Translation: X:301.81, Y:-42.92, Z:-8.58 [[ 9.89680974e-01 1.42958411e-01 9.71918389e-03 3.01810411e+02] [-1.42950622e-01 9.89728692e-01 -1.49501520e-03 -4.29224446e+01] [-9.83308016e-03 9.02247091e-05 9.99951650e-01 -8.57504174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0742038220001 meters 0.016881916441151983 Centerline is valid? [True, True] Translation: X:301.84, Y:-42.93, Z:-8.58 [[ 9.89487610e-01 1.44289416e-01 9.73827397e-03 3.01838243e+02] [-1.44281668e-01 9.89535527e-01 -1.49722973e-03 -4.29282243e+01] [-9.85240247e-03 7.64358601e-05 9.99951461e-01 -8.57786695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10420382200004 meters 0.014337017721080007 Centerline is valid? [True, True] Translation: X:301.87, Y:-42.93, Z:-8.57 [[ 9.89068767e-01 1.47071458e-01 1.06282821e-02 3.01867141e+02] [-1.47062395e-01 9.89125868e-01 -1.63357597e-03 -4.29332610e+01] [-1.07529612e-02 5.26983493e-05 9.99942184e-01 -8.57477359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1342038220001 meters 0.014032015976860338 Centerline is valid? [True, True] Translation: X:301.89, Y:-42.94, Z:-8.58 [[ 9.88842341e-01 1.48511368e-01 1.16274445e-02 3.01894695e+02] [-1.48500622e-01 9.88910700e-01 -1.78702279e-03 -4.29380612e+01] [-1.17638975e-02 4.04010619e-05 9.99930802e-01 -8.57606945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16420382200005 meters 0.012979542851001157 Centerline is valid? [True, True] Translation: X:301.92, Y:-42.94, Z:-8.57 [[ 9.88398796e-01 1.51423470e-01 1.17793744e-02 3.01923751e+02] [-1.51412654e-01 9.88468984e-01 -1.80984989e-03 -4.29422525e+01] [-1.19176000e-02 5.30711011e-06 9.99928983e-01 -8.57474989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194203822 meters 0.014029643601822833 Centerline is valid? [True, True] Translation: X:301.95, Y:-42.95, Z:-8.58 [[ 9.88200885e-01 1.52786733e-01 1.07342576e-02 3.01950574e+02] [-1.52777844e-01 9.88259184e-01 -1.64809857e-03 -4.29466341e+01] [-1.08600362e-02 -1.13042628e-05 9.99941028e-01 -8.57949994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22420382200005 meters 0.014779546652220145 Centerline is valid? [True, True] Translation: X:301.98, Y:-42.95, Z:-8.58 [[ 9.87891703e-01 1.54866927e-01 9.28541354e-03 3.01978666e+02] [-1.54860369e-01 9.87935339e-01 -1.42547688e-03 -4.29527138e+01] [-9.39414739e-03 -2.97257795e-05 9.99955874e-01 -8.58242106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254203822 meters 0.015181261147090638 Centerline is valid? [True, True] Translation: X:302.01, Y:-42.96, Z:-8.58 [[ 9.87779388e-01 1.55567538e-01 9.51950358e-03 3.02005631e+02] [-1.55560681e-01 9.87825258e-01 -1.46113720e-03 -4.29599471e+01] [-9.63091160e-03 -3.75792508e-05 9.99953621e-01 -8.58391261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28420382200005 meters 0.015181261147090638 Centerline is valid? [True, True] Translation: X:302.03, Y:-42.96, Z:-8.58 [[ 9.87786674e-01 1.55521265e-01 9.51962525e-03 3.02033641e+02] [-1.55514413e-01 9.87832544e-01 -1.46034376e-03 -4.29641481e+01] [-9.63091013e-03 -3.79308284e-05 9.99953621e-01 -8.58471897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314203822 meters 0.014455271745661833 Centerline is valid? [True, True] Translation: X:302.06, Y:-42.97, Z:-8.58 [[ 9.87763263e-01 1.55688120e-01 9.21656833e-03 3.02061761e+02] [-1.55681708e-01 9.87806260e-01 -1.41350710e-03 -4.29738000e+01] [-9.32425015e-03 -3.86407079e-05 9.99956527e-01 -8.58340981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34420382200005 meters 0.016277706706013834 Centerline is valid? [True, True] Translation: X:302.09, Y:-42.98, Z:-8.59 [[ 9.87533459e-01 1.57245620e-01 7.17512750e-03 3.02088742e+02] [-1.57241776e-01 9.87559524e-01 -1.10036512e-03 -4.29827283e+01] [-7.25889309e-03 -4.15824131e-05 9.99973653e-01 -8.58836346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374203822 meters 0.017762998876946847 Centerline is valid? [True, True] Translation: X:302.12, Y:-42.99, Z:-8.59 [[ 9.87283874e-01 1.58816305e-01 6.92342091e-03 3.02116549e+02] [-1.58812764e-01 9.87308148e-01 -1.06185776e-03 -4.29863639e+01] [-7.00419020e-03 -5.11725645e-05 9.99975469e-01 -8.59114063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40420382200006 meters 0.019708241823313984 Centerline is valid? [True, True] Translation: X:302.14, Y:-42.99, Z:-8.59 [[ 9.86492095e-01 1.63627262e-01 7.71142799e-03 3.02144973e+02] [-1.63623024e-01 9.86522230e-01 -1.18158475e-03 -4.29915364e+01] [-7.80083461e-03 -9.61431504e-05 9.99969568e-01 -8.58723657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43420382200003 meters 0.021715831990866418 Centerline is valid? [True, True] Translation: X:302.17, Y:-42.99, Z:-8.58 [[ 9.85993959e-01 1.66552707e-01 8.72405283e-03 3.02173358e+02] [-1.66547400e-01 9.86032544e-01 -1.33636498e-03 -4.29937965e+01] [-8.82477521e-03 -1.35320520e-04 9.99961052e-01 -8.58487378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46420382200006 meters 0.0274620803492278 Centerline is valid? [True, True] Translation: X:302.20, Y:-42.99, Z:-8.58 [[ 9.84816943e-01 1.73165605e-01 1.22172459e-02 3.02202670e+02] [-1.73155730e-01 9.84892683e-01 -1.86956080e-03 -4.29901276e+01] [-1.23564198e-02 -2.74310990e-04 9.99923619e-01 -8.57990771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49420382200003 meters 0.031031123700668337 Centerline is valid? [True, True] Translation: X:302.23, Y:-42.99, Z:-8.58 [[ 9.84225119e-01 1.76417620e-01 1.33318387e-02 3.02231269e+02] [-1.76406164e-01 9.84315348e-01 -2.03972245e-03 -4.29907083e+01] [-1.34825764e-02 -3.44272447e-04 9.99909047e-01 -8.57889739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52420382200006 meters 0.032701323384601216 Centerline is valid? [True, True] Translation: X:302.26, Y:-42.99, Z:-8.58 [[ 9.83641475e-01 1.79634371e-01 1.34514502e-02 3.02260191e+02] [-1.79623018e-01 9.83733368e-01 -2.05734106e-03 -4.29941121e+01] [-1.36022096e-02 -3.92504081e-04 9.99907409e-01 -8.57817951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55420382200003 meters 0.04222493621410438 Centerline is valid? [True, True] Translation: X:302.29, Y:-42.99, Z:-8.58 [[ 9.82566108e-01 1.85469744e-01 1.28381336e-02 3.02291723e+02] [-1.85459914e-01 9.82649871e-01 -1.96244162e-03 -4.29850092e+01] [-1.29793639e-02 -4.52730519e-04 9.99915662e-01 -8.58268409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58420382200006 meters 0.038899080079479356 Centerline is valid? [True, True] Translation: X:302.32, Y:-42.99, Z:-8.58 [[ 9.82192011e-01 1.87495858e-01 1.20065166e-02 3.02320352e+02] [-1.87487408e-01 9.82265291e-01 -1.83557391e-03 -4.29918762e+01] [-1.21377470e-02 -4.48184655e-04 9.99926234e-01 -8.58204009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61420382200004 meters 0.04683340831436754 Centerline is valid? [True, True] Translation: X:302.35, Y:-42.99, Z:-8.59 [[ 9.81886066e-01 1.89096455e-01 1.19282518e-02 3.02350138e+02] [-1.89088239e-01 9.81958407e-01 -1.82315851e-03 -4.29868156e+01] [-1.20577999e-02 -4.65358185e-04 9.99927194e-01 -8.58746661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64420382200007 meters 0.04131768777120284 Centerline is valid? [True, True] Translation: X:302.38, Y:-43.00, Z:-8.59 [[ 9.81975686e-01 1.88657187e-01 1.14986518e-02 3.02377674e+02] [-1.88649523e-01 9.82042906e-01 -1.75730256e-03 -4.29984461e+01] [-1.16236972e-02 -4.43586795e-04 9.99932344e-01 -8.58596756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67420382200004 meters 0.04028493876064912 Centerline is valid? [True, True] Translation: X:302.41, Y:-43.00, Z:-8.59 [[ 9.82495999e-01 1.85996915e-01 1.03324630e-02 3.02405311e+02] [-1.85990583e-01 9.82550258e-01 -1.57891914e-03 -4.30021357e+01] [-1.04458382e-02 -3.70459074e-04 9.99945372e-01 -8.58947442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70420382200007 meters 0.03721355322993393 Centerline is valid? [True, True] Translation: X:302.43, Y:-43.01, Z:-8.59 [[ 9.82939456e-01 1.83651704e-01 1.01033761e-02 3.02433798e+02] [-1.83645528e-01 9.82991321e-01 -1.54363334e-03 -4.30100799e+01] [-1.02150219e-02 -3.38141715e-04 9.99947768e-01 -8.59039194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73420382200004 meters 0.03435638897653583 Centerline is valid? [True, True] Translation: X:302.46, Y:-43.02, Z:-8.59 [[ 9.83975774e-01 1.78000418e-01 1.03695250e-02 3.02462452e+02] [-1.77993620e-01 9.84030369e-01 -1.58227122e-03 -4.30193364e+01] [-1.04855724e-02 -2.88792734e-04 9.99944983e-01 -8.59330703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76420382200007 meters 0.030739168944133376 Centerline is valid? [True, True] Translation: X:302.49, Y:-43.03, Z:-8.59 [[ 9.84508735e-01 1.75039291e-01 1.01881022e-02 3.02490639e+02] [-1.75032565e-01 9.84561417e-01 -1.55504197e-03 -4.30271704e+01] [-1.03030058e-02 -2.52297251e-04 9.99946891e-01 -8.59372655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79420382200004 meters 0.028910585520979675 Centerline is valid? [True, True] Translation: X:302.52, Y:-43.03, Z:-8.60 [[ 9.84967158e-01 1.72441272e-01 1.01835548e-02 3.02518441e+02] [-1.72434418e-01 9.85019775e-01 -1.55384915e-03 -4.30322906e+01] [-1.02989506e-02 -2.25504967e-04 9.99946939e-01 -8.59521716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8242038220001 meters 0.022524236153237176 Centerline is valid? [True, True] Translation: X:302.55, Y:-43.05, Z:-8.60 [[ 9.85887646e-01 1.67154222e-01 9.22041656e-03 3.02546518e+02] [-1.67148382e-01 9.85930749e-01 -1.40589385e-03 -4.30471019e+01] [-9.32569330e-03 -1.55124334e-04 9.99956503e-01 -8.59642748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85420382200004 meters 0.020958971567519726 Centerline is valid? [True, True] Translation: X:302.57, Y:-43.06, Z:-8.60 [[ 9.86361691e-01 1.64344445e-01 9.02877406e-03 3.02573233e+02] [-1.64338720e-01 9.86403005e-01 -1.37752194e-03 -4.30550928e+01] [-9.13239794e-03 -1.25042304e-04 9.99958291e-01 -8.59871342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8842038220001 meters 0.01761683341028316 Centerline is valid? [True, True] Translation: X:302.60, Y:-43.06, Z:-8.60 [[ 9.87087399e-01 1.59939406e-01 8.82349343e-03 3.02601307e+02] [-1.59933769e-01 9.87126830e-01 -1.34544046e-03 -4.30640282e+01] [-8.92509605e-03 -8.31072354e-05 9.99960167e-01 -8.59944833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91420382200005 meters 0.0157724857010015 Centerline is valid? [True, True] Translation: X:302.63, Y:-43.07, Z:-8.60 [[ 9.87480267e-01 1.57505516e-01 8.64490201e-03 3.02630016e+02] [-1.57500018e-01 9.87518106e-01 -1.31733838e-03 -4.30730583e+01] [-8.74448532e-03 -6.07265682e-05 9.99961764e-01 -8.59932099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944203822 meters 0.01622744571231559 Centerline is valid? [True, True] Translation: X:302.66, Y:-43.08, Z:-8.60 [[ 9.87556978e-01 1.56995087e-01 9.15197858e-03 3.02658615e+02] [-1.56988907e-01 9.87599382e-01 -1.39432169e-03 -4.30777391e+01] [-9.25739005e-03 -5.97869990e-05 9.99957148e-01 -8.60083773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97420382200005 meters 0.015318639260303678 Centerline is valid? [True, True] Translation: X:302.69, Y:-43.08, Z:-8.60 [[ 9.87492418e-01 1.57353503e-01 9.92971426e-03 3.02688431e+02] [-1.57346248e-01 9.87542339e-01 -1.51251893e-03 -4.30812104e+01] [-1.00440134e-02 -6.88023057e-05 9.99949555e-01 -8.59769605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004203822 meters 0.017180694021273906 Centerline is valid? [True, True] Translation: X:302.72, Y:-43.08, Z:-8.60 [[ 9.87070706e-01 1.59844621e-01 1.18793645e-02 3.02717235e+02] [-1.59834417e-01 9.87142180e-01 -1.80966706e-03 -4.30774200e+01] [-1.20158873e-02 -1.12461956e-04 9.99927800e-01 -8.59654174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03420382200005 meters 0.02005125948564236 Centerline is valid? [True, True] Translation: X:302.75, Y:-43.07, Z:-8.60 [[ 9.86543218e-01 1.63048646e-01 1.21498361e-02 3.02746190e+02] [-1.63038224e-01 9.86618019e-01 -1.85000961e-03 -4.30747260e+01] [-1.22888888e-02 -1.55773279e-04 9.99924477e-01 -8.59708502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064203822 meters 0.021774236461020537 Centerline is valid? [True, True] Translation: X:302.77, Y:-43.07, Z:-8.60 [[ 9.86300084e-01 1.64553052e-01 1.15947470e-02 3.02774897e+02] [-1.64543675e-01 9.86368220e-01 -1.76466104e-03 -4.30748272e+01] [-1.17270703e-02 -1.67356949e-04 9.99931222e-01 -8.59892024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09420382200005 meters 0.023516268375053776 Centerline is valid? [True, True] Translation: X:302.80, Y:-43.07, Z:-8.60 [[ 9.86046705e-01 1.66072791e-01 1.14771275e-02 3.02803324e+02] [-1.66063710e-01 9.86113479e-01 -1.74641706e-03 -4.30745922e+01] [-1.16077824e-02 -1.83885572e-04 9.99932611e-01 -8.60086307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124203822 meters 0.0263557697168858 Centerline is valid? [True, True] Translation: X:302.83, Y:-43.07, Z:-8.60 [[ 9.85676449e-01 1.68301216e-01 1.07999459e-02 3.02832042e+02] [-1.68293312e-01 9.85735594e-01 -1.64305294e-03 -4.30715714e+01] [-1.09224189e-02 -1.98040071e-04 9.99940329e-01 -8.60404678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15420382200006 meters 0.026120592094545925 Centerline is valid? [True, True] Translation: X:302.86, Y:-43.08, Z:-8.61 [[ 9.85592269e-01 1.68858938e-01 9.72312754e-03 3.02860896e+02] [-1.68852568e-01 9.85640211e-01 -1.47829202e-03 -4.30750237e+01] [-9.83312830e-03 -1.84781874e-04 9.99951637e-01 -8.60546521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18420382200003 meters 0.02742035515869591 Centerline is valid? [True, True] Translation: X:302.89, Y:-43.08, Z:-8.61 [[ 9.85647246e-01 1.68647899e-01 7.57572358e-03 3.02888616e+02] [-1.68644025e-01 9.85676349e-01 -1.15198034e-03 -4.30761298e+01] [-7.66149063e-03 -1.42154261e-04 9.99970640e-01 -8.61128514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21420382200006 meters 0.030585301643072292 Centerline is valid? [True, True] Translation: X:302.92, Y:-43.08, Z:-8.61 [[ 9.85682204e-01 1.68465323e-01 7.07299476e-03 3.02917096e+02] [-1.68461944e-01 9.85707572e-01 -1.07506452e-03 -4.30839842e+01] [-7.15301558e-03 -1.31858485e-04 9.99974408e-01 -8.60808480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24420382200003 meters 0.02431350880435319 Centerline is valid? [True, True] Translation: X:302.95, Y:-43.09, Z:-8.61 [[ 9.85944169e-01 1.66887171e-01 7.92264144e-03 3.02945076e+02] [-1.66882884e-01 9.85975990e-01 -1.20387313e-03 -4.30853302e+01] [-8.01244522e-03 -1.35201560e-04 9.99967891e-01 -8.60976610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27420382200006 meters 0.0231692030162118 Centerline is valid? [True, True] Translation: X:302.97, Y:-43.09, Z:-8.61 [[ 9.86104817e-01 1.65917671e-01 8.28351326e-03 3.02973204e+02] [-1.65912958e-01 9.86139599e-01 -1.25776350e-03 -4.30905195e+01] [-8.37738563e-03 -1.34055542e-04 9.99964900e-01 -8.60936837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30420382200003 meters 0.021544654888640886 Centerline is valid? [True, True] Translation: X:303.00, Y:-43.10, Z:-8.61 [[ 9.86304911e-01 1.64700059e-01 8.74713799e-03 3.03001256e+02] [-1.64694760e-01 9.86343689e-01 -1.32766453e-03 -4.30956435e+01] [-8.84635078e-03 -1.31125744e-04 9.99960862e-01 -8.60826647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33420382200006 meters 0.018798034551904066 Centerline is valid? [True, True] Translation: X:303.03, Y:-43.10, Z:-8.61 [[ 9.86764441e-01 1.61884355e-01 9.45477562e-03 3.03029692e+02] [-1.61878040e-01 9.86809730e-01 -1.43449870e-03 -4.31021197e+01] [-9.56228747e-03 -1.15008232e-04 9.99954274e-01 -8.60769688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36420382200004 meters 0.0181399102013498 Centerline is valid? [True, True] Translation: X:303.06, Y:-43.11, Z:-8.61 [[ 9.86967197e-01 1.60621065e-01 9.82986515e-03 3.03056683e+02] [-1.60614180e-01 9.87016141e-01 -1.49107981e-03 -4.31067888e+01] [-9.94173439e-03 -1.07168869e-04 9.99950574e-01 -8.60832711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39420382200007 meters 0.019809502033086682 Centerline is valid? [True, True] Translation: X:303.09, Y:-43.11, Z:-8.61 [[ 9.87195256e-01 1.59190389e-01 1.01953758e-02 3.03085323e+02] [-1.59182916e-01 9.87247897e-01 -1.54559192e-03 -4.31100041e+01] [-1.03114067e-02 -9.71286376e-05 9.99946831e-01 -8.60940802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42420382200004 meters 0.017364254247918546 Centerline is valid? [True, True] Translation: X:303.11, Y:-43.11, Z:-8.61 [[ 9.87393919e-01 1.57944685e-01 1.03308314e-02 3.03113135e+02] [-1.57936946e-01 9.87447958e-01 -1.56586147e-03 -4.31138553e+01] [-1.04484779e-02 -8.54978669e-05 9.99945410e-01 -8.61156536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45420382200007 meters 0.01577972022447485 Centerline is valid? [True, True] Translation: X:303.14, Y:-43.12, Z:-8.61 [[ 9.87556325e-01 1.56936204e-01 1.01750927e-02 3.03141496e+02] [-1.56928652e-01 9.87608740e-01 -1.54132105e-03 -4.31204035e+01] [-1.02908996e-02 -7.46222323e-05 9.99947045e-01 -8.61001704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48420382200004 meters 0.01451824881263207 Centerline is valid? [True, True] Translation: X:303.17, Y:-43.13, Z:-8.61 [[ 9.87906874e-01 1.54705847e-01 1.03009115e-02 3.03170064e+02] [-1.54697994e-01 9.87960575e-01 -1.55962972e-03 -4.31277513e+01] [-1.04181783e-02 -5.27614249e-05 9.99945728e-01 -8.61062622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51420382200007 meters 0.015257836844847735 Centerline is valid? [True, True] Translation: X:303.20, Y:-43.13, Z:-8.61 [[ 9.88033915e-01 1.53894546e-01 1.02689156e-02 3.03197313e+02] [-1.53886698e-01 9.88087277e-01 -1.55484664e-03 -4.31322414e+01] [-1.03858673e-02 -4.40082949e-05 9.99946064e-01 -8.61422047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54420382200004 meters 0.013912526711264098 Centerline is valid? [True, True] Translation: X:303.23, Y:-43.14, Z:-8.61 [[ 9.88079014e-01 1.53572476e-01 1.07404014e-02 3.03226071e+02] [-1.53563882e-01 9.88137386e-01 -1.62526475e-03 -4.31369150e+01] [-1.08625881e-02 -4.34477333e-05 9.99940999e-01 -8.61080136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5742038220001 meters 0.014093875726524199 Centerline is valid? [True, True] Translation: X:303.26, Y:-43.14, Z:-8.61 [[ 9.87768598e-01 1.55404388e-01 1.27543336e-02 3.03255576e+02] [-1.55392433e-01 9.87850935e-01 -1.92910252e-03 -4.31350456e+01] [-1.28991714e-02 -7.64200424e-05 9.99916799e-01 -8.60809170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60420382200004 meters 0.01721943183872506 Centerline is valid? [True, True] Translation: X:303.28, Y:-43.13, Z:-8.61 [[ 9.87218470e-01 1.58872928e-01 1.26129302e-02 3.03284725e+02] [-1.58861523e-01 9.87299032e-01 -1.90744586e-03 -4.31296852e+01] [-1.27557753e-02 -1.20643507e-04 9.99918635e-01 -8.61057509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6342038220001 meters 0.0219439134834931 Centerline is valid? [True, True] Translation: X:303.31, Y:-43.13, Z:-8.61 [[ 9.86872270e-01 1.61044279e-01 1.21598816e-02 3.03313882e+02] [-1.61033858e-01 9.86947171e-01 -1.83775154e-03 -4.31295702e+01] [-1.22971201e-02 -1.44526610e-04 9.99924377e-01 -8.61185823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66420382200005 meters 0.01966055597419655 Centerline is valid? [True, True] Translation: X:303.34, Y:-43.13, Z:-8.61 [[ 9.86582905e-01 1.62811218e-01 1.21111253e-02 3.03343274e+02] [-1.62801020e-01 9.86657225e-01 -1.82978646e-03 -4.31301454e+01] [-1.22474390e-02 -1.66467508e-04 9.99924983e-01 -8.61181114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694203822 meters 0.021202750670087513 Centerline is valid? [True, True] Translation: X:303.37, Y:-43.13, Z:-8.61 [[ 9.86346411e-01 1.64278408e-01 1.15482324e-02 3.03372446e+02] [-1.64269243e-01 9.86413997e-01 -1.74422393e-03 -4.31313585e+01] [-1.16778764e-02 -1.76610378e-04 9.99931796e-01 -8.61378967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72420382200005 meters 0.023898030340549135 Centerline is valid? [True, True] Translation: X:303.40, Y:-43.13, Z:-8.62 [[ 9.86183101e-01 1.65270084e-01 1.13441580e-02 3.03400417e+02] [-1.65261306e-01 9.86248328e-01 -1.71334514e-03 -4.31301975e+01] [-1.14713216e-02 -1.85078336e-04 9.99934185e-01 -8.61737418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754203822 meters 0.019926411528885076 Centerline is valid? [True, True] Translation: X:303.43, Y:-43.14, Z:-8.62 [[ 9.86474326e-01 1.63549951e-01 1.09461689e-02 3.03428745e+02] [-1.63541686e-01 9.86535041e-01 -1.65195971e-03 -4.31353515e+01] [-1.10689571e-02 -1.60539085e-04 9.99938724e-01 -8.61537056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78420382200005 meters 0.032702096913227015 Centerline is valid? [True, True] Translation: X:303.46, Y:-43.14, Z:-8.62 [[ 9.86729256e-01 1.62016408e-01 1.07730204e-02 3.03456178e+02] [-1.62008315e-01 9.86788054e-01 -1.62551877e-03 -4.31383234e+01] [-1.08940486e-02 -1.41371968e-04 9.99940648e-01 -8.62090595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814203822 meters 0.018235182286749 Centerline is valid? [True, True] Translation: X:303.48, Y:-43.15, Z:-8.62 [[ 9.87110870e-01 1.59692649e-01 1.05065927e-02 3.03484195e+02] [-1.59684829e-01 9.87166777e-01 -1.58443610e-03 -4.31457063e+01] [-1.06247821e-02 -1.13729365e-04 9.99943549e-01 -8.61997624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84420382200005 meters 0.017473264230323457 Centerline is valid? [True, True] Translation: X:303.51, Y:-43.15, Z:-8.62 [[ 9.87480106e-01 1.57404095e-01 1.03436467e-02 3.03511904e+02] [-1.57396396e-01 9.87534274e-01 -1.55936318e-03 -4.31513529e+01] [-1.04601558e-02 -8.82126006e-05 9.99945287e-01 -8.62269568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874203822 meters 0.015011047073409523 Centerline is valid? [True, True] Translation: X:303.54, Y:-43.16, Z:-8.62 [[ 9.88138411e-01 1.53208157e-01 1.04757880e-02 3.03540117e+02] [-1.53200031e-01 9.88193938e-01 -1.57850661e-03 -4.31606563e+01] [-1.05939503e-02 -4.51080339e-05 9.99943882e-01 -8.62334828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90420382200006 meters 0.013976327148023063 Centerline is valid? [True, True] Translation: X:303.57, Y:-43.17, Z:-8.62 [[ 9.88897170e-01 1.48173422e-01 1.12704689e-02 3.03567072e+02] [-1.48163693e-01 9.88961393e-01 -1.69796243e-03 -4.31719479e+01] [-1.13976515e-02 9.23593555e-06 9.99935045e-01 -8.62296295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93420382200003 meters 0.014001862644490774 Centerline is valid? [True, True] Translation: X:303.60, Y:-43.18, Z:-8.62 [[ 9.89285423e-01 1.45605452e-01 1.06491056e-02 3.03595420e+02] [-1.45596622e-01 9.89342737e-01 -1.60395388e-03 -4.31788378e+01] [-1.07691597e-02 3.62943967e-05 9.99942010e-01 -8.62157086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96420382200006 meters 0.014842616853921268 Centerline is valid? [True, True] Translation: X:303.62, Y:-43.19, Z:-8.62 [[ 9.89625204e-01 1.43234674e-01 1.12153418e-02 3.03622279e+02] [-1.43224733e-01 9.89688751e-01 -1.68880651e-03 -4.31856835e+01] [-1.13415932e-02 6.49711576e-05 9.99935680e-01 -8.62262616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99420382200003 meters 0.017507975786218186 Centerline is valid? [True, True] Translation: X:303.65, Y:-43.20, Z:-8.62 [[ 9.90247313e-01 1.38905175e-01 1.07522763e-02 3.03650949e+02] [-1.38895796e-01 9.90305680e-01 -1.61782744e-03 -4.31962432e+01] [-1.08727649e-02 1.08603307e-04 9.99940884e-01 -8.62415042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02420382200006 meters 0.018565969464807264 Centerline is valid? [True, True] Translation: X:303.68, Y:-43.20, Z:-8.63 [[ 9.90470696e-01 1.37370421e-01 9.85741739e-03 3.03679585e+02] [-1.37362463e-01 9.90519740e-01 -1.48300265e-03 -4.32034153e+01] [-9.96768720e-03 1.14831528e-04 9.99950315e-01 -8.62640423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05420382200003 meters 0.020611370792411682 Centerline is valid? [True, True] Translation: X:303.71, Y:-43.21, Z:-8.63 [[ 9.90627830e-01 1.36258599e-01 9.49192071e-03 3.03707432e+02] [-1.36251183e-01 9.90673296e-01 -1.42664413e-03 -4.32123891e+01] [-9.59778491e-03 1.19987951e-04 9.99953933e-01 -8.63021599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08420382200006 meters 0.020670891823115538 Centerline is valid? [True, True] Translation: X:303.74, Y:-43.22, Z:-8.63 [[ 9.90597234e-01 1.36498717e-01 9.23149176e-03 3.03735290e+02] [-1.36491693e-01 9.90640241e-01 -1.38965298e-03 -4.32164365e+01] [-9.33477307e-03 1.16564466e-04 9.99956423e-01 -8.63179686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11420382200004 meters 0.019718062140430676 Centerline is valid? [True, True] Translation: X:303.76, Y:-43.22, Z:-8.63 [[ 9.90434088e-01 1.37704073e-01 8.82638437e-03 3.03763957e+02] [-1.37697706e-01 9.90473411e-01 -1.32798355e-03 -4.32181667e+01] [-8.92516778e-03 9.99072985e-05 9.99960165e-01 -8.63313965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14420382200007 meters 0.016441759543538784 Centerline is valid? [True, True] Translation: X:303.79, Y:-43.22, Z:-8.63 [[ 9.89915962e-01 1.41399548e-01 8.51803478e-03 3.03793673e+02] [-1.41393757e-01 9.89952607e-01 -1.28126756e-03 -4.32152328e+01] [-8.61362139e-03 6.39502654e-05 9.99962900e-01 -8.63197941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17420382200004 meters 0.016441759543538784 Centerline is valid? [True, True] Translation: X:303.82, Y:-43.22, Z:-8.63 [[ 9.89922834e-01 1.41351420e-01 8.51809684e-03 3.03821695e+02] [-1.41345631e-01 9.89959480e-01 -1.28085471e-03 -4.32193542e+01] [-8.61362135e-03 6.39515477e-05 9.99962900e-01 -8.63278581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20420382200007 meters 0.014498409190380632 Centerline is valid? [True, True] Translation: X:303.85, Y:-43.22, Z:-8.63 [[ 9.89277590e-01 1.45836780e-01 7.84111752e-03 3.03851153e+02] [-1.45832018e-01 9.89308664e-01 -1.17881338e-03 -4.32175131e+01] [-7.92919985e-03 2.26876765e-05 9.99968563e-01 -8.63262858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23420382200004 meters 0.02239467826706476 Centerline is valid? [True, True] Translation: X:303.88, Y:-43.22, Z:-8.64 [[ 9.88852761e-01 1.48687532e-01 7.88885617e-03 3.03879506e+02] [-1.48682804e-01 9.88884229e-01 -1.18583306e-03 -4.32182445e+01] [-7.97748405e-03 -3.22957592e-07 9.99968179e-01 -8.63820342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26420382200007 meters 0.015061069492028423 Centerline is valid? [True, True] Translation: X:303.91, Y:-43.22, Z:-8.64 [[ 9.88507562e-01 1.50981228e-01 7.58082064e-03 3.03908943e+02] [-1.50976936e-01 9.88536630e-01 -1.13857074e-03 -4.32197745e+01] [-7.66582170e-03 -1.90432821e-05 9.99970617e-01 -8.63644668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29420382200004 meters 0.01724311609613695 Centerline is valid? [True, True] Translation: X:303.94, Y:-43.22, Z:-8.64 [[ 9.87741196e-01 1.55924941e-01 7.39880382e-03 3.03937235e+02] [-1.55920990e-01 9.87768905e-01 -1.11150110e-03 -4.32160048e+01] [-7.48161909e-03 -5.57533878e-05 9.99972011e-01 -8.63880478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3242038220001 meters 0.01860495974511207 Centerline is valid? [True, True] Translation: X:303.97, Y:-43.22, Z:-8.64 [[ 9.87431532e-01 1.57894461e-01 6.95049363e-03 3.03966257e+02] [-1.57891027e-01 9.87455991e-01 -1.04356447e-03 -4.32166714e+01] [-7.02807962e-03 -6.69721149e-05 9.99975301e-01 -8.64025458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35420382200004 meters 0.022412045835435147 Centerline is valid? [True, True] Translation: X:303.99, Y:-43.21, Z:-8.64 [[ 9.86901330e-01 1.61189516e-01 6.61095709e-03 3.03994822e+02] [-1.61186483e-01 9.86923468e-01 -9.92587006e-04 -4.32130936e+01] [-6.68450332e-03 -8.60114838e-05 9.99977655e-01 -8.64414359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3842038220001 meters 0.021325340441408224 Centerline is valid? [True, True] Translation: X:304.02, Y:-43.22, Z:-8.64 [[ 9.86792625e-01 1.61854874e-01 6.58135550e-03 3.04023209e+02] [-1.61851887e-01 9.86814568e-01 -9.87474543e-04 -4.32172497e+01] [-6.65440506e-03 -9.07722128e-05 9.99977855e-01 -8.64159973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41420382200005 meters 0.02233224207857568 Centerline is valid? [True, True] Translation: X:304.05, Y:-43.22, Z:-8.64 [[ 9.86788831e-01 1.61854220e-01 7.14241398e-03 3.04051152e+02] [-1.61850704e-01 9.86814674e-01 -1.07143091e-03 -4.32188051e+01] [-7.22165454e-03 -9.87286717e-05 9.99973919e-01 -8.64347321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444203822 meters 0.022317192198991042 Centerline is valid? [True, True] Translation: X:304.08, Y:-43.22, Z:-8.64 [[ 9.86919280e-01 1.61015239e-01 8.02671052e-03 3.04079225e+02] [-1.61010777e-01 9.86951915e-01 -1.20332636e-03 -4.32205567e+01] [-8.11573120e-03 -1.04800912e-04 9.99967061e-01 -8.64443260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47420382200005 meters 0.021520678946622723 Centerline is valid? [True, True] Translation: X:304.11, Y:-43.22, Z:-8.64 [[ 9.87044688e-01 1.60230893e-01 8.29728399e-03 3.04108224e+02] [-1.60226104e-01 9.87079556e-01 -1.24306086e-03 -4.32242880e+01] [-8.38925615e-03 -1.02484868e-04 9.99964804e-01 -8.64473703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504203822 meters 0.019149679888487252 Centerline is valid? [True, True] Translation: X:304.14, Y:-43.23, Z:-8.64 [[ 9.87232553e-01 1.59086747e-01 7.95566085e-03 3.04136390e+02] [-1.59082309e-01 9.87264604e-01 -1.19160848e-03 -4.32295574e+01] [-8.04391148e-03 -8.92102160e-05 9.99967643e-01 -8.64296464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53420382200005 meters 0.017638659853788673 Centerline is valid? [True, True] Translation: X:304.16, Y:-43.23, Z:-8.64 [[ 9.87584403e-01 1.56868887e-01 8.31864340e-03 3.04164831e+02] [-1.56863960e-01 9.87619434e-01 -1.24548931e-03 -4.32340230e+01] [-8.41103241e-03 -7.48695264e-05 9.99964624e-01 -8.64390184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564203822 meters 0.01653336277792548 Centerline is valid? [True, True] Translation: X:304.19, Y:-43.24, Z:-8.64 [[ 9.87806089e-01 1.55400509e-01 9.47694581e-03 3.04192718e+02] [-1.55394054e-01 9.87851546e-01 -1.41822893e-03 -4.32390000e+01] [-9.58220907e-03 -7.17258512e-05 9.99954087e-01 -8.64353482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59420382200005 meters 0.014626872146607732 Centerline is valid? [True, True] Translation: X:304.22, Y:-43.25, Z:-8.64 [[ 9.88400927e-01 1.51553889e-01 9.74810267e-03 3.04220727e+02] [-1.51546877e-01 9.88448996e-01 -1.45827498e-03 -4.32456983e+01] [-9.85650954e-03 -3.59341808e-05 9.99951423e-01 -8.64304648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624203822 meters 0.014267133333624154 Centerline is valid? [True, True] Translation: X:304.25, Y:-43.25, Z:-8.64 [[ 9.88748080e-01 1.49256793e-01 9.98215294e-03 3.04247765e+02] [-1.49249327e-01 9.88798468e-01 -1.49297735e-03 -4.32508246e+01] [-1.00931745e-02 -1.36511184e-05 9.99949063e-01 -8.64441631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65420382200006 meters 0.01367461553912657 Centerline is valid? [True, True] Translation: X:304.28, Y:-43.26, Z:-8.64 [[ 9.89090687e-01 1.46932022e-01 1.05163942e-02 3.04276099e+02] [-1.46923614e-01 9.89146592e-01 -1.57191419e-03 -4.32569782e+01] [-1.06332200e-02 9.65904532e-06 9.99943466e-01 -8.64325619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68420382200003 meters 0.014630008106524633 Centerline is valid? [True, True] Translation: X:304.30, Y:-43.26, Z:-8.64 [[ 9.89722025e-01 1.42476865e-01 1.22741914e-02 3.04303414e+02] [-1.42465076e-01 9.89798130e-01 -1.83400606e-03 -4.32638801e+01] [-1.24102751e-02 6.65125817e-05 9.99922987e-01 -8.64252020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71420382200006 meters 0.01587222959270615 Centerline is valid? [True, True] Translation: X:304.33, Y:-43.27, Z:-8.64 [[ 9.90025913e-01 1.40358275e-01 1.21756704e-02 3.04331818e+02] [-1.40346526e-01 9.90100776e-01 -1.81831822e-03 -4.32693813e+01] [-1.23103567e-02 9.13691109e-05 9.99924221e-01 -8.64344443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74420382200003 meters 0.019429054158872302 Centerline is valid? [True, True] Translation: X:304.36, Y:-43.28, Z:-8.65 [[ 9.90652116e-01 1.35931218e-01 1.14494508e-02 3.04359695e+02] [-1.35920543e-01 9.90718267e-01 -1.70899642e-03 -4.32811511e+01] [-1.15754860e-02 1.36805353e-04 9.99932992e-01 -8.64636249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77420382200006 meters 0.024960342403188153 Centerline is valid? [True, True] Translation: X:304.39, Y:-43.29, Z:-8.65 [[ 9.90852835e-01 1.34437299e-01 1.17162936e-02 3.04388110e+02] [-1.34426015e-01 9.90922090e-01 -1.74892233e-03 -4.32887183e+01] [-1.18450546e-02 1.57949981e-04 9.99929832e-01 -8.64835320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80420382200003 meters 0.024565480915379207 Centerline is valid? [True, True] Translation: X:304.42, Y:-43.29, Z:-8.65 [[ 9.91263154e-01 1.31446690e-01 1.09145547e-02 3.04416846e+02] [-1.31436724e-01 9.91323224e-01 -1.62861035e-03 -4.32933273e+01] [-1.10339270e-02 1.79808115e-04 9.99939108e-01 -8.64757530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83420382200006 meters 0.023283664247434797 Centerline is valid? [True, True] Translation: X:304.44, Y:-43.30, Z:-8.65 [[ 9.91425343e-01 1.30212230e-01 1.09801432e-02 3.04444803e+02] [-1.30202071e-01 9.91486126e-01 -1.63803499e-03 -4.32985087e+01] [-1.10999518e-02 1.94352020e-04 9.99938375e-01 -8.64759360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86420382200004 meters 0.022906388419777216 Centerline is valid? [True, True] Translation: X:304.47, Y:-43.30, Z:-8.65 [[ 9.91528606e-01 1.29381740e-01 1.14624547e-02 3.04472990e+02] [-1.29370617e-01 9.91594837e-01 -1.70973110e-03 -4.33025753e+01] [-1.15873189e-02 2.12342456e-04 9.99932842e-01 -8.64643373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89420382200007 meters 0.024773043705993848 Centerline is valid? [True, True] Translation: X:304.50, Y:-43.31, Z:-8.65 [[ 9.91726375e-01 1.27746388e-01 1.26355873e-02 3.04500302e+02] [-1.27732751e-01 9.91806834e-01 -1.88374107e-03 -4.33125011e+01] [-1.27727029e-02 2.54177382e-04 9.99918393e-01 -8.64651112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92420382200004 meters 0.03396932390690417 Centerline is valid? [True, True] Translation: X:304.53, Y:-43.32, Z:-8.65 [[ 9.91753940e-01 1.27609551e-01 1.18289794e-02 3.04529344e+02] [-1.27597597e-01 9.91824453e-01 -1.76290359e-03 -4.33178048e+01] [-1.19572344e-02 2.39017226e-04 9.99928481e-01 -8.64952936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95420382200007 meters 0.025885542814846337 Centerline is valid? [True, True] Translation: X:304.56, Y:-43.33, Z:-8.65 [[ 9.91931897e-01 1.26271717e-01 1.12501106e-02 3.04558736e+02] [-1.26260826e-01 9.91995663e-01 -1.67596799e-03 -4.33268042e+01] [-1.13716883e-02 2.41997855e-04 9.99935311e-01 -8.65022094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98420382200004 meters 0.026547453710534758 Centerline is valid? [True, True] Translation: X:304.59, Y:-43.33, Z:-8.65 [[ 9.91979409e-01 1.25827187e-01 1.20154705e-02 3.04586835e+02] [-1.25814724e-01 9.92052140e-01 -1.79058354e-03 -4.33349367e+01] [-1.21452773e-02 2.64498901e-04 9.99926208e-01 -8.65051547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01420382200007 meters 0.02658551653405856 Centerline is valid? [True, True] Translation: X:304.62, Y:-43.34, Z:-8.65 [[ 9.92014136e-01 1.25461737e-01 1.29346729e-02 3.04616811e+02] [-1.25447277e-01 9.92098417e-01 -1.92644411e-03 -4.33420015e+01] [-1.30741635e-02 2.88440301e-04 9.99914488e-01 -8.64986071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04420382200004 meters 0.028260112215799268 Centerline is valid? [True, True] Translation: X:304.65, Y:-43.35, Z:-8.65 [[ 9.92158968e-01 1.24282206e-01 1.32104205e-02 3.04646094e+02] [-1.24267022e-01 9.92246863e-01 -1.96732985e-03 -4.33511879e+01] [-1.33525024e-02 3.10284342e-04 9.99910803e-01 -8.65082975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0742038220001 meters 0.03295246697234813 Centerline is valid? [True, True] Translation: X:304.68, Y:-43.36, Z:-8.65 [[ 9.92176239e-01 1.24180020e-01 1.28698927e-02 3.04676977e+02] [-1.24165600e-01 9.92259659e-01 -1.91657368e-03 -4.33572189e+01] [-1.30082755e-02 3.03580913e-04 9.99915343e-01 -8.65271305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10420382200004 meters 0.03158000868824189 Centerline is valid? [True, True] Translation: X:304.71, Y:-43.37, Z:-8.65 [[ 9.92414824e-01 1.22250638e-01 1.29460029e-02 3.04705579e+02] [-1.22235878e-01 9.92499205e-01 -1.92823410e-03 -4.33735562e+01] [-1.30846254e-02 3.31142068e-04 9.99914338e-01 -8.65472382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1342038220001 meters 0.03969400795926424 Centerline is valid? [True, True] Translation: X:304.74, Y:-43.38, Z:-8.66 [[ 9.92448852e-01 1.22053289e-01 1.21766821e-02 3.04736619e+02] [-1.22040242e-01 9.92523500e-01 -1.81158963e-03 -4.33814204e+01] [-1.23067536e-02 3.11864818e-04 9.99924220e-01 -8.65758988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16420382200005 meters 0.03311454838502945 Centerline is valid? [True, True] Translation: X:304.77, Y:-43.39, Z:-8.66 [[ 9.92623868e-01 1.20725014e-01 1.11052918e-02 3.04765860e+02] [-1.20714047e-01 9.92685942e-01 -1.65511689e-03 -4.33931353e+01] [-1.12238810e-02 3.02343815e-04 9.99936965e-01 -8.65877188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194203822 meters 0.03352465495896254 Centerline is valid? [True, True] Translation: X:304.80, Y:-43.40, Z:-8.66 [[ 9.92602637e-01 1.20936785e-01 1.06910386e-02 3.04796724e+02] [-1.20926640e-01 9.92660169e-01 -1.59274113e-03 -4.34009189e+01] [-1.08051892e-02 2.88127672e-04 9.99941581e-01 -8.66048668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22420382200005 meters 0.03247677120865296 Centerline is valid? [True, True] Translation: X:304.83, Y:-43.41, Z:-8.66 [[ 9.92385545e-01 1.22737315e-01 1.03190220e-02 3.04827432e+02] [-1.22727944e-01 9.92439159e-01 -1.53889861e-03 -4.34093650e+01] [-1.04298818e-02 2.60748387e-04 9.99945573e-01 -8.66251894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254203822 meters 0.031377182968666005 Centerline is valid? [True, True] Translation: X:304.86, Y:-43.41, Z:-8.66 [[ 9.92199920e-01 1.24216579e-01 1.04670596e-02 3.04857748e+02] [-1.24206998e-01 9.92255098e-01 -1.56301439e-03 -4.34145262e+01] [-1.05801456e-02 2.50740691e-04 9.99943997e-01 -8.66382565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28420382200005 meters 0.03869975124574497 Centerline is valid? [True, True] Translation: X:304.89, Y:-43.42, Z:-8.67 [[ 9.91914296e-01 1.26488243e-01 1.03321401e-02 3.04888707e+02] [-1.26478990e-01 9.91968080e-01 -1.54675502e-03 -4.34184810e+01] [-1.04447995e-02 2.27449772e-04 9.99945426e-01 -8.66652566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314203822 meters 0.02441768414784794 Centerline is valid? [True, True] Translation: X:304.92, Y:-43.42, Z:-8.66 [[ 9.91572793e-01 1.29171237e-01 9.90900418e-03 3.04920388e+02] [-1.29162859e-01 9.91622284e-01 -1.48359559e-03 -4.34195829e+01] [-1.00176272e-02 1.91217713e-04 9.99949804e-01 -8.66365971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34420382200005 meters 0.035358523576455754 Centerline is valid? [True, True] Translation: X:304.95, Y:-43.43, Z:-8.67 [[ 9.91282785e-01 1.31351168e-01 1.02621289e-02 3.04949637e+02] [-1.31342304e-01 9.91335887e-01 -1.53592962e-03 -4.34271332e+01] [-1.03749628e-02 1.74688944e-04 9.99946163e-01 -8.66866297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374203822 meters 0.023730851765167666 Centerline is valid? [True, True] Translation: X:304.98, Y:-43.43, Z:-8.67 [[ 9.91024096e-01 1.33314742e-01 9.92068451e-03 3.04979629e+02] [-1.33306539e-01 9.91073739e-01 -1.48654116e-03 -4.34334732e+01] [-1.00303077e-02 1.50705987e-04 9.99949684e-01 -8.66950111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40420382200006 meters 0.020966030383331197 Centerline is valid? [True, True] Translation: X:305.01, Y:-43.44, Z:-8.67 [[ 9.90900236e-01 1.34283818e-01 9.19664831e-03 3.05011313e+02] [-1.34276812e-01 9.90942904e-01 -1.37788167e-03 -4.34366507e+01] [-9.29838060e-03 1.30446651e-04 9.99956761e-01 -8.66805817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43420382200003 meters 0.02295755431860383 Centerline is valid? [True, True] Translation: X:305.04, Y:-43.45, Z:-8.67 [[ 9.90815503e-01 1.34924456e-01 8.94598261e-03 3.05040811e+02] [-1.34917849e-01 9.90855881e-01 -1.34077056e-03 -4.34456385e+01] [-9.04508222e-03 1.21483527e-04 9.99959085e-01 -8.67383207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46420382200006 meters 0.022883105784101247 Centerline is valid? [True, True] Translation: X:305.07, Y:-43.46, Z:-8.67 [[ 9.90794719e-01 1.35041825e-01 9.46204074e-03 3.05070796e+02] [-1.35034439e-01 9.90839891e-01 -1.41805268e-03 -4.34564772e+01] [-9.56686383e-03 1.27297746e-04 9.99954228e-01 -8.67438950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49420382200003 meters 0.021059441635094416 Centerline is valid? [True, True] Translation: X:305.10, Y:-43.46, Z:-8.67 [[ 9.90827040e-01 1.34802749e-01 9.48656224e-03 3.05102431e+02] [-1.34795339e-01 9.90872445e-01 -1.41914395e-03 -4.34629385e+01] [-9.59127763e-03 1.27381831e-04 9.99953995e-01 -8.67146726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52420382200006 meters 0.022188772653523793 Centerline is valid? [True, True] Translation: X:305.13, Y:-43.48, Z:-8.67 [[ 9.90925661e-01 1.34122495e-01 8.80284590e-03 3.05132379e+02] [-1.34116064e-01 9.90964752e-01 -1.31959474e-03 -4.34751167e+01] [-8.90029734e-03 1.27017248e-04 9.99960384e-01 -8.67292283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55420382200003 meters 0.030947840900618518 Centerline is valid? [True, True] Translation: X:305.16, Y:-43.48, Z:-8.67 [[ 9.90843468e-01 1.34724130e-01 8.86742261e-03 3.05164232e+02] [-1.34717635e-01 9.90883138e-01 -1.32851909e-03 -4.34812006e+01] [-8.96556313e-03 1.21756265e-04 9.99959801e-01 -8.67335676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58420382200006 meters 0.02516988144236442 Centerline is valid? [True, True] Translation: X:305.20, Y:-43.49, Z:-8.67 [[ 9.90799502e-01 1.34989462e-01 9.70529452e-03 3.05195749e+02] [-1.34981673e-01 9.90847025e-01 -1.45621672e-03 -4.34879625e+01] [-9.81303612e-03 1.32781913e-04 9.99951842e-01 -8.67246218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61420382200004 meters 0.020626132436869917 Centerline is valid? [True, True] Translation: X:305.23, Y:-43.50, Z:-8.67 [[ 9.90567409e-01 1.36504479e-01 1.19471999e-02 3.05225025e+02] [-1.36492726e-01 9.90639442e-01 -1.79752658e-03 -4.34967638e+01] [-1.20807378e-02 1.49865371e-04 9.99927014e-01 -8.67052812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64420382200007 meters 0.017711916851801363 Centerline is valid? [True, True] Translation: X:305.26, Y:-43.50, Z:-8.67 [[ 9.90329865e-01 1.38115213e-01 1.30746793e-02 3.05257255e+02] [-1.38101283e-01 9.90416159e-01 -1.96674132e-03 -4.35014027e+01] [-1.32210106e-02 1.42092682e-04 9.99912589e-01 -8.66678147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67420382200004 meters 0.015207024705234355 Centerline is valid? [True, True] Translation: X:305.29, Y:-43.51, Z:-8.66 [[ 9.89786838e-01 1.41756651e-01 1.50687830e-02 3.05286670e+02] [-1.41738495e-01 9.89901530e-01 -2.27150456e-03 -4.35079173e+01] [-1.52386123e-02 1.12478687e-04 9.99883879e-01 -8.66442387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70420382200007 meters 0.014231381170790678 Centerline is valid? [True, True] Translation: X:305.32, Y:-43.51, Z:-8.66 [[ 9.89467195e-01 1.43846549e-01 1.62123481e-02 3.05318042e+02] [-1.43825795e-01 9.89600001e-01 -2.44495967e-03 -4.35115400e+01] [-1.63954387e-02 8.74535218e-05 9.99865582e-01 -8.66437018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73420382200004 meters 0.013806276229382103 Centerline is valid? [True, True] Translation: X:305.35, Y:-43.51, Z:-8.67 [[ 9.89142250e-01 1.45965029e-01 1.70827479e-02 3.05349195e+02] [-1.45942282e-01 9.89289749e-01 -2.57743371e-03 -4.35145790e+01] [-1.72760026e-02 5.63533563e-05 9.99850757e-01 -8.66572703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76420382200007 meters 0.012733423768628733 Centerline is valid? [True, True] Translation: X:305.38, Y:-43.52, Z:-8.67 [[ 9.88553213e-01 1.50040305e-01 1.58256724e-02 3.05380988e+02] [-1.50021273e-01 9.88679881e-01 -2.38969697e-03 -4.35166053e+01] [-1.60050748e-02 -1.18449071e-05 9.99871911e-01 -8.66613630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79420382200004 meters 0.013129634403262438 Centerline is valid? [True, True] Translation: X:305.41, Y:-43.52, Z:-8.67 [[ 9.88269052e-01 1.52007315e-01 1.47667727e-02 3.05412410e+02] [-1.51990929e-01 9.88379368e-01 -2.23220308e-03 -4.35201280e+01] [-1.49344847e-02 -3.83982796e-05 9.99888474e-01 -8.66872160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8242038220001 meters 0.014726613887819083 Centerline is valid? [True, True] Translation: X:305.44, Y:-43.52, Z:-8.67 [[ 9.87795952e-01 1.55211192e-01 1.29862704e-02 3.05444531e+02] [-1.55198778e-01 9.87881309e-01 -1.96443951e-03 -4.35217293e+01] [-1.31337968e-02 -7.49878889e-05 9.99913745e-01 -8.67368073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85420382200004 meters 0.01575843219882659 Centerline is valid? [True, True] Translation: X:305.48, Y:-43.53, Z:-8.68 [[ 9.87580843e-01 1.56673099e-01 1.17310752e-02 3.05475429e+02] [-1.56663050e-01 9.87650512e-01 -1.77638247e-03 -4.35259765e+01] [-1.18645138e-02 -8.35047344e-05 9.99929611e-01 -8.67673234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8842038220001 meters 0.01689638660966223 Centerline is valid? [True, True] Translation: X:305.51, Y:-43.53, Z:-8.68 [[ 9.87340853e-01 1.58213653e-01 1.12463609e-02 3.05505764e+02] [-1.58204470e-01 9.87404897e-01 -1.70714675e-03 -4.35296088e+01] [-1.13748058e-02 -9.36888443e-05 9.99935300e-01 -8.67880993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91420382200005 meters 0.01955638297890174 Centerline is valid? [True, True] Translation: X:305.54, Y:-43.53, Z:-8.68 [[ 9.86665735e-01 1.62389259e-01 1.09752885e-02 3.05537151e+02] [-1.62380768e-01 9.86726765e-01 -1.66633946e-03 -4.35283741e+01] [-1.11002066e-02 -1.38055733e-04 9.99938381e-01 -8.67919730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944203822 meters 0.021155072123639585 Centerline is valid? [True, True] Translation: X:305.57, Y:-43.53, Z:-8.68 [[ 9.86323609e-01 1.64462312e-01 1.08575168e-02 3.05567533e+02] [-1.64454127e-01 9.86383355e-01 -1.64845859e-03 -4.35292077e+01] [-1.09807832e-02 -1.59649826e-04 9.99939697e-01 -8.67972893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97420382200005 meters 0.026736422471772932 Centerline is valid? [True, True] Translation: X:305.60, Y:-43.52, Z:-8.68 [[ 9.85752913e-01 1.67792188e-01 1.17036603e-02 3.05596755e+02] [-1.67782906e-01 9.85822366e-01 -1.77753460e-03 -4.35249668e+01] [-1.18359865e-02 -2.11464215e-04 9.99929930e-01 -8.68266333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004203822 meters 0.02729791952616141 Centerline is valid? [True, True] Translation: X:305.63, Y:-43.53, Z:-8.68 [[ 9.85591759e-01 1.68696946e-01 1.22566353e-02 3.05625329e+02] [-1.68686840e-01 9.85667939e-01 -1.86116714e-03 -4.35275636e+01] [-1.23949457e-02 -2.33182089e-04 9.99923153e-01 -8.68228605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03420382200005 meters 0.027172065476042017 Centerline is valid? [True, True] Translation: X:305.65, Y:-43.53, Z:-8.68 [[ 9.85509958e-01 1.69176218e-01 1.22282289e-02 3.05654827e+02] [-1.69166207e-01 9.85585790e-01 -1.85592168e-03 -4.35310679e+01] [-1.23659464e-02 -2.39573800e-04 9.99923510e-01 -8.68268454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064203822 meters 0.02501186377631307 Centerline is valid? [True, True] Translation: X:305.68, Y:-43.54, Z:-8.68 [[ 9.85588890e-01 1.68741431e-01 1.18688556e-02 3.05683207e+02] [-1.68731972e-01 9.85660326e-01 -1.80113371e-03 -4.35386357e+01] [-1.20025859e-02 -2.27478027e-04 9.99927941e-01 -8.68289108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09420382200005 meters 0.02501186377631307 Centerline is valid? [True, True] Translation: X:305.71, Y:-43.54, Z:-8.68 [[ 9.85592941e-01 1.68717766e-01 1.18688990e-02 3.05712046e+02] [-1.68708309e-01 9.85664377e-01 -1.80084712e-03 -4.35429664e+01] [-1.20025859e-02 -2.27479669e-04 9.99927941e-01 -8.68372133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124203822 meters 0.024022612432922717 Centerline is valid? [True, True] Translation: X:305.74, Y:-43.55, Z:-8.68 [[ 9.85688359e-01 1.68160751e-01 1.18499665e-02 3.05741195e+02] [-1.68151287e-01 9.85759562e-01 -1.79769001e-03 -4.35481526e+01] [-1.19835187e-02 -2.20625006e-04 9.99928171e-01 -8.68419741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15420382200006 meters 0.0250697156061853 Centerline is valid? [True, True] Translation: X:305.77, Y:-43.55, Z:-8.69 [[ 9.85803514e-01 1.67522658e-01 1.12956589e-02 3.05770187e+02] [-1.67514017e-01 9.85868205e-01 -1.71355629e-03 -4.35474615e+01] [-1.14230904e-02 -2.02951371e-04 9.99934734e-01 -8.68798776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18420382200003 meters 0.025618739061555547 Centerline is valid? [True, True] Translation: X:305.80, Y:-43.55, Z:-8.69 [[ 9.85816870e-01 1.67470901e-01 1.08901731e-02 3.05798547e+02] [-1.67462870e-01 9.85877000e-01 -1.65165902e-03 -4.35493889e+01] [-1.10129760e-02 -1.95466325e-04 9.99939336e-01 -8.69034627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21420382200006 meters 0.026554397603234935 Centerline is valid? [True, True] Translation: X:305.83, Y:-43.55, Z:-8.69 [[ 9.85584921e-01 1.68795705e-01 1.14181502e-02 3.05827715e+02] [-1.68786968e-01 9.85651034e-01 -1.73147482e-03 -4.35491334e+01] [-1.15465770e-02 -2.20719478e-04 9.99933312e-01 -8.68983378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24420382200003 meters 0.028392939683443547 Centerline is valid? [True, True] Translation: X:305.86, Y:-43.55, Z:-8.69 [[ 9.85396097e-01 1.69855247e-01 1.19886055e-02 3.05856233e+02] [-1.69845700e-01 9.85468992e-01 -1.81752606e-03 -4.35487815e+01] [-1.21231153e-02 -2.45230004e-04 9.99926482e-01 -8.69026622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27420382200006 meters 0.02661543791143565 Centerline is valid? [True, True] Translation: X:305.89, Y:-43.55, Z:-8.69 [[ 9.85257019e-01 1.70610444e-01 1.26760487e-02 3.05885153e+02] [-1.70599846e-01 9.85338522e-01 -1.92073403e-03 -4.35532338e+01] [-1.28178964e-02 -2.70115283e-04 9.99917811e-01 -8.68721310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30420382200003 meters 0.027075536393375836 Centerline is valid? [True, True] Translation: X:305.91, Y:-43.55, Z:-8.69 [[ 9.85226275e-01 1.70680880e-01 1.40436846e-02 3.05913337e+02] [-1.70667887e-01 9.85326315e-01 -2.12732054e-03 -4.35546785e+01] [-1.42007050e-02 -3.00913898e-04 9.99899120e-01 -8.68676757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33420382200006 meters 0.026083648546969398 Centerline is valid? [True, True] Translation: X:305.94, Y:-43.56, Z:-8.69 [[ 9.85377390e-01 1.69804727e-01 1.40625137e-02 3.05942159e+02] [-1.69791626e-01 9.85477687e-01 -2.12906362e-03 -4.35598052e+01] [-1.42198185e-02 -2.89765907e-04 9.99898851e-01 -8.68739395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36420382200004 meters 0.02302446305031544 Centerline is valid? [True, True] Translation: X:305.97, Y:-43.57, Z:-8.69 [[ 9.86014594e-01 1.66099885e-01 1.36399817e-02 3.05971859e+02] [-1.66087221e-01 9.86108906e-01 -2.06392151e-03 -4.35653180e+01] [-1.37933245e-02 -2.30369917e-04 9.99904841e-01 -8.68994469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39420382200007 meters 0.021689172738159707 Centerline is valid? [True, True] Translation: X:306.00, Y:-43.57, Z:-8.69 [[ 9.86360342e-01 1.64068004e-01 1.32274800e-02 3.06000905e+02] [-1.64055912e-01 9.86449011e-01 -2.00153557e-03 -4.35714955e+01] [-1.33766225e-02 -1.95810984e-04 9.99910510e-01 -8.69273798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42420382200004 meters 0.020872540462134763 Centerline is valid? [True, True] Translation: X:306.03, Y:-43.58, Z:-8.70 [[ 9.86690407e-01 1.62107883e-01 1.27701058e-02 3.06029063e+02] [-1.62096453e-01 9.86773027e-01 -1.93197911e-03 -4.35782021e+01] [-1.29143850e-02 -1.63723591e-04 9.99916592e-01 -8.69537504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45420382200007 meters 0.02035357211235465 Centerline is valid? [True, True] Translation: X:306.06, Y:-43.58, Z:-8.70 [[ 9.86914159e-01 1.60743470e-01 1.27271093e-02 3.06057563e+02] [-1.60732007e-01 9.86996208e-01 -1.92521177e-03 -4.35840131e+01] [-1.28710738e-02 -1.45635060e-04 9.99917154e-01 -8.69700704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48420382200004 meters 0.02617494113687315 Centerline is valid? [True, True] Translation: X:306.08, Y:-43.60, Z:-8.70 [[ 9.86828048e-01 1.60751679e-01 1.81466391e-02 3.06082848e+02] [-1.61132650e-01 9.86688568e-01 2.19530852e-02 -4.36029007e+01] [-1.43760860e-02 -2.45879363e-02 9.99594298e-01 -8.69858819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51420382200007 meters 0.020466758667961577 Centerline is valid? [True, True] Translation: X:306.12, Y:-43.58, Z:-8.70 [[ 9.86785386e-01 1.61772663e-01 9.17641921e-03 3.06119259e+02] [-1.61490260e-01 9.86533608e-01 -2.59294522e-02 -4.35759977e+01] [-1.32475225e-02 2.41049022e-02 9.99621657e-01 -8.69900197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54420382200004 meters 0.027958176697070253 Centerline is valid? [True, True] Translation: X:306.15, Y:-43.59, Z:-8.70 [[ 9.86171528e-01 1.65200668e-01 1.32081734e-02 3.06146459e+02] [-1.65188700e-01 9.86259953e-01 -1.99955484e-03 -4.35875353e+01] [-1.33570203e-02 -2.09936942e-04 9.99910769e-01 -8.70029523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5742038220001 meters 0.029681540725850396 Centerline is valid? [True, True] Translation: X:306.18, Y:-43.59, Z:-8.70 [[ 9.85756422e-01 1.67623145e-01 1.36659391e-02 3.06175674e+02] [-1.67610569e-01 9.85851114e-01 -2.06859895e-03 -4.35878690e+01] [-1.38193263e-02 -2.51421128e-04 9.99904477e-01 -8.69878707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60420382200004 meters 0.03154942930175759 Centerline is valid? [True, True] Translation: X:306.20, Y:-43.59, Z:-8.70 [[ 9.85339791e-01 1.70032987e-01 1.39384316e-02 3.06204541e+02] [-1.70020153e-01 9.85438328e-01 -2.10930070e-03 -4.35860863e+01] [-1.40941155e-02 -2.91436361e-04 9.99900631e-01 -8.69959057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6342038220001 meters 0.030377899595075347 Centerline is valid? [True, True] Translation: X:306.23, Y:-43.58, Z:-8.70 [[ 9.85007292e-01 1.71877390e-01 1.47917878e-02 3.06233146e+02] [-1.71863158e-01 9.85118292e-01 -2.23753270e-03 -4.35830085e+01] [-1.49562420e-02 -3.38177326e-04 9.99888092e-01 -8.69998937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66420382200005 meters 0.031202851474267622 Centerline is valid? [True, True] Translation: X:306.26, Y:-43.58, Z:-8.70 [[ 9.84567596e-01 1.74368769e-01 1.49057522e-02 3.06263177e+02] [-1.74354627e-01 9.84680348e-01 -2.25308554e-03 -4.35827014e+01] [-1.50702690e-02 -3.80571846e-04 9.99886365e-01 -8.70048871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694203822 meters 0.03295110322710604 Centerline is valid? [True, True] Translation: X:306.29, Y:-43.58, Z:-8.70 [[ 9.84618633e-01 1.74066296e-01 1.50689334e-02 3.06291877e+02] [-1.74051806e-01 9.84733863e-01 -2.27785393e-03 -4.35798039e+01] [-1.52353866e-02 -3.79957659e-04 9.99883863e-01 -8.70266376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72420382200005 meters 0.03086281345091078 Centerline is valid? [True, True] Translation: X:306.31, Y:-43.62, Z:-8.71 [[ 9.84624198e-01 1.72260366e-01 2.90095684e-02 3.06309690e+02] [-1.73564380e-01 9.83506405e-01 5.08975255e-02 -4.36167892e+01] [-1.97634700e-02 -5.51499630e-02 9.98282468e-01 -8.70538771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754203822 meters 0.02834426620069701 Centerline is valid? [True, True] Translation: X:306.36, Y:-43.56, Z:-8.70 [[ 9.84909147e-01 1.72880429e-01 8.14428056e-03 3.06356840e+02] [-1.72166332e-01 9.83477126e-01 -5.59597859e-02 -4.35592780e+01] [-1.76840654e-02 5.37131341e-02 9.98399806e-01 -8.70034221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78420382200005 meters 0.026417049090032757 Centerline is valid? [True, True] Translation: X:306.37, Y:-43.62, Z:-8.70 [[ 9.85374854e-01 1.68782630e-01 2.34269450e-02 3.06371974e+02] [-1.69481871e-01 9.85013080e-01 3.20176285e-02 -4.36183923e+01] [-1.76718277e-02 -3.55198085e-02 9.99212715e-01 -8.70493092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814203822 meters 0.0216000529533862 Centerline is valid? [True, True] Translation: X:306.41, Y:-43.59, Z:-8.70 [[ 9.86492390e-01 1.63290961e-01 1.29932948e-02 3.06411863e+02] [-1.62715756e-01 9.85973393e-01 -3.71490318e-02 -4.35875794e+01] [-1.88771441e-02 3.45330234e-02 9.99225262e-01 -8.70128466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84420382200005 meters 0.0273794362015252 Centerline is valid? [True, True] Translation: X:306.44, Y:-43.62, Z:-8.70 [[ 9.87189478e-01 1.58628963e-01 1.71402050e-02 3.06437384e+02] [-1.58607941e-01 9.87338253e-01 -2.58763633e-03 -4.36177082e+01] [-1.73336541e-02 -1.64085263e-04 9.99849747e-01 -8.70459459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874203822 meters 0.02080501454014345 Centerline is valid? [True, True] Translation: X:306.47, Y:-43.64, Z:-8.70 [[ 9.88592805e-01 1.49466999e-01 1.85440819e-02 3.06466039e+02] [-1.49440797e-01 9.88766715e-01 -2.79858914e-03 -4.36366650e+01] [-1.87540676e-02 -4.57727908e-06 9.99824127e-01 -8.70307426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90420382200006 meters 0.015607667558480517 Centerline is valid? [True, True] Translation: X:306.50, Y:-43.65, Z:-8.70 [[ 9.89194633e-01 1.45153143e-01 2.06044484e-02 3.06496836e+02] [-1.45119870e-01 9.89409196e-01 -3.10894108e-03 -4.36472473e+01] [-2.08375033e-02 8.52329480e-05 9.99782872e-01 -8.70136196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93420382200003 meters 0.017639604642748462 Centerline is valid? [True, True] Translation: X:306.53, Y:-43.66, Z:-8.70 [[ 9.89777908e-01 1.41146183e-01 2.04315373e-02 3.06526090e+02] [-1.41112513e-01 9.89988750e-01 -3.08764387e-03 -4.36584676e+01] [-2.06628012e-02 1.72936124e-04 9.99786487e-01 -8.70374255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96420382200006 meters 0.021499881874578387 Centerline is valid? [True, True] Translation: X:306.56, Y:-43.68, Z:-8.70 [[ 9.90571624e-01 1.35253467e-01 2.17797644e-02 3.06555966e+02] [-1.35213771e-01 9.90810981e-01 -3.29182952e-03 -4.36754545e+01] [-2.20248610e-02 3.15868827e-04 9.99757373e-01 -8.70324680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99420382200003 meters 0.023144955607386258 Centerline is valid? [True, True] Translation: X:306.59, Y:-43.69, Z:-8.70 [[ 9.90789651e-01 1.33564556e-01 2.22795259e-02 3.06586897e+02] [-1.33522582e-01 9.91040049e-01 -3.36775910e-03 -4.36855885e+01] [-2.25297156e-02 3.61921046e-04 9.99746108e-01 -8.70307696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02420382200006 meters 0.024274376442892695 Centerline is valid? [True, True] Translation: X:306.62, Y:-43.70, Z:-8.70 [[ 9.90966099e-01 1.32152977e-01 2.28425138e-02 3.06617551e+02] [-1.32108372e-01 9.91229249e-01 -3.45750867e-03 -4.36958981e+01] [-2.30990879e-02 4.08586571e-04 9.99733097e-01 -8.70373094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05420382200003 meters 0.0249843841821946 Centerline is valid? [True, True] Translation: X:306.65, Y:-43.70, Z:-8.71 [[ 9.90999350e-01 1.31993898e-01 2.23136577e-02 3.06649207e+02] [-1.31951279e-01 9.91250447e-01 -3.37812782e-03 -4.37032071e+01] [-2.25643155e-02 4.03406791e-04 9.99745312e-01 -8.70596809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08420382200006 meters 0.034683463263967394 Centerline is valid? [True, True] Translation: X:306.68, Y:-43.71, Z:-8.71 [[ 9.90952929e-01 1.32675194e-01 2.02382336e-02 3.06679746e+02] [-1.32640217e-01 9.91159506e-01 -3.06686980e-03 -4.37114163e+01] [-2.04662151e-02 3.54719919e-04 9.99790482e-01 -8.71021511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11420382200004 meters 0.03466033260454007 Centerline is valid? [True, True] Translation: X:306.71, Y:-43.71, Z:-8.71 [[ 9.90832382e-01 1.33490995e-01 2.07688304e-02 3.06712179e+02] [-1.33454254e-01 9.91049964e-01 -3.15132510e-03 -4.37132579e+01] [-2.10036222e-02 3.50746184e-04 9.99779338e-01 -8.70963763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14420382200007 meters 0.024661220382721154 Centerline is valid? [True, True] Translation: X:306.74, Y:-43.72, Z:-8.71 [[ 9.90702493e-01 1.34215283e-01 2.22447377e-02 3.06742139e+02] [-1.34173217e-01 9.90952131e-01 -3.37966432e-03 -4.37230069e+01] [-2.24970728e-02 3.63593848e-04 9.99746843e-01 -8.71148607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17420382200004 meters 0.021151769455672036 Centerline is valid? [True, True] Translation: X:306.77, Y:-43.73, Z:-8.71 [[ 9.90199486e-01 1.37936984e-01 2.18715967e-02 3.06774571e+02] [-1.37897134e-01 9.90440968e-01 -3.32712654e-03 -4.37258962e+01] [-2.21214592e-02 2.78488495e-04 9.99755252e-01 -8.71284902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20420382200007 meters 0.028906052038474777 Centerline is valid? [True, True] Translation: X:306.81, Y:-43.73, Z:-8.72 [[ 9.89760492e-01 1.41356420e-01 1.98124200e-02 3.06805422e+02] [-1.41324401e-01 9.89958751e-01 -3.01410181e-03 -4.37291763e+01] [-2.00395412e-02 1.83260516e-04 9.99799171e-01 -8.71602010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23420382200004 meters 0.02020306894673127 Centerline is valid? [True, True] Translation: X:306.84, Y:-43.73, Z:-8.72 [[ 9.88637681e-01 1.48756400e-01 2.16117985e-02 3.06837944e+02] [-1.48719982e-01 9.88873871e-01 -3.29165305e-03 -4.37257735e+01] [-2.18609973e-02 4.01459587e-05 9.99761019e-01 -8.71777529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26420382200007 meters 0.021142437858201947 Centerline is valid? [True, True] Translation: X:306.87, Y:-43.73, Z:-8.72 [[ 9.87952403e-01 1.53122164e-01 2.24421957e-02 3.06871463e+02] [-1.53083931e-01 9.88207266e-01 -3.42197400e-03 -4.37261152e+01] [-2.27015209e-02 -5.47921116e-05 9.99742286e-01 -8.71822525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29420382200004 meters 0.023365077122520356 Centerline is valid? [True, True] Translation: X:306.90, Y:-43.73, Z:-8.72 [[ 9.87248959e-01 1.57398102e-01 2.37766744e-02 3.06903702e+02] [-1.57356309e-01 9.87535221e-01 -3.63034363e-03 -4.37269864e+01] [-2.40517126e-02 -1.57356752e-04 9.99710703e-01 -8.71789186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3242038220001 meters 0.02951020970003649 Centerline is valid? [True, True] Translation: X:306.94, Y:-43.72, Z:-8.72 [[ 9.86182109e-01 1.63665369e-01 2.56611723e-02 3.06935450e+02] [-1.63618672e-01 9.86515858e-01 -3.92323575e-03 -4.37222516e+01] [-2.59572512e-02 -3.29622030e-04 9.99662999e-01 -8.71775658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35420382200004 meters 0.03474686381008928 Centerline is valid? [True, True] Translation: X:306.97, Y:-43.72, Z:-8.72 [[ 9.85776818e-01 1.65924390e-01 2.67050911e-02 3.06967684e+02] [-1.65874632e-01 9.86138394e-01 -4.08329024e-03 -4.37246480e+01] [-2.70124331e-02 -4.04484305e-04 9.99635016e-01 -8.71759475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3842038220001 meters 0.034149716102987816 Centerline is valid? [True, True] Translation: X:307.00, Y:-43.73, Z:-8.72 [[ 9.85418676e-01 1.67553364e-01 2.95956562e-02 3.06999820e+02] [-1.67492822e-01 9.85862885e-01 -4.53064830e-03 -4.37276131e+01] [-2.99363843e-02 -4.92474514e-04 9.99551685e-01 -8.71624902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41420382200005 meters 0.04290786434208522 Centerline is valid? [True, True] Translation: X:307.03, Y:-43.73, Z:-8.72 [[ 9.85084015e-01 1.69150221e-01 3.15861635e-02 3.07031664e+02] [-1.69081905e-01 9.85590115e-01 -4.84084833e-03 -4.37327496e+01] [-3.19498411e-02 -5.72006383e-04 9.99489310e-01 -8.71606447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444203822 meters 0.038612185529728525 Centerline is valid? [True, True] Translation: X:307.06, Y:-43.74, Z:-8.72 [[ 9.85047947e-01 1.69262956e-01 3.21028678e-02 3.07063230e+02] [-1.69192265e-01 9.85570756e-01 -4.92562220e-03 -4.37351623e+01] [-3.24733731e-02 -5.79582894e-04 9.99472433e-01 -8.71755377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47420382200005 meters 0.03919274117702753 Centerline is valid? [True, True] Translation: X:307.09, Y:-43.74, Z:-8.72 [[ 9.85093443e-01 1.68843828e-01 3.29039662e-02 3.07094937e+02] [-1.68769129e-01 9.85642649e-01 -5.05455435e-03 -4.37414657e+01] [-3.32849827e-02 -5.73965376e-04 9.99445737e-01 -8.72008132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504203822 meters 0.042751734371709885 Centerline is valid? [True, True] Translation: X:307.13, Y:-43.75, Z:-8.72 [[ 9.85509394e-01 1.66321243e-01 3.32938291e-02 3.07125079e+02] [-1.66243145e-01 9.86071501e-01 -5.11976300e-03 -4.37491068e+01] [-3.36816214e-02 -4.89296324e-04 9.99432493e-01 -8.72337209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53420382200005 meters 0.04393090822692509 Centerline is valid? [True, True] Translation: X:307.16, Y:-43.76, Z:-8.73 [[ 9.85932832e-01 1.63796368e-01 3.32746136e-02 3.07156824e+02] [-1.63716821e-01 9.86494090e-01 -5.11983082e-03 -4.37574038e+01] [-3.36638193e-02 -3.99804654e-04 9.99433133e-01 -8.72544929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564203822 meters 0.05177620832380101 Centerline is valid? [True, True] Translation: X:307.19, Y:-43.76, Z:-8.72 [[ 9.88244275e-01 1.52836646e-01 3.76987730e-03 3.07191410e+02] [-1.52699905e-01 9.87966639e-01 -2.45898265e-02 -4.37556160e+01] [-7.48273962e-03 2.37250954e-02 9.99690516e-01 -8.71882496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59420382200005 meters 0.05034531075839727 Centerline is valid? [True, True] Translation: X:307.21, Y:-43.82, Z:-8.73 [[ 9.88480481e-01 1.47589196e-01 3.35226541e-02 3.07205901e+02] [-1.49369953e-01 9.87024344e-01 5.89199595e-02 -4.38209129e+01] [-2.43917262e-02 -6.32485071e-02 9.97699689e-01 -8.72957195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624203822 meters 0.05740551223802219 Centerline is valid? [True, True] Translation: X:307.25, Y:-43.76, Z:-8.72 [[ 9.89544739e-01 1.44193125e-01 -3.09077015e-03 3.07254379e+02] [-1.44101786e-01 9.87573659e-01 -6.27131874e-02 -4.37595099e+01] [-5.99044730e-03 6.25028902e-02 9.98026805e-01 -8.72374448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65420382200006 meters 0.059023805882111875 Centerline is valid? [True, True] Translation: X:307.27, Y:-43.83, Z:-8.73 [[ 9.89946249e-01 1.39938979e-01 2.05792779e-02 3.07269516e+02] [-1.40513615e-01 9.89630493e-01 2.97894395e-02 -4.38313274e+01] [-1.61971772e-02 -3.23816127e-02 9.99344326e-01 -8.72845776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68420382200003 meters 0.07028405423745199 Centerline is valid? [True, True] Translation: X:307.31, Y:-43.81, Z:-8.73 [[ 9.91450100e-01 1.30473297e-01 -1.84894658e-03 3.07310753e+02] [-1.30460296e-01 9.90868865e-01 -3.40441319e-02 -4.38109244e+01] [-2.60978653e-03 3.39942721e-02 9.99418620e-01 -8.72767686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71420382200006 meters 0.0743803319396488 Centerline is valid? [True, True] Translation: X:307.34, Y:-43.84, Z:-8.73 [[ 9.91863417e-01 1.27277104e-01 2.73889121e-03 3.07338186e+02] [-1.27275902e-01 9.91867165e-01 -6.09352860e-04 -4.38428007e+01] [-2.79417293e-03 2.55799960e-04 9.99996064e-01 -8.72530564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74420382200003 meters 0.0762241628230052 Centerline is valid? [True, True] Translation: X:307.36, Y:-43.89, Z:-8.73 [[ 9.91543225e-01 1.27292888e-01 2.52696322e-02 3.07356263e+02] [-1.28234729e-01 9.90936302e-01 4.00137508e-02 -4.38858126e+01] [-1.99471300e-02 -4.29158080e-02 9.98879545e-01 -8.73132279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77420382200006 meters 0.08338655446920455 Centerline is valid? [True, True] Translation: X:307.40, Y:-43.85, Z:-8.73 [[ 9.92036221e-01 1.25877595e-01 4.35510469e-03 3.07400864e+02] [-1.25613962e-01 9.91309950e-01 -3.90604090e-02 -4.38489090e+01] [-9.23408898e-03 3.82022786e-02 9.99227360e-01 -8.72978040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80420382200003 meters 0.07907551155234804 Centerline is valid? [True, True] Translation: X:307.43, Y:-43.88, Z:-8.73 [[ 9.91019050e-01 1.27172811e-01 4.13318137e-02 3.07427789e+02] [-1.27722294e-01 9.91749779e-01 1.09266683e-02 -4.38776143e+01] [-3.96012420e-02 -1.61075305e-02 9.99085727e-01 -8.73042281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83420382200006 meters 0.08248800198016859 Centerline is valid? [True, True] Translation: X:307.46, Y:-43.87, Z:-8.73 [[ 9.91023411e-01 1.28207124e-01 3.78884105e-02 3.07459572e+02] [-1.28077302e-01 9.91746970e-01 -5.84407747e-03 -4.38749405e+01] [-3.83249687e-02 9.38972208e-04 9.99264887e-01 -8.73326086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86420382200004 meters 0.08842708971013677 Centerline is valid? [True, True] Translation: X:307.49, Y:-43.88, Z:-8.73 [[ 9.90752202e-01 1.29666791e-01 3.99574421e-02 3.07490188e+02] [-1.29523322e-01 9.91557182e-01 -6.16959477e-03 -4.38844986e+01] [-4.04200803e-02 9.37118968e-04 9.99182335e-01 -8.73240101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89420382200007 meters 0.08947097366860671 Centerline is valid? [True, True] Translation: X:307.52, Y:-43.89, Z:-8.74 [[ 9.90653742e-01 1.30690210e-01 3.90542245e-02 3.07521277e+02] [-1.30553708e-01 9.91422863e-01 -6.03629535e-03 -4.38922262e+01] [-3.95081357e-02 8.81204770e-04 9.99218860e-01 -8.73507820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92420382200004 meters 0.09197943796247494 Centerline is valid? [True, True] Translation: X:307.55, Y:-43.90, Z:-8.74 [[ 9.90466377e-01 1.31748721e-01 4.02322099e-02 3.07553530e+02] [-1.31604448e-01 9.91282763e-01 -6.22524424e-03 -4.39003665e+01] [-4.07016642e-02 8.71157340e-04 9.99170964e-01 -8.73505120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95420382200007 meters 0.09741242565516278 Centerline is valid? [True, True] Translation: X:307.58, Y:-43.91, Z:-8.74 [[ 9.90115354e-01 1.33818723e-01 4.20016164e-02 3.07584792e+02] [-1.33663009e-01 9.91005481e-01 -6.50665780e-03 -4.39085313e+01] [-4.24945447e-02 8.28279331e-04 9.99096356e-01 -8.73577737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98420382200004 meters 0.09741242565516278 Centerline is valid? [True, True] Translation: X:307.62, Y:-43.91, Z:-8.74 [[ 9.90090952e-01 1.33999486e-01 4.20005262e-02 3.07616879e+02] [-1.33843636e-01 9.90981056e-01 -6.51368922e-03 -4.39136755e+01] [-4.24945568e-02 8.27641606e-04 9.99096356e-01 -8.73666771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01420382200007 meters 0.10610841767672351 Centerline is valid? [True, False] Translation: X:307.62, Y:-43.92, Z:-8.74 [[ 9.91470363e-01 1.22147393e-01 4.54591531e-02 3.07618815e+02] [-1.22270064e-01 9.92496864e-01 -8.26912406e-05 -4.39154205e+01] [-4.51281674e-02 -5.47630767e-03 9.98966195e-01 -8.73951189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04420382200004 meters 0.1063525372824458 Centerline is valid? [False, False] Translation: X:307.61, Y:-43.91, Z:-8.74 [[ 9.92618729e-01 1.16220093e-01 3.46547025e-02 3.07606347e+02] [-1.16231662e-01 9.93220697e-01 -1.68741322e-03 -4.39121196e+01] [-3.46158791e-02 -2.35301569e-03 9.99397921e-01 -8.74023823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0742038220001 meters 0.10907303513134016 Centerline is valid? [False, False] Translation: X:307.60, Y:-43.90, Z:-8.74 [[ 9.93142050e-01 1.14503628e-01 2.36175206e-02 3.07596862e+02] [-1.14287885e-01 9.93394326e-01 -1.02953064e-02 -4.39041970e+01] [-2.46403609e-02 7.52550526e-03 9.99668055e-01 -8.73564032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10420382200004 meters 0.6237875994972986 Centerline is valid? [False, False] Translation: X:307.60, Y:-43.91, Z:-8.74 [[ 9.94078015e-01 1.05555702e-01 2.58242746e-02 3.07596386e+02] [-1.05584642e-01 9.94410289e-01 -2.44142302e-04 -4.39077259e+01] [-2.57056950e-02 -2.48395030e-03 9.99666468e-01 -8.73590758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1342038220001 meters 0.6275411187184652 Centerline is valid? [False, False] Translation: X:307.60, Y:-43.90, Z:-8.74 [[ 9.94560029e-01 1.01073241e-01 2.51902349e-02 3.07597340e+02] [-1.00968707e-01 9.94874996e-01 -5.39096738e-03 -4.39041051e+01] [-2.56060174e-02 2.81821522e-03 9.99668140e-01 -8.73659116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16420382200005 meters 0.6230359616985522 Centerline is valid? [False, False] Translation: X:307.56, Y:-43.90, Z:-8.73 [[ 9.95552253e-01 9.15058641e-02 2.24140077e-02 3.07556362e+02] [-9.16116075e-02 9.95787810e-01 3.73508866e-03 -4.39006925e+01] [-2.19778131e-02 -5.77185921e-03 9.99741797e-01 -8.73427965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194203822 meters 0.6288157974806344 Centerline is valid? [False, False] Translation: X:307.56, Y:-43.90, Z:-8.74 [[ 9.95934009e-01 8.74418720e-02 2.16649285e-02 3.07558412e+02] [-8.74339812e-02 9.96169451e-01 -1.31301091e-03 -4.38964042e+01] [-2.16967520e-02 -5.86578727e-04 9.99764426e-01 -8.73616527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22420382200005 meters 0.6423251780292358 Centerline is valid? [False, False] Translation: X:307.56, Y:-43.89, Z:-8.74 [[ 9.96341456e-01 8.28121089e-02 2.11153308e-02 3.07559504e+02] [-8.26779614e-02 9.96550665e-01 -7.15033778e-03 -4.38894739e+01] [-2.16346315e-02 5.37840546e-03 9.99751477e-01 -8.73728845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254203822 meters 0.6438521347163702 Centerline is valid? [False, False] Translation: X:307.56, Y:-43.89, Z:-8.74 [[ 9.96750979e-01 7.74716839e-02 2.20369019e-02 3.07559913e+02] [-7.76163692e-02 9.96966506e-01 5.78656434e-03 -4.38880079e+01] [-2.15217582e-02 -7.47818799e-03 9.99740412e-01 -8.73776452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28420382200005 meters 0.6403209489871717 Centerline is valid? [False, False] Translation: X:307.56, Y:-43.89, Z:-8.74 [[ 9.97505718e-01 6.68582064e-02 2.26345583e-02 3.07560821e+02] [-6.71709339e-02 9.97652175e-01 1.33493086e-02 -4.38864819e+01] [-2.16889055e-02 -1.48363961e-02 9.99654677e-01 -8.73825559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314203822 meters 0.7136380054200117 Centerline is valid? [False, False] Translation: X:307.56, Y:-43.88, Z:-8.74 [[ 9.98076764e-01 5.79772499e-02 2.19411010e-02 3.07562115e+02] [-5.80461170e-02 9.98310736e-01 2.51444233e-03 -4.38758117e+01] [-2.17582563e-02 -3.78320218e-03 9.99756103e-01 -8.73996514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34420382200005 meters 0.639166502683624 Centerline is valid? [False, False] Translation: X:307.56, Y:-43.88, Z:-8.74 [[ 9.98500405e-01 4.91417097e-02 2.41253785e-02 3.07564420e+02] [-4.94473469e-02 9.98701733e-01 1.22396112e-02 -4.38760371e+01] [-2.34925819e-02 -1.34141927e-02 9.99634012e-01 -8.74354086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374203822 meters 0.6408496156301772 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.87, Z:-8.75 [[ 9.98927060e-01 3.98804326e-02 2.35431535e-02 3.07566020e+02] [-3.99193154e-02 9.99202205e-01 1.18370628e-03 -4.38655054e+01] [-2.34771641e-02 -2.12226280e-03 9.99722121e-01 -8.74571715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40420382200006 meters 0.634119759140686 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.87, Z:-8.75 [[ 9.99182468e-01 3.12119610e-02 2.56945222e-02 3.07566435e+02] [-3.15242554e-02 9.99432857e-01 1.18400359e-02 -4.38680255e+01] [-2.53103990e-02 -1.26403570e-02 9.99599722e-01 -8.74760134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43420382200003 meters 0.6864202569833013 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.86, Z:-8.75 [[ 9.99330398e-01 2.59635363e-02 2.57808130e-02 3.07566993e+02] [-2.61130616e-02 9.99643974e-01 5.48018496e-03 -4.38586130e+01] [-2.56293494e-02 -6.14973138e-03 9.99652598e-01 -8.74957865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46420382200006 meters 0.6747616296321799 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.86, Z:-8.74 [[ 9.99672938e-01 2.35539078e-02 9.96145034e-03 3.07568113e+02] [-2.35979196e-02 9.99712179e-01 4.32397744e-03 -4.38553137e+01] [-9.85673666e-03 -4.55763273e-03 9.99941035e-01 -8.74278839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49420382200003 meters 0.6651013724761289 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.86, Z:-8.74 [[ 9.99801782e-01 1.48068621e-02 1.33099113e-02 3.07566811e+02] [-1.50017214e-02 9.99779970e-01 1.46615222e-02 -4.38575120e+01] [-1.30898916e-02 -1.48582876e-02 9.99803924e-01 -8.74402375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52420382200006 meters 0.6552816328135891 Centerline is valid? [False, False] Translation: X:307.55, Y:-43.84, Z:-8.74 [[ 9.99924475e-01 9.56418893e-03 7.71825503e-03 3.07545906e+02] [-9.55507107e-03 9.99953608e-01 -1.21734940e-03 -4.38432492e+01] [-7.72953993e-03 1.14350898e-03 9.99969473e-01 -8.74014655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55420382200003 meters 0.6553384831103977 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.85, Z:-8.75 [[ 9.99892226e-01 6.91197474e-03 1.29522319e-02 3.07567169e+02] [-6.98957124e-03 9.99957839e-01 5.95531533e-03 -4.38456816e+01] [-1.29105229e-02 -6.04520405e-03 9.99898382e-01 -8.74517170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58420382200006 meters 0.6434522567723008 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.84, Z:-8.75 [[ 9.99895100e-01 6.42819828e-03 1.29795324e-02 3.07567860e+02] [-6.49439758e-03 9.99966086e-01 5.06459272e-03 -4.38412367e+01] [-1.29465360e-02 -5.14835569e-03 9.99902936e-01 -8.74651807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61420382200004 meters 0.6396778338364432 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.84, Z:-8.75 [[ 9.99897436e-01 6.09333407e-03 1.29610635e-02 3.07568360e+02] [-6.15076152e-03 9.99971423e-01 4.39552889e-03 -4.38378950e+01] [-1.29339097e-02 -4.47479848e-03 9.99906341e-01 -8.74736543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64420382200007 meters 0.6403893831959556 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.83, Z:-8.75 [[ 9.99899647e-01 5.74360988e-03 1.29501984e-02 3.07568734e+02] [-5.79188025e-03 9.99976408e-01 3.69296627e-03 -4.38343701e+01] [-1.29286819e-02 -3.76760167e-03 9.99909323e-01 -8.74801756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67420382200004 meters 1.0566284901784628 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.83, Z:-8.75 [[ 9.99903051e-01 4.91921286e-03 1.30265088e-02 3.07569260e+02] [-4.94631342e-03 9.99985668e-01 2.04901550e-03 -4.38263062e+01] [-1.30162425e-02 -2.11325005e-03 9.99913052e-01 -8.74947430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70420382200007 meters 0.5984024273336859 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.82, Z:-8.75 [[ 9.99904385e-01 4.60431096e-03 1.30392072e-02 3.07569476e+02] [-4.62337534e-03 9.99988286e-01 1.43231490e-03 -4.38231495e+01] [-1.30324597e-02 -1.49246310e-03 9.99913960e-01 -8.74997679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73420382200004 meters 0.6346401284184818 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.82, Z:-8.75 [[ 9.99905372e-01 4.33827819e-03 1.30547579e-02 3.07569752e+02] [-4.35079616e-03 9.99990102e-01 9.30634292e-04 -4.38205536e+01] [-1.30505913e-02 -9.87344818e-04 9.99914350e-01 -8.75057763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76420382200007 meters 0.6396613204724544 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.82, Z:-8.75 [[ 9.99906300e-01 4.15013377e-03 1.30448323e-02 3.07570099e+02] [-4.15801524e-03 9.99991189e-01 5.77119584e-04 -4.38187255e+01] [-1.30423222e-02 -6.31306119e-04 9.99914746e-01 -8.75112973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79420382200004 meters 0.6779725179096582 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.82, Z:-8.75 [[ 9.99906740e-01 4.06857305e-03 1.30367570e-02 3.07570512e+02] [-4.07451314e-03 9.99991607e-01 4.29113482e-04 -4.38180095e+01] [-1.30349017e-02 -4.82191901e-04 9.99914926e-01 -8.75181296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8242038220001 meters 0.6672929442821033 Centerline is valid? [False, False] Translation: X:307.57, Y:-43.82, Z:-8.75 [[ 9.99907134e-01 4.10179674e-03 1.29961045e-02 3.07570848e+02] [-4.10856274e-03 9.99991438e-01 4.93961476e-04 -4.38183646e+01] [-1.29939671e-02 -5.47310915e-04 9.99915425e-01 -8.75216999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85420382200004 meters 0.7068107194603439 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.82, Z:-8.76 [[ 9.99924523e-01 2.24231607e-03 1.20797201e-02 3.07577924e+02] [-2.23168928e-03 9.99997111e-01 -8.93129555e-04 -4.38181465e+01] [-1.20816879e-02 8.66103963e-04 9.99926639e-01 -8.75776157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8842038220001 meters 0.7066210758654439 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.82, Z:-8.76 [[ 9.99924779e-01 2.40245791e-03 1.20276563e-02 3.07578231e+02] [-2.39565767e-03 9.99996962e-01 -5.79759570e-04 -4.38198000e+01] [-1.20290126e-02 5.50901813e-04 9.99927497e-01 -8.75797490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91420382200005 meters 0.7222133348233781 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.82, Z:-8.76 [[ 9.99924540e-01 2.47246178e-03 1.20332999e-02 3.07578374e+02] [-2.46723514e-03 9.99996855e-01 -4.49173243e-04 -4.38205076e+01] [-1.20343726e-02 4.19450368e-04 9.99927496e-01 -8.75828833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944203822 meters 0.7354332762454675 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.82, Z:-8.76 [[ 9.99924666e-01 2.40239737e-03 1.20370717e-02 3.07578634e+02] [-2.39568224e-03 9.99996967e-01 -5.72258361e-04 -4.38198797e+01] [-1.20384100e-02 5.43378252e-04 9.99927388e-01 -8.75875863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97420382200005 meters 0.7548601945177998 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.82, Z:-8.76 [[ 9.99924923e-01 2.39069133e-03 1.20180242e-02 3.07578875e+02] [-2.38373214e-03 9.99996983e-01 -5.93353588e-04 -4.38197690e+01] [-1.20194064e-02 5.64661290e-04 9.99927605e-01 -8.75905730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004203822 meters 0.7645320203028813 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.82, Z:-8.76 [[ 9.99925124e-01 2.42576890e-03 1.19942360e-02 3.07579242e+02] [-2.41959428e-03 9.99996933e-01 -5.29283313e-04 -4.38201138e+01] [-1.19954832e-02 5.00222498e-04 9.99927926e-01 -8.75954428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03420382200005 meters 0.7727256598548122 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.82, Z:-8.76 [[ 9.99926171e-01 2.24075292e-03 1.19428332e-02 3.07579890e+02] [-2.23073336e-03 9.99997149e-01 -8.52215422e-04 -4.38183960e+01] [-1.19447087e-02 8.25511227e-04 9.99928319e-01 -8.76033685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064203822 meters 0.7821138130443599 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.82, Z:-8.76 [[ 9.99927221e-01 2.02345156e-03 1.18935924e-02 3.07580325e+02] [-2.00866412e-03 9.99997195e-01 -1.25512619e-03 -4.38161996e+01] [-1.18960988e-02 1.23114461e-03 9.99928481e-01 -8.76079361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09420382200005 meters 0.7896380182477186 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.81, Z:-8.76 [[ 9.99928674e-01 1.71809302e-03 1.18193061e-02 3.07580936e+02] [-1.69667081e-03 9.99996900e-01 -1.82226399e-03 -4.38131200e+01] [-1.18224003e-02 1.80208054e-03 9.99928489e-01 -8.76138414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124203822 meters 0.8009830460117986 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.81, Z:-8.76 [[ 9.99930742e-01 1.25264230e-03 1.17022343e-02 3.07581981e+02] [-1.22108720e-03 9.99995601e-01 -2.70325833e-03 -4.38084069e+01] [-1.17055690e-02 2.68878166e-03 9.99927872e-01 -8.76242893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15420382200006 meters 0.818916761046491 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.81, Z:-8.76 [[ 9.99931449e-01 1.13322060e-03 1.16538527e-02 3.07582418e+02] [-1.09926951e-03 9.99995135e-01 -2.91928654e-03 -4.38072009e+01] [-1.16571042e-02 2.90627570e-03 9.99927830e-01 -8.76287692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18420382200003 meters 0.8010980269305503 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.81, Z:-8.76 [[ 9.99932052e-01 1.00814971e-03 1.16135915e-02 3.07582741e+02] [-9.71674132e-04 9.99994579e-01 -3.14598055e-03 -4.38059431e+01] [-1.16167002e-02 3.13448216e-03 9.99927611e-01 -8.76317921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21420382200006 meters 0.8343437323294459 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.80, Z:-8.76 [[ 9.99932945e-01 7.44374673e-04 1.15564452e-02 3.07583409e+02] [-7.02690917e-04 9.99993235e-01 -3.61061189e-03 -4.38034067e+01] [-1.15590547e-02 3.60224917e-03 9.99926703e-01 -8.76392559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24420382200003 meters 0.843757687918323 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.80, Z:-8.76 [[ 9.99933707e-01 7.94606740e-04 1.14869967e-02 3.07583987e+02] [-7.54205065e-04 9.99993517e-01 -3.52107024e-03 -4.38038980e+01] [-1.14897201e-02 3.51217327e-03 9.99927823e-01 -8.76444884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27420382200006 meters 0.8589246902072577 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.80, Z:-8.77 [[ 9.99934882e-01 7.74132257e-04 1.13856061e-02 3.07585070e+02] [-7.33724158e-04 9.99993420e-01 -3.55280024e-03 -4.38037284e+01] [-1.13882815e-02 3.54421499e-03 9.99928870e-01 -8.76555978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30420382200003 meters 0.8693643736875244 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.80, Z:-8.77 [[ 9.99935111e-01 6.46849715e-04 1.13734870e-02 3.07585293e+02] [-6.03935190e-04 9.99992688e-01 -3.77623714e-03 -4.38024572e+01] [-1.13758465e-02 3.76912325e-03 9.99928189e-01 -8.76586846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33420382200006 meters 0.8302536614034487 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.80, Z:-8.75 [[ 9.99994117e-01 1.62096523e-03 -3.02297281e-03 3.07578649e+02] [-1.62396106e-03 9.99998192e-01 -9.88830715e-04 -4.38047299e+01] [ 3.02136448e-03 9.93734088e-04 9.99994942e-01 -8.74745792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36420382200004 meters 0.8671021303647032 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.80, Z:-8.75 [[ 9.99994191e-01 1.51786243e-03 -3.05183572e-03 3.07578863e+02] [-1.52142201e-03 9.99998165e-01 -1.16438922e-03 -4.38037306e+01] [ 3.05006274e-03 1.16902559e-03 9.99994665e-01 -8.74761903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39420382200007 meters 0.4895152742944523 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.80, Z:-8.75 [[ 9.99994541e-01 1.34709452e-03 -3.01727166e-03 3.07578642e+02] [-1.35147705e-03 9.99998034e-01 -1.45091487e-03 -4.38021059e+01] [ 3.01531121e-03 1.45498472e-03 9.99994395e-01 -8.74749592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42420382200004 meters 0.9577900605438066 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.80, Z:-8.75 [[ 9.99994690e-01 1.20730765e-03 -3.02702555e-03 3.07578713e+02] [-1.21241456e-03 9.99997844e-01 -1.68583713e-03 -4.38007517e+01] [ 3.02498370e-03 1.68949819e-03 9.99993998e-01 -8.74754677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45420382200007 meters 0.9626502443034444 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.80, Z:-8.75 [[ 9.99994828e-01 1.11078734e-03 -3.01817603e-03 3.07578709e+02] [-1.11637070e-03 9.99997668e-01 -1.84885608e-03 -4.37998067e+01] [ 3.01611531e-03 1.85221592e-03 9.99993736e-01 -8.74761273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48420382200004 meters 0.5195583306974126 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.80, Z:-8.75 [[ 9.99994870e-01 1.09134687e-03 -3.01163050e-03 3.07578709e+02] [-1.09701598e-03 9.99997628e-01 -1.88139863e-03 -4.37996174e+01] [ 3.00957010e-03 1.88469278e-03 9.99993695e-01 -8.74766270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51420382200007 meters 0.4953604170850312 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.80, Z:-8.75 [[ 9.99995042e-01 8.92725121e-04 -3.01983497e-03 3.07578855e+02] [-8.99384604e-04 9.99997165e-01 -2.20460847e-03 -4.37977677e+01] [ 3.01785830e-03 2.20731354e-03 9.99993010e-01 -8.74784228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54420382200004 meters 0.5145036407425072 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.80, Z:-8.75 [[ 9.99995025e-01 6.99796685e-04 -3.07587877e-03 3.07579283e+02] [-7.07569429e-04 9.99996558e-01 -2.52663794e-03 -4.37958906e+01] [ 3.07410005e-03 2.52880177e-03 9.99992078e-01 -8.74815770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5742038220001 meters 1.008966504973414 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.79, Z:-8.75 [[ 9.99994812e-01 2.57025418e-04 -3.21076414e-03 3.07580501e+02] [-2.67467100e-04 9.99994676e-01 -3.25208028e-03 -4.37916382e+01] [ 3.20991118e-03 3.25292218e-03 9.99989557e-01 -8.74917928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60420382200004 meters 1.0582052664917045 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.79, Z:-8.75 [[ 9.99994575e-01 6.19439336e-05 -3.29347263e-03 3.07581156e+02] [-7.37083440e-05 9.99993618e-01 -3.57203692e-03 -4.37897539e+01] [ 3.29323034e-03 3.57226030e-03 9.99988197e-01 -8.74965971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6342038220001 meters 1.0400570641214388 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.79, Z:-8.75 [[ 9.99994313e-01 -1.34699077e-04 -3.36983126e-03 3.07581681e+02] [ 1.21580975e-04 9.99992416e-01 -3.89270901e-03 -4.37878513e+01] [ 3.37033004e-03 3.89227717e-03 9.99986745e-01 -8.74996573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66420382200005 meters 0.9593127460103358 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.79, Z:-8.75 [[ 9.99993942e-01 -3.37772483e-04 -3.46431327e-03 3.07582275e+02] [ 3.23138335e-04 9.99991027e-01 -4.22394660e-03 -4.37859180e+01] [ 3.46570892e-03 4.22280156e-03 9.99985078e-01 -8.75026203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694203822 meters 1.0080573182237904 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.79, Z:-8.75 [[ 9.99993688e-01 -3.00646707e-04 -3.54033659e-03 3.07582892e+02] [ 2.85918444e-04 9.99991307e-01 -4.15990230e-03 -4.37862937e+01] [ 3.54155648e-03 4.15886379e-03 9.99985081e-01 -8.75076964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72420382200005 meters 0.9918971855930553 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.79, Z:-8.75 [[ 9.99993321e-01 -2.90719470e-04 -3.64335131e-03 3.07583698e+02] [ 2.75611299e-04 9.99991365e-01 -4.14659481e-03 -4.37863492e+01] [ 3.64452534e-03 4.14556296e-03 9.99984766e-01 -8.75137084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754203822 meters 0.9948407210973655 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.79, Z:-8.75 [[ 9.99993116e-01 -3.81304588e-04 -3.69089811e-03 3.07584030e+02] [ 3.65435420e-04 9.99990691e-01 -4.29926100e-03 -4.37854425e+01] [ 3.69250308e-03 4.29788262e-03 9.99983947e-01 -8.75158741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78420382200005 meters 1.0256609810270916 Centerline is valid? [False, False] Translation: X:307.58, Y:-43.78, Z:-8.75 [[ 9.99992719e-01 -4.80388474e-04 -3.78559708e-03 3.07584634e+02] [ 4.63496938e-04 9.99989939e-01 -4.46166797e-03 -4.37844788e+01] [ 3.78770233e-03 4.45988088e-03 9.99982881e-01 -8.75190471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814203822 meters 1.0390937600918873 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.78, Z:-8.75 [[ 9.99992075e-01 -5.80419184e-04 -3.93862320e-03 3.07585701e+02] [ 5.62177246e-04 9.99989118e-01 -4.63107965e-03 -4.37833847e+01] [ 3.94126831e-03 4.62882874e-03 9.99981520e-01 -8.75256419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84420382200005 meters 1.0307031880625375 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.78, Z:-8.75 [[ 9.99991755e-01 -5.42715136e-04 -4.02443224e-03 3.07586252e+02] [ 5.24344401e-04 9.99989445e-01 -4.56445252e-03 -4.37837822e+01] [ 4.02686696e-03 4.56230470e-03 9.99981485e-01 -8.75285365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874203822 meters 1.0385005693391802 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.79, Z:-8.75 [[ 9.99991491e-01 -3.79971884e-04 -4.10782131e-03 3.07586698e+02] [ 3.62390798e-04 9.99990776e-01 -4.27980267e-03 -4.37854556e+01] [ 4.10940963e-03 4.27827761e-03 9.99982404e-01 -8.75297623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90420382200006 meters 1.0385005693391802 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.79, Z:-8.75 [[ 9.99991491e-01 -3.79971884e-04 -4.10782131e-03 3.07586698e+02] [ 3.62390798e-04 9.99990776e-01 -4.27980267e-03 -4.37854556e+01] [ 4.10940963e-03 4.27827761e-03 9.99982404e-01 -8.75297623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93420382200003 meters 0.9847221153761244 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.79, Z:-8.76 [[ 9.99986060e-01 -1.50671350e-03 -5.06067795e-03 3.07593877e+02] [ 1.48462932e-03 9.99989372e-01 -4.36480218e-03 -4.37895071e+01] [ 5.06720068e-03 4.35722810e-03 9.99977669e-01 -8.75789612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96420382200006 meters 1.0756484801431576 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.79, Z:-8.76 [[ 9.99986372e-01 -1.18555622e-03 -5.08439221e-03 3.07594130e+02] [ 1.16622673e-03 9.99992088e-01 -3.80301127e-03 -4.37928514e+01] [ 5.08886066e-03 3.79702989e-03 9.99979843e-01 -8.75816021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99420382200003 meters 1.0600400023385523 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.79, Z:-8.76 [[ 9.99986314e-01 -1.01181467e-03 -5.13299859e-03 3.07594477e+02] [ 9.93828846e-04 9.99993363e-01 -3.50530230e-03 -4.37946489e+01] [ 5.13651124e-03 3.50015300e-03 9.99980682e-01 -8.75839745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02420382200006 meters 0.9456484848473018 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.79, Z:-8.76 [[ 9.99986043e-01 -9.89303737e-04 -5.18987481e-03 3.07594691e+02] [ 9.71264615e-04 9.99993483e-01 -3.47719951e-03 -4.37947655e+01] [ 5.19328099e-03 3.47211024e-03 9.99980487e-01 -8.75829659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05420382200003 meters 0.9401540397026783 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.80, Z:-8.76 [[ 9.99986040e-01 -9.32017180e-04 -5.20103097e-03 3.07594671e+02] [ 9.14442085e-04 9.99993868e-01 -3.38051141e-03 -4.37953587e+01] [ 5.20414977e-03 3.37570817e-03 9.99980761e-01 -8.75816578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08420382200006 meters 0.9340805174195373 Centerline is valid? [False, False] Translation: X:307.59, Y:-43.80, Z:-8.76 [[ 9.99985977e-01 -7.53005393e-04 -5.24203422e-03 3.07594874e+02] [ 7.36827787e-04 9.99994963e-01 -3.08737896e-03 -4.37971500e+01] [ 5.24433263e-03 3.08347319e-03 9.99981494e-01 -8.75818890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11420382200004 meters 0.9292186966296626 Centerline is valid? [False, False] Translation: X:307.60, Y:-43.80, Z:-8.76 [[ 9.99985588e-01 -1.88795879e-04 -5.36546534e-03 3.07596081e+02] [ 1.76844736e-04 9.99997503e-01 -2.22780684e-03 -4.38025849e+01] [ 5.36587254e-03 2.22682588e-03 9.99983124e-01 -8.75905812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14420382200007 meters 0.9227419901631455 Centerline is valid? [False, False] Translation: X:307.60, Y:-43.80, Z:-8.76 [[ 9.99985141e-01 -1.31988381e-04 -5.44986346e-03 3.07596721e+02] [ 1.20363813e-04 9.99997717e-01 -2.13327459e-03 -4.38031515e+01] [ 5.45013259e-03 2.13258693e-03 9.99982874e-01 -8.75949859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17420382200004 meters 0.9609325548935919 Centerline is valid? [False, False] Translation: X:307.60, Y:-43.80, Z:-8.76 [[ 9.99984291e-01 -6.02233819e-05 -5.60486435e-03 3.07597860e+02] [ 4.89060528e-05 9.99997960e-01 -2.01931283e-03 -4.38038052e+01] [ 5.60497453e-03 2.01900700e-03 9.99982254e-01 -8.76016896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5597.97 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%| | 0/10636 [00:00